WO2020098147A1 - 车辆控制方法、系统及车辆 - Google Patents

车辆控制方法、系统及车辆 Download PDF

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Publication number
WO2020098147A1
WO2020098147A1 PCT/CN2019/071821 CN2019071821W WO2020098147A1 WO 2020098147 A1 WO2020098147 A1 WO 2020098147A1 CN 2019071821 W CN2019071821 W CN 2019071821W WO 2020098147 A1 WO2020098147 A1 WO 2020098147A1
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Prior art keywords
vehicle
speed
power
discharge power
peak discharge
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PCT/CN2019/071821
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English (en)
French (fr)
Inventor
王言子
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北京宝沃汽车有限公司
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Publication of WO2020098147A1 publication Critical patent/WO2020098147A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/40—Control modes
    • B60L2260/50—Control modes by future state prediction
    • B60L2260/54—Energy consumption estimation
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries

Definitions

  • the present disclosure relates to the field of vehicle technology, and in particular, to a vehicle control method, system, and vehicle.
  • the cruising range of vehicles has always been one of the issues that users are very concerned about. For some vehicles with limited battery pack capacity, they may be forced to stop due to insufficient remaining power during driving, which prevents the driver from reaching the destination. Therefore, how to reduce the power consumption of the battery pack in order to enable the vehicle to reach its destination is particularly important when the battery pack capacity is limited.
  • the present disclosure provides a vehicle control method, system, and vehicle.
  • a vehicle control method including:
  • the driving information including a preset speed threshold, a maximum driving speed, and a target driving path of the vehicle, and the battery information including remaining power and peak discharge power of the battery pack of the vehicle;
  • the maximum travel speed and / or the peak discharge power are adjusted according to the preset speed threshold.
  • the adjusting the maximum driving speed according to the preset speed threshold includes:
  • the candidate maximum travel speed is used as the new maximum travel speed.
  • the adjusting the maximum driving speed according to the preset speed threshold further includes:
  • the candidate maximum travel speed is used as the new maximum travel speed, and the candidate maximum travel is calculated again based on the maximum travel speed and the preset speed change Speed to the step of determining the power consumption of the vehicle based on the target travel path, the candidate maximum travel speed, and the peak discharge power until the power consumption of the vehicle is less than or equal to the remaining power.
  • the method further includes:
  • the adjusting the peak discharge power according to the preset speed threshold includes:
  • the new maximum travel speed is greater than or equal to the preset speed threshold, determine the power consumption of the vehicle according to the target travel path, the new maximum travel speed, and the candidate peak discharge power;
  • the candidate peak discharge power is used as the new peak discharge power.
  • the adjusting the peak discharge power according to the preset speed threshold further includes:
  • the candidate peak discharge power is used as the new peak discharge power, and the candidate peak value is calculated again based on the peak discharge power and the preset discharge power variation Discharge power to the step of determining the power consumption of the vehicle based on the target travel path, the new maximum travel speed, and the candidate peak discharge power until the power consumption of the vehicle is less than or equal to the remaining battery.
  • the adjusting the maximum driving speed and / or the peak discharge power according to the preset speed threshold includes:
  • the target driving path includes a high-speed road segment and a non-high-speed road segment, obtain the minimum speed limit value of the high-speed road segment;
  • the minimum speed limit value is used as a new preset speed threshold, and the maximum travel speed and / or the peak discharge power are adjusted according to the new preset speed threshold.
  • the adjustment of the maximum travel speed and / or the peak discharge power according to the preset speed threshold when at least the power consumption of the vehicle is greater than the remaining power consumption includes:
  • the present disclosure also provides a vehicle control system, including:
  • the navigation module is used to obtain the driving information of the vehicle, where the driving information includes the preset speed threshold, the maximum driving speed and the target driving path of the vehicle;
  • the power management module is used to obtain battery information of the vehicle, and the battery information includes remaining power and peak discharge power of the battery pack of the vehicle;
  • a vehicle controller respectively connected to the navigation module and the power management module, and used to determine the power consumption of the vehicle according to the target driving path, the maximum driving speed and the peak discharge power; When at least the power consumption of the vehicle is greater than the remaining power, the maximum travel speed of the vehicle and / or the peak discharge power are adjusted according to the preset speed threshold.
  • the vehicle controller is used to:
  • the candidate maximum travel speed is taken as the new maximum travel speed.
  • the vehicle controller is also used to:
  • the candidate maximum travel speed is taken as the new maximum travel speed, and the candidate maximum travel is calculated again based on the maximum travel speed and the preset speed change Speed to the step of determining the power consumption of the vehicle based on the target travel path, the candidate maximum travel speed, and the peak discharge power until the power consumption of the vehicle is less than or equal to the remaining power.
  • system further includes:
  • a human-machine interaction module connected to the vehicle controller, is used to obtain road condition information in front of the vehicle and determine a new target according to the road condition information when the candidate maximum driving speed is less than the preset speed threshold Driving route; and / or
  • the vehicle controller is used to:
  • the candidate peak discharge power is used as the new peak discharge power.
  • the vehicle controller is also used to:
  • the vehicle controller is used to:
  • the target driving path includes a high-speed road segment and a non-high-speed road segment, obtain the minimum speed limit value of the high-speed road segment;
  • the minimum speed limit value is used as a new preset speed threshold, and the maximum travel speed and / or the peak discharge power are adjusted according to the new preset speed threshold.
  • the vehicle controller is used to:
  • the human-computer interaction module is used to:
  • the vehicle controller is also used for:
  • the maximum travel speed and / or the peak discharge power are adjusted.
  • the present disclosure also provides a vehicle, including the vehicle control system provided by the present disclosure.
  • Determine the power consumption of the vehicle according to the acquired target travel path, maximum travel speed and peak discharge power, and adjust the maximum travel speed and / or peak value when at least the power consumption of the vehicle is greater than the remaining power Discharge power can improve the discharge efficiency of the vehicle battery pack, thereby reducing the power consumption of the vehicle and enabling the vehicle to reach its destination.
  • FIG. 1 is a flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure
  • FIG. 2 is a flowchart of a vehicle control method according to another exemplary embodiment of the present disclosure.
  • FIG. 3 is a flowchart of a vehicle control method according to another exemplary embodiment of the present disclosure.
  • FIG. 4 is a flowchart of a vehicle control method according to another exemplary embodiment of the present disclosure.
  • Fig. 5 is a block diagram of a vehicle control system according to an exemplary embodiment of the present disclosure.
  • FIG. 1 is a flowchart of a vehicle control method according to an exemplary embodiment of the present disclosure. As shown in FIG. 1, the method includes the following steps:
  • step S101 driving information and battery information of the vehicle are obtained.
  • the driving information includes a preset speed threshold, maximum driving speed, and target driving path of the vehicle, and the battery information includes remaining power and peak discharge power of the battery pack of the vehicle.
  • the target driving path of the vehicle may be obtained through the navigation module of the vehicle.
  • the current location of the vehicle can be obtained through the GPS positioning unit in the navigation module, and the online map preset in the navigation module can be queried according to the current location of the vehicle and the input destination, and road condition information between the current location and the destination can be obtained , And plan at least one driving path according to the road condition information and show the driver the at least one driving path, the driver selects and inputs the selected driving path according to the at least one driving path, and the target driving of the vehicle can be determined according to the driving path mileage.
  • the vehicle control method described in the embodiments of the present disclosure may be applied before the vehicle is started, or may be applied during the driving process of the vehicle.
  • the maximum driving speed of the vehicle can be preset, for example, it can be the default value when the vehicle is shipped from the factory, or it can be a value set by the driver according to needs;
  • the speed may be, for example, the maximum travel speed reached by the vehicle from the time of departure to the current time.
  • the preset speed threshold may be a default value or a value set by the driver as needed.
  • the target driving path includes a high-speed road section. If the speed limit of the high-speed road section is at least 90 km / h, the preset speed threshold may be set to 90 km / h.
  • the battery information of the vehicle can be obtained through the vehicle's power management module.
  • the battery management module can obtain information such as SOC (State of Charge), SOH (Section of Health), and temperature of the battery pack.
  • SOC State of Charge
  • SOH Section of Health
  • the preset correspondence between the information and the remaining power can calculate the remaining power of the battery pack corresponding to the currently collected information such as SOC, SOH, and temperature.
  • the value shows that the peak discharge power of the battery pack can be the default value when the vehicle is shipped from the factory, or it can be a value set according to needs, for example, the peak discharge power can be set to 90kW.
  • the peak discharge power acquired may be, for example, the peak discharge power reached by the battery pack of the vehicle from the departure time to the current time.
  • step S102 the power consumption of the vehicle is determined based on the target travel route, maximum travel speed, and peak discharge power.
  • the target driving mileage of the vehicle may be determined according to the target driving path, and the target driving mileage may be determined according to the preset correspondence between the driving mileage, the driving speed, the discharge power of the battery pack and the power consumption of the vehicle , The maximum driving speed and the power consumption corresponding to the peak discharge power.
  • the power consumption of the vehicle can be estimated first from the SOC of the battery pack. Since the SOH of the battery pack and the temperature of the battery pack will affect the power consumption of the battery pack, the power consumption can be corrected according to the SOH and temperature of the battery pack, and the discharge power of the battery pack due to the road conditions of the vehicle is also There will be an impact, which affects the remaining power of the vehicle battery pack, so the power consumption of the vehicle can be further corrected according to the road conditions of the driving path selected by the driver, and finally the accurate power consumption of the vehicle can be obtained.
  • Step S103 When the obtained power consumption is less than or equal to the remaining power, the vehicle can be considered to be able to reach the destination; and when the obtained power consumption is greater than the remaining power, the vehicle can be considered to be unable to reach the destination. In this case, execute Step S103.
  • step S103 when at least it is satisfied that the power consumption of the vehicle is greater than the remaining power, the maximum travel speed and / or the peak discharge power are adjusted according to a preset speed threshold.
  • the vehicle accelerates rapidly it will cause the battery pack to discharge with high power, which reduces the discharge efficiency of the battery pack, and also increases the power consumption of the vehicle. Therefore, by adjusting the maximum travel speed of the vehicle and / or the peak discharge power of the battery pack, the discharge efficiency of the vehicle battery pack can be improved, the power consumption of the vehicle can be reduced, and the vehicle can reach the destination.
  • the maximum travel speed of the vehicle affects the driving safety and comfort of the vehicle
  • the adjustment of the peak discharge power of the battery pack will affect the maximum travel speed of the vehicle. Therefore, the maximum travel speed and / or peak discharge of the vehicle When adjusting the power, it is necessary to consider the preset speed threshold.
  • step S103 only the maximum traveling speed of the vehicle may be adjusted, or only the peak discharge power of the battery pack may be adjusted, or both of them may be adjusted at the same time.
  • Embodiment 1 Adjust the maximum driving speed of the vehicle only according to the preset speed threshold.
  • step S103 includes the following steps:
  • step S311 the maximum travel speed candidate is calculated based on the maximum travel speed of the vehicle and the preset speed change amount.
  • the difference between the maximum travel speed and the preset speed change amount may be determined as the candidate maximum travel speed.
  • the preset speed change amount may be a default value when the vehicle leaves the factory, or may be a value set by the driver as needed. Specifically, the preset speed change amount may be set according to performance and road condition information of different vehicles, for example, the preset speed change amount may be set to 20 km / h. When the maximum traveling speed is 120 km / h, at this time, the candidate maximum traveling speed is 100 km / h.
  • step S312 it is determined whether the candidate maximum travel speed is greater than or equal to a preset speed threshold.
  • step S313 may be performed; otherwise, the vehicle may be considered to travel at the candidate maximum speed If it will affect the driving experience and driving safety of the vehicle, step S104 is executed.
  • step S313 the power consumption of the vehicle is determined based on the target travel route, the candidate maximum travel speed, and the peak discharge power.
  • step S102 the specific process of determining the power consumption of the vehicle according to the target travel path, the candidate maximum travel speed and the peak discharge power is similar to the specific process of step S102 above, please refer to the description of step S102 above, In order to reduce redundancy, it will not be repeated here.
  • step S314 it is determined whether the power consumption of the vehicle is less than or equal to the remaining power.
  • step S315 If the power consumption of the vehicle is less than or equal to the remaining power, step S315 can be performed; otherwise, step S316 is performed.
  • step S315 the candidate maximum travel speed is taken as the new maximum travel speed.
  • the power consumption of the vehicle at this time is less than or equal to the remaining power, it can be considered that the vehicle can reach the destination at this candidate maximum travel speed at this time, so the candidate maximum travel speed can be used as the new maximum travel speed, and the vehicle can be controlled Drive at a speed that does not exceed the new maximum travel speed.
  • step S316 the candidate maximum travel speed is taken as the new maximum travel speed, and steps S311 to S314 are executed again until the power consumption of the vehicle is less than or equal to the remaining power.
  • the calculated power consumption is still greater than the remaining power, it can be considered that the vehicle still cannot reach the destination, so it is necessary to continue to reduce the maximum travel speed of the vehicle, that is, perform steps S311 to S314 again until the power consumption of the vehicle is less than or Equal to the remaining power, at this time it can be considered that the vehicle can reach the destination.
  • the candidate maximum travel speed is 100km / h, which is greater than the preset speed threshold of 50km / h.
  • the candidate maximum travel speed 100km / h is taken as the new maximum travel speed, and steps S311 to S314 are executed again until the vehicle consumes
  • the amount of electricity is less than or equal to the remaining amount of electricity.
  • the candidate maximum travel speed obtained at this time is 80 km / h, so the new maximum travel speed of the vehicle can be set to 80 km / h.
  • the value description is that after determining the maximum traveling speed of the vehicle, the vehicle can be controlled based on the maximum traveling speed. Specifically, the vehicle can be controlled to travel in response to the driver's operation instruction and the travel speed of the vehicle can be acquired in real time during the travel of the vehicle. When the travel speed of the vehicle is greater than or equal to the maximum travel speed, the vehicle can be controlled to travel at the maximum travel speed.
  • the driving power required by the vehicle can be reduced, thereby improving the discharge efficiency of the battery pack, reducing the power consumption of the vehicle, and thereby extending the cruising range of the vehicle.
  • Embodiment 2 Only adjust the peak discharge power of the battery pack according to the preset speed threshold.
  • step S103 includes the following steps:
  • step S321 the candidate peak discharge power is calculated based on the peak discharge power and the preset discharge power variation.
  • the preset discharge power variation can be the default value when the vehicle leaves the factory, or it can be a value set by the driver as needed.
  • the preset peak change amount may be set according to the performance and road condition information of different vehicles, for example, the preset discharge power change amount may be set to 15 kW.
  • the peak discharge power is 90 kW, at this time, the candidate peak discharge power is 75 kW.
  • step S322 a new maximum travel speed corresponding to the candidate peak discharge power is determined according to the preset correspondence between the peak discharge power and the travel speed of the vehicle.
  • step S323 it is determined whether the new maximum travel speed is greater than or equal to the preset speed threshold.
  • step S324 may be executed; otherwise, step S104 may be executed.
  • step S324 the power consumption of the vehicle is determined based on the target travel route, the new maximum travel speed, and the candidate peak discharge power.
  • the vehicle After the candidate peak discharge power is determined, it is not guaranteed that the vehicle can reach the target degree when traveling with the candidate peak discharge power, so it is also necessary to calculate the power consumption of the vehicle in this case.
  • step S102 the specific process of determining the cruising range of the vehicle according to the target travel path, the new maximum travel speed and the candidate peak discharge power is similar to the specific process of the above step S102, please refer to the description of the above step S102 In order to reduce redundancy, it will not be repeated here.
  • step S325 it is determined whether the power consumption of the vehicle is less than or equal to the remaining power.
  • step S326 can be performed; otherwise, step S237 is performed.
  • step S326 the candidate peak discharge power is used as the new peak discharge power.
  • the power consumption of the vehicle is less than or equal to the remaining power at this time, it can be considered that the vehicle can reach the destination at this candidate peak discharge power at this time, so the candidate peak discharge power can be used as the new peak discharge power, and the vehicle can be controlled The battery pack is discharged with this new peak discharge power.
  • step S327 the candidate peak discharge power is used as the new peak discharge power, and steps S321 to S325 are executed again until the power consumption of the vehicle is less than or equal to the remaining power.
  • the cruising range is 70km, which is less than the target driving range of 90km.
  • the candidate peak discharge power of 75kW is used as the new maximum peak discharge power, and steps S321 to S325 are executed again until the power consumption of the vehicle is less than or equal to the remaining power
  • the candidate peak discharge power obtained at this time is 60 kW, so the new discharge power of the battery pack can be set to 60 kW.
  • the battery pack of the vehicle can be controlled based on the peak discharge power. Specifically, the vehicle can be controlled to travel in response to the driver's operation instruction and the discharge power of the battery pack can be obtained in real time during the driving of the vehicle. When the discharge power of the battery pack is greater than or equal to the peak discharge power, the battery pack can be controlled to Discharge power discharge.
  • Embodiment 3 Simultaneously adjust the maximum driving speed of the vehicle and the peak discharge power of the battery pack.
  • step S103 includes the following steps:
  • step S331 the candidate peak discharge power is calculated based on the peak discharge power and the preset discharge power variation.
  • step S332 a new maximum travel speed corresponding to the candidate peak discharge power is determined according to the preset correspondence between the peak discharge power and the travel speed of the vehicle.
  • step S333 the candidate maximum travel speed is calculated based on the new maximum travel speed and the preset speed change amount.
  • the difference between the maximum travel speed and the preset speed change amount may be determined as the candidate maximum travel speed, and the difference between the peak discharge power and the preset discharge power change amount may be determined as the candidate peak discharge power.
  • the candidate maximum travel speed is 100km / h; if the peak discharge power is 90kW and the preset discharge power change is 15kW, the peak candidate The discharge power is 75kW.
  • step S334 it is determined whether the candidate maximum travel speed is greater than or equal to a preset speed threshold.
  • step S335 is executed; otherwise, step S104 is executed.
  • step S335 the power consumption of the vehicle is determined based on the target travel path, the candidate maximum travel speed, and the candidate peak discharge power.
  • step S102 the specific process of determining the vehicle's power consumption based on the target travel path, the candidate maximum travel speed, and the candidate peak discharge power is similar to the specific process of step S102 above, please refer to the description of step S102 above, in order to reduce redundancy , No more details here.
  • step S3366 it is determined whether the power consumption of the vehicle is less than or equal to the remaining power.
  • step S337 If the power consumption of the vehicle is less than or equal to the remaining power, step S337 is executed; otherwise, step S338 is executed.
  • step S337 the candidate maximum travel speed is regarded as the new maximum travel speed, and the candidate peak discharge power is regarded as the new peak discharge power.
  • step S3308 the candidate maximum travel speed is taken as the new maximum travel speed, and the candidate peak discharge power is taken as the new peak discharge power, and steps S331 to S336 are executed again until the power consumption of the vehicle is less than or equal to the remaining power .
  • the candidate maximum travel speed is 100km / h, which is greater than the preset speed of 50km / h.
  • the candidate maximum travel speed 100km / h is used as the new maximum travel speed, and steps S331 to S336 are executed again until the vehicle cruising range Greater than or equal to the target mileage, in this case, the maximum candidate driving speed is 60km / h, and the candidate peak discharge power is 50kW, so the new maximum driving speed of the vehicle can be set to 60km / h, and the new discharge power setting of the battery pack 50kW.
  • the vehicle can be controlled based on the maximum travel speed and the peak discharge power. Specifically, the vehicle can be controlled in response to the driver's operation instruction and the vehicle's driving speed and the discharge power of the battery pack can be obtained in real time during the vehicle's driving process.
  • the vehicle's driving speed is greater than or equal to the maximum driving speed
  • the vehicle can be controlled Driving at the maximum traveling speed
  • the discharge power of the battery pack is greater than or equal to the peak discharge power
  • the battery pack is controlled to discharge at the peak discharge power.
  • the driving power required by the vehicle can be reduced, and by limiting the peak discharge power of the battery pack, the problem of high power discharge of the battery pack due to rapid acceleration of the vehicle can be avoided, and the discharge efficiency of the battery pack can be improved and reduced
  • the above method in the process of setting the maximum travel speed of the vehicle, after calculating the maximum travel speed candidate each time the maximum travel speed and the preset speed change are calculated, if the maximum travel speed candidate is less than or equal to the preset speed threshold , You cannot continue to reduce the maximum driving speed.
  • the above method also includes:
  • step S104 is executed, that is, acquiring road condition information in front of the vehicle and determining a new target driving path according to the road condition information; and / or acquiring charging pile information in the preset area of the vehicle, and The prompt information is output according to the charging pile information.
  • the candidate maximum driving speed of 80km / h can allow the vehicle to reach the destination, and the preset speed threshold is 90km / h.
  • the human-machine interaction module of the vehicle can obtain the road condition information in front of the vehicle and determine the new The target travel path, so that the vehicle travels to the destination according to the new target travel path. It is also possible to obtain the charging pile information in the preset area of the vehicle (for example, the area with the vehicle as the center and the fixed distance as the radius) through the human-machine interaction module of the vehicle, and output the prompt information for instructing to charge the battery pack, the prompt The information is used to instruct the user to charge the vehicle according to the charging pile information.
  • the prompt information may include information such as the location of the charging pile and occupancy status information.
  • the form of the prompt information may include, but is not limited to: text, sound, vibration, and any combination of two or three.
  • the minimum speed limit value of the high-speed road segment may be acquired.
  • the maximum driving speed and / or peak discharge power can be adjusted according to the preset speed threshold; while on high-speed road sections, the minimum speed limit value of the high-speed road section can be used as the new preset speed threshold, according to the new preset The speed threshold adjusts the maximum travel speed and / or peak discharge power.
  • a prompt message indicating the adjustment of the maximum driving speed and / or the peak discharge power may be output, and upon receiving the instruction When requesting the maximum travel speed and / or peak discharge power, adjust the maximum travel speed and / or peak discharge power.
  • the human-machine interaction module of the vehicle may output a prompt message to enable the driver to determine whether to adjust the maximum driving speed of the vehicle and / or the peak discharge power of the battery pack and wait for the reception Driver's indication signal.
  • the human-computer interaction module receives a request command input by the driver instructing to adjust the maximum travel speed and / or peak discharge power
  • the maximum travel speed and peak discharge power may be adjusted according to any of the embodiments described in FIGS. 2 to 3.
  • the present disclosure also provides a vehicle control system.
  • the vehicle control system 500 includes a navigation module 501, a power management module 502, and a vehicle controller 503.
  • the navigation module 501 is used to obtain the driving information of the vehicle, and the driving information includes the preset speed threshold, the maximum driving speed, and the target driving path of the vehicle.
  • the navigation module 501 has a built-in GPS positioning unit, which combines satellite positioning to obtain the current position of the vehicle and uses online maps to query the road condition information between the vehicle's current position and destination, and plans at least one driving path based on the road condition information. The driver You can select one of them as the target driving path through the driving path.
  • the maximum driving speed of the vehicle may be preset (for example, the default value when the vehicle leaves the factory or the value set by the driver as needed), or it may be obtained by the speed sensor built in the navigation module 501 The maximum travel speed reached by the vehicle from the time of departure to the current time.
  • the preset speed threshold may be a default value or a value set by the driver as needed.
  • the target driving path includes a high-speed road section. If the speed limit of the high-speed road section is at least 90 km / h, the preset speed threshold may be set to 90 km / h.
  • the power management module 502 is used to obtain the battery information of the vehicle.
  • the battery information includes the remaining capacity and the peak discharge power of the battery pack.
  • the power management module 502 may include a battery sensor, a temperature sensor, etc.
  • the battery sensor may obtain the SOC (State of Charge) and SOH (Section of Health) performance information of the battery pack
  • the temperature sensor may obtain the battery
  • the remaining capacity of the battery pack corresponding to the currently collected information such as SOC, SOH, and temperature is calculated through the preset correspondence between the information and the remaining power of the battery pack.
  • the vehicle controller 503 is respectively connected to the navigation module 501 and the power management module 502, and is used to determine the power consumption of the vehicle according to the target driving path, the maximum driving speed and the peak discharge power; When charging, the maximum travel speed and / or peak discharge power of the vehicle is adjusted according to a preset speed threshold.
  • connection between the vehicle controller 503 and the navigation module 501 and the power management module 502 may include, but is not limited to, a connection through a vehicle bus (such as a CAN bus).
  • vehicle bus such as a CAN bus
  • the vehicle controller 503 is used to calculate the candidate maximum travel speed according to the maximum travel speed and the preset speed variation; when the candidate maximum travel speed is greater than or equal to the preset speed threshold, according to the target travel path, the candidate maximum The driving speed and peak discharge power determine the power consumption of the vehicle;
  • the candidate maximum travel speed is taken as the new maximum travel speed.
  • the candidate maximum travel speed is taken as the new maximum travel speed, and the calculation of the candidate maximum travel speed according to the maximum travel speed and the preset speed change to the target travel path is performed again.
  • the candidate maximum travel speed and the peak discharge power determine the power consumption of the vehicle until the power consumption of the vehicle is less than or equal to the remaining power.
  • the vehicle controller 503 is used to calculate the candidate peak discharge power according to the peak discharge power and the preset discharge power variation; according to the preset correspondence between the peak discharge power and the maximum travel speed of the vehicle, determine and The new maximum travel speed corresponding to the candidate peak discharge power; when the new maximum travel speed is greater than or equal to the preset speed threshold, the power consumption of the vehicle is determined according to the target travel path, the new maximum travel speed and the candidate peak discharge power ;
  • the candidate peak discharge power is used as the new peak discharge power.
  • the candidate peak discharge power is used as the new peak discharge power, and the calculation of the candidate peak discharge power according to the peak discharge power and the preset discharge power variation is performed again to the target travel
  • the route, the new maximum travel speed and the candidate peak discharge power determine the power consumption of the vehicle until the power consumption of the vehicle is less than or equal to the remaining power.
  • the vehicle controller 503 is used to obtain the minimum speed limit of the high-speed road segment when the target driving path includes a high-speed road segment and a non-high-speed road segment; on a non-high-speed road segment, the maximum travel speed and the maximum travel speed are adjusted according to a preset speed threshold / Or peak discharge power; on high-speed road sections, the minimum speed limit value is used as the new preset speed threshold, and the maximum travel speed and / or peak discharge power is adjusted according to the new preset speed threshold.
  • the vehicle control system 500 further includes a human-machine interaction module 504.
  • the human-machine interaction module 504 is connected to the vehicle controller 503. When the power consumption of the vehicle is greater than the remaining electricity, the vehicle controller 503 The machine interaction module 504 sends control signals;
  • the human-machine interaction module 504 is used to output prompt information for indicating the adjustment of the maximum travel speed and / or peak discharge power; upon receiving the request instruction for indicating the adjustment of the maximum travel speed and / or peak discharge power , It sends instruction information to the vehicle controller 503.
  • the vehicle controller 503 is also used to adjust the maximum driving speed and / or the peak discharge power in response to the instruction information.
  • the controller 503 sends a control signal to the man-machine interaction module 504, and the man-machine interaction module 504 outputs prompt information in response to the control signal sent by the controller 503, so that the driver Determine whether to adjust the maximum speed of the vehicle and / or the peak discharge power of the battery pack.
  • the human-machine interaction module 504 sends instruction information to the vehicle controller 503 when receiving a request instruction input by the driver to adjust the maximum driving speed and / or peak discharge power.
  • the vehicle controller 503 adjusts the maximum driving speed and / or the peak discharge power in response to the instruction information sent by the human-machine interaction module 504.
  • the human-computer interaction module 504 may be connected to the vehicle controller 503 through the CAN bus.
  • the form of the indication information may include, but is not limited to, text, sound, vibration, and any combination of two or three.
  • the discharge efficiency of the battery pack can be improved and the consumption of the vehicle can be reduced
  • the amount of electricity allows the vehicle to reach its destination.
  • the present disclosure also provides a vehicle, including the vehicle control system described in any of the above embodiments, and the vehicle control system will not be described here.

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Abstract

一种车辆控制方法、系统及车辆，该方法包括：获取车辆的行驶信息和电池信息，所述行驶信息包括所述车辆的预设速度阈值、最大行驶速度和目标行驶路径，所述电池信息包括所述车辆的电池组的剩余电量和峰值放电功率(S101)；根据所述目标行驶路径、所述最大行驶速度和所述峰值放电功率，确定所述车辆的耗电量(S102)；在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率(S103)。通过该技术方案，在车辆的电池组的剩余电量无法让车辆到达目的地时，通过调整车辆的最大行驶速度和/或电池组的峰值放电功率，可以提高电池组的放电功率，进而减少车辆的耗电量，使车辆能够到达目的地。

Description

车辆控制方法、系统及车辆
相关申请案的交叉引用
本申请要求于2018年11月14日提交的中国专利申请No.201811355572.6的优先权，该申请的内容通过引用全部合并于此。
技术领域
本公开涉及车辆技术领域，具体地，涉及一种车辆控制方法、系统及车辆。
背景技术
车辆的续航里程一直是用户十分关心的问题之一，对于一些电池组容量有限的车辆，其在行驶过程中可能会因为剩余电量不足而被迫停车，致使驾车者无法达到目的地。因此，如何在电池组容量有限的情况下，减小电池组的耗电量以使车辆能够达到目的地，显得尤为重要。
发明内容
为克服相关技术中存在的问题，本公开提供一种车辆控制方法、系统及车辆。
为了实现上述目的，本公开提供一种车辆控制方法，包括：
获取车辆的行驶信息和电池信息，所述行驶信息包括所述车辆的预设速度阈值、最大行驶速度和目标行驶路径，所述电池信息包括所述车辆的电池组的剩余电量和峰值放电功率；
根据所述目标行驶路径、所述最大行驶速度和所述峰值放电功率，确定所述车辆的耗电量；
在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率。
可选地，所述根据所述预设速度阈值调整所述最大行驶速度，包括：
根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度；
若所述候选最大行驶速度大于或等于所述预设速度阈值，则根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量；
若所述车辆的耗电量小于或等于所述剩余电量，则将所述候选最大行驶速度作为新的最大行驶速度。
可选地，所述根据所述预设速度阈值调整所述最大行驶速度，还包括：
若所述车辆的耗电量大于所述剩余电量，则将所述候选最大行驶速度作为新的最大行驶速度，并再次执行所述根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度至所述根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
可选地，所述方法还包括：
若所述候选最大行驶速度小于所述预设速度阈值，则执行以下操作：
获取所述车辆前方的路况信息并根据所述路况信息确定新的目标行驶路径；和/或
获取所述车辆的预设区域内的充电桩信息，并根据所述充电桩信息输出提示信息。
可选地，所述根据所述预设速度阈值调整所述峰值放电功率，包括：
根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率；
根据峰值放电功率与所述车辆的最大行驶速度之间的预设对应关系，确定与所述候选峰值放电功率对应的新的最大行驶速度；
若所述新的最大行驶速度大于或等于所述预设速度阈值，则根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量；
若所述车辆的耗电量小于或等于所述剩余电量，则将所述候选峰值放电功率作为新的峰值放电功率。
可选地，所述根据所述预设速度阈值调整所述峰值放电功率，还包括：
若所述车辆的耗电量大于所述剩余电量，则将所述候选峰值放电功率作为新的峰值放电功率，并再次执行所述根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率至所述根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
可选地，所述根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率，包括：
若所述目标行驶路径包括高速路段和非高速路段，则获取所述高速路段的最低限速值；
在所述非高速路段，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值 放电功率；
在所述高速路段，将所述最低限速值作为新的预设速度阈值，根据所述新的预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率。
可选地，所述在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率，包括：
在所述车辆的耗电量大于所述剩余电量时，输出用于指示调整所述最大行驶速度和/或所述峰值放电功率的提示信息；
在接收到用于指示调整所述最大行驶速度和/或所述峰值放电功率的请求指令时，调整所述最大行驶速度和/或所述峰值放电功率。
本公开还提供一种车辆控制系统，包括：
导航模块，用于获取车辆的行驶信息，所述行驶信息包括所述车辆的预设速度阈值、最大行驶速度和目标行驶路径；
电源管理模块，用于获取所述车辆的电池信息，所述电池信息包括所述车辆的电池组的剩余电量和峰值放电功率；
整车控制器，分别与所述导航模块和所述电源管理模块连接，用于根据所述目标行驶路径、所述最大行驶速度和所述峰值放电功率，确定所述车辆的耗电量；在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述车辆的最大行驶速度和/或所述峰值放电功率。
可选地，所述整车控制器用于：
根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度；
在所述候选最大行驶速度大于或等于所述预设速度阈值时，根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量；
在所述车辆的耗电量小于或等于所述剩余电量时，将所述候选最大行驶速度作为新的最大行驶速度。
可选地，所述整车控制器还用于：
在所述车辆的耗电量大于所述剩余电量时，将所述候选最大行驶速度作为新的最大行驶速度，并再次执行所述根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度至所述根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
可选地，所述系统还包括：
人机交互模块，与所述整车控制器连接，用于在所述候选最大行驶速度小于所述预设速度阈值时，获取所述车辆前方的路况信息并根据所述路况信息确定新的目标行驶路径；和/或
获取所述车辆的预设区域内的充电桩信息，并根据所述充电桩信息输出提示信息。
可选地，所述整车控制器用于：
根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率；
根据峰值放电功率与所述车辆的最大行驶速度之间的预设对应关系，确定与所述候选峰值放电功率对应的新的最大行驶速度；
在所述新的最大行驶速度大于或等于所述预设速度阈值时，根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量；
在所述车辆的耗电量小于或等于所述剩余电量时，则将所述候选峰值放电功率作为新的峰值放电功率。
可选地，所述整车控制器还用于：
在所述车辆的耗电量大于所述剩余电量时，将所述候选峰值放电功率作为新的峰值放电功率，并再次执行所述根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率至所述根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
可选地，所述整车控制器用于：
当所述目标行驶路径包括高速路段和非高速路段时，获取所述高速路段的最低限速值；
在所述非高速路段，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率；
在所述高速路段，将所述最低限速值作为新的预设速度阈值，根据所述新的预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率。
可选地，所述整车控制器用于：
在所述车辆的耗电量大于所述剩余电量时，向所述人机交互模块发送控制信号；
所述人机交互模块用于：
响应于所述控制信号，输出用于指示调整所述最大行驶速度和/或所述峰值放电功 率的提示信息；
在接收到用于指示调整所述最大行驶速度和/或所述峰值放电功率的请求指令时，向所述整车控制器发送指示信息；
所述整车控制器还用于：
响应于所述指示信息，调整所述最大行驶速度和/或所述峰值放电功率。
本公开还提供了一种车辆，包括本公开提供的车辆控制系统。
采用上述技术方案，至少可以达到如下技术效果：
根据获取到的目标行驶路径、最大行驶速度和峰值放电功率确定所述车辆的耗电量，并在至少满足所述车辆的耗电量大于所述剩余电量时，调整最大行驶速度和/或峰值放电功率，可以提高车辆电池组的放电效率，从而减少车辆的耗电量，使车辆能够到达目的地。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是根据本公开一示例性实施例示出的一种车辆控制方法的流程图；
图2是根据本公开另一示例性实施例示出的一种车辆控制方法的流程图；
图3是根据本公开另一示例性实施例示出的一种车辆控制方法的流程图；
图4是根据本公开另一示例性实施例示出的一种车辆控制方法的流程图；
图5是根据本公开一示例性实施例示出的一种车辆控制系统的框图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
图1根据本公开一示例性实施例示出的一种车辆控制方法的流程图，如图1所示，该方法包括以下步骤：
在步骤S101中，获取车辆的行驶信息和电池信息，行驶信息包括车辆的预设速度阈值、最大行驶速度和目标行驶路径，电池信息包括车辆的电池组的剩余电量和峰值放 电功率。
在一种实施方式中，车辆的目标行驶路径可以通过车辆的导航模块获取。具体地，通过导航模块中的GPS定位单元可以获取车辆的当前位置，根据车辆的当前位置和输入的目的地查询导航模块中预置的在线地图，可以得到当前位置与目的地之间的路况信息，并根据路况信息规划至少一条行驶路径并向驾驶员展示该至少一条行驶路径，由驾驶员根据该至少一条行驶路径进行选择并输入选中的行驶路径，根据该条行驶路径可以确定车辆的目标行驶里程。
另外，本公开实施例所述的车辆控制方法可以应用于车辆启动之前，也可以应用于车辆的行驶过程中。对于前者，车辆的最大行驶速度可以是预先设置好的，例如可以是在车辆出厂时的默认缺省值，也可以是驾驶员根据需要而设定的数值；对于后者，获取到的最大行驶速度可以例如为车辆从出发时刻至当前时刻这段时间内所达到的最大行驶速度。
值得说明的是，预设速度阈值可以是默认缺省值，也可以由驾驶员根据需要设置的数值。此外，考虑到某些路段对车辆有最低行驶速度的要求，还可以根据目标行驶路径确定。例如，目标行驶路径中包含高速路段，若该高速路段限速最低为90km/h，则可将预设速度阈值设置为90km/h。
车辆的电池信息可以通过车辆的电源管理模块获取，具体地，电池管理模块可以获取电池组的SOC(State of Charge，荷电状态)、SOH(Section of Health，性能状态)以及温度等信息，通过这些信息与剩余电量之间的预设对应关系可以计算当前采集到的SOC、SOH以及温度等信息对应的电池组的剩余电量。
值的说明的是，电池组的峰值放电功率可以是车辆出厂时的默认缺省值，也可以是根据需要而设定的数值，例如峰值放电功率可以设置为90kW。
若该车辆控制方法应用在车辆的行驶过程中，获取到的峰值放电功率可以例如为车辆从出发时刻至当前时刻这段时间内其电池组所达到的峰值放电功率。
在步骤S102中，根据目标行驶路径、最大行驶速度和峰值放电功率，确定车辆的耗电量。
在一种实施方式中，可以根据目标行驶路径确定车辆的目标行驶里程，根据行驶里程、行驶速度、电池组的放电功率与车辆的耗电量之间的预设对应关系，确定与目标行驶里程、最大行驶速度和峰值放电功率所对应的耗电量。
在另一种实施方式中，可以首先通过电池组的SOC对车辆的耗电量进行估计。由于电池组的SOH和电池组的温度对电池组的耗电量会产生影响，因此可以根据电池组的SOH和温度对耗电量进行修正，并且由于车辆行驶的路况对电池组的放电功率也会有影响，从而影响到车辆电池组的剩余电量，因而可以根据驾驶员所选择的行驶路径的路况对车辆的耗电量进行进一步修正，最终获得准确的车辆耗电量。
当获取到的耗电量小于或等于剩余电量时，可以认为车辆能够到达目的地；而在获取到的耗电量大于剩余电量时，可以认为车辆无法到达目的地，在此种情况下，执行步骤S103。
在步骤S103中，在至少满足车辆的耗电量大于剩余电量时，根据预设速度阈值调整最大行驶速度和/或峰值放电功率。
车辆的行驶速度越高车辆所需的驱动功率越大，电池组的放电效率越低，进而使得车辆的耗电量越大。另外，车辆在进行急加速时会致使电池组大功率的放电，降低电池组的放电效率，同样增加了车辆的耗电量。因此，通过调整车辆的最大行驶速度和/或电池组的峰值放电功率，可以提高车辆电池组的放电效率，减少车辆的耗电量，使车辆能够达到目的地。然而，考虑到车辆的最大行驶速度影响车辆的驾驶安全性和舒适性，对电池组的峰值放电功率的调整会影响车辆的最大行驶速度，因此，在对车辆的最大行驶速度和/或峰值放电功率进行调整时需要考虑预设速度阈值。
针对上述步骤S103，可以仅调整车辆的最大行驶速度，也可以仅调整电池组的峰值放电功率，还可以对同时对这两者进行调整。接下来，通过三种实施方式进行详细说明。
实施方式一：仅根据预设速度阈值调整车辆的最大行驶速度。
在该实施方式下，如图2所示，上述步骤S103包括以下步骤：
在步骤S311中，根据车辆的最大行驶速度和预设速度变化量计算候选最大行驶速度。
可选地，可以将最大行驶速度和预设速度变化量的差值确定为候选最大行驶速度。
值得说明的是，预设速度变化量可以是在车辆出厂时的默认缺省值，也可以是由驾驶员根据需要设定的数值。具体地，可以按照不同车辆的性能和路况信息对预设速度变化量进行设置，例如预设速度变化量可以设置为20km/h。当最大行驶速度为120km/h时，此时，候选最大行驶速度为100km/h。
在步骤S312中，判断候选最大行驶速度是否大于或等于预设速度阈值。
若候选最大行驶速度大于或等于预设速度阈值，可认为车辆该候选最大速度不会影响对车辆的驾驶体验和驾驶安全性，则可执行步骤S313；否则，可认为车辆以该候选最大速度行驶会影响对该车辆的驾驶体验和驾驶安全性，则执行步骤S104。
在步骤S313中，根据目标行驶路径、候选最大行驶速度和峰值放电功率确定车辆的耗电量。
在确定出候选最大行驶速度后，并不能保证车辆以该候选最大行驶速度行驶时能够到达目的地，因此还需要计算该情况下车辆的耗电量。
值得说明的是，在该步骤中，根据目标行驶路径、候选最大行驶速度和峰值放电功率确定车辆的耗电量的具体过程与上述步骤S102的具体过程类似，请参见对上述步骤S102的描述，为了减少冗余，此处不再赘述。
在步骤S314中，判断车辆的耗电量是否小于或等于剩余电量。
若车辆的耗电量小于或等于剩余电量，则可执行步骤S315；否则，执行步骤S316。
在步骤S315中，将候选最大行驶速度作为新的最大行驶速度。
若此时车辆的耗电量小于或等于剩余电量，则可认为此时车辆以该候选最大行驶速度行驶能够达到目的地，因而可以将该候选最大行驶速度作为新的最大行驶速度，并控制车辆以不超过该新的最大行驶速度的速度行驶。
在步骤S316中，将候选最大行驶速度作为新的最大行驶速度，并再次执行步骤S311至步骤S314，直到车辆的耗电量小于或等于剩余电量。
若计算出的耗电量仍大于剩余电量，则可认为车辆仍无法到达目的地，因而还需要继续降低车辆的最大行驶速度，即再次执行步骤S311至步骤S314，直到车辆的耗电量小于或等于剩余电量，此时可认为车辆能够达到达目的地。
例如，候选最大行驶速度为100km/h，大于预设速度阈值50km/h，此时，将候选最大行驶速度100km/h作为新的最大行驶速度，并再次执行步骤S311至步骤S314，直至车辆耗电量小于或等于剩余电量，此时得到的候选最大行驶速度为80km/h，因而可将车辆的新的最大行驶速度设置为80km/h。
值的说明的是，在确定车辆的最大行驶速度后，可以基于该最大行驶速度对车辆进行控制。具体地，可以响应于驾驶员的操作指令控制车辆行驶并且在车辆的行驶过程中 实时获取车辆的行驶速度，当车辆的行驶速度大于或等该最大行驶速度时，控制车辆以最大行驶速度行驶。
这样，通过限制车辆的最大行驶速度可以降低车辆所需的驱动功率，进而提高了电池组的放电效率，降低了车辆的耗电量，从而延长了车辆的续航里程。
实施方式二：仅根据预设速度阈值调整电池组的峰值放电功率。
在该实施方式下，如图3所示，步骤S103包括以下步骤：
在步骤S321中，根据峰值放电功率和预设放电功率变化量计算候选峰值放电功率。
可选地，可以将峰值放电功率和预设放电功率变化量的差值确定为候选峰值放电功率。
值得说明的是，预设放电功率变化量可以是在车辆出厂时的默认缺省值，也可以是由驾驶员根据需要设定的数值。具体地，可以按照不同车辆的性能和路况信息对预设峰值变化量进行设置，例如预设放电功率变化量可以设置为15kW。当峰值放电功率为90kW时，此时，候选峰值放电功率为75kW。
在步骤S322中，根据峰值放电功率与车辆行驶速度之间的预设对应关系，确定与候选峰值放电功率对应的新的最大行驶速度。
在步骤S323中，判断新的最大行驶速度是否大于或等于预设速度阈值。
若新的最大行驶速度大于或等于预设速度阈值，可认为车辆以该候选峰值放电功率行驶不会影响该车辆的驾驶体验和驾驶安全性，则可执行步骤S324；否则执行步骤S104。
在步骤S324中，根据目标行驶路径、新的最大行驶速度和候选峰值放电功率确定车辆的耗电量。
在确定出候选峰值放电功率后，并不能保证车辆以该候选峰值放电功率行驶时能够到达目的度，因此还需要计算该情况下车辆的耗电量。
值得说明的是，在该步骤中，根据目标行驶路径、新的最大行驶速度和候选峰值放电功率确定车辆的续航里程的具体过程与上述步骤S102的具体过程类似，请参见对上述步骤S102的描述，为了减少冗余，此处不再赘述。
在步骤S325中，判断车辆的耗电量是否小于或等于剩余电量。
若车辆的耗电量小于或等于剩余电量，则可执行步骤S326；否则执行步骤S237。
在步骤S326中，将候选峰值放电功率作为新的峰值放电功率。
若此时车辆的耗电量小于或等于剩余电量，则可认为此时车辆以该候选峰值放电功率行驶能够到达目的地，因而可以将该候选峰值放电功率作为新的峰值放电功率，并控制车辆的电池组以此新的峰值放电功率进行放电。
在步骤S327中，将候选峰值放电功率作为新的峰值放电功率，并再次执行步骤S321至步骤S325，直至车辆的耗电量小于或等于剩余电量。
若计算出的耗电量仍大于剩余电量，则可认为车辆仍无法到达目的地，因而还需要继续降低电池组的峰值放电功率，即将该候选峰值放电功率作为新的峰值放电功率，并再次执行步骤S321至步骤S325，直到车辆的耗电量小于或等于剩余电量，此时可认为车辆能够达到达目的地。
例如，续航里程为70km，小于目标行驶里程90km,此时将候选峰值放电功率75kW作为新的最大峰值放电功率，并再次执行步骤S321至步骤S325，直到车辆的耗电量小于或等于剩余电量，此时得到的候选峰值放电功率为60kW，因而可将电池组的新的放电功率设置为60kW。
值得说明的是，在确定电池组的峰值放电功率后，可以基于该峰值放电功率对车辆的电池组进行控制。具体的，可以响应于驾驶员的操作指令控制车辆行驶并在车辆的行驶过程中实时获取电池组的放电功率，当电池组的放电功率大于或等于该峰值放电功率时，控制电池组以该峰值放电功率放电。
这样，通过限制电池组的峰值放电功率，可以避免因车辆急加速导致的电池组大功率放电问题，进而提高了电池组的放电效率，降低了车辆的耗电量，以使车辆能够到达目的地。
实施方式三：同时调整车辆的最大行驶速度和电池组的峰值放电功率。
在该实施方式下，如图4所示，上述步骤S103包括以下步骤：
在步骤S331中，根据峰值放电功率和预设放电功率变化量计算候选峰值放电功率。
在步骤S332中，根据峰值放电功率与车辆行驶速度之间的预设对应关系，确定与候选峰值放电功率对应的新的最大行驶速度。
在步骤S333中，根据新的最大行驶速度和预设速度变化量计算候选最大行驶速度。
可选地，可将最大行驶速度和预设速度变化量的差值确定为候选最大行驶速度，将峰值放电功率和预设放电功率变化量的差值确定为候选峰值放电功率。
例如，若最大行驶速度为120km/h，预设速度变化量为20km/h，则候选最大行驶速度为100km/h；若峰值放电功率为90kW，预设放电功率变化量为15kW，则候选峰值放电功率为75kW。
在步骤S334中，判断候选最大行驶速度是否大于或等于预设速度阈值。
若候选最大行驶速度大于或等于预设速度阈值，则执行步骤S335；否则执行步骤S104。
在步骤S335中，根据目标行驶路径、候选最大行驶速度和候选峰值放电功率确定车辆的耗电量。
在该步骤中，根据目标行驶路径、候选最大行驶速度和候选峰值放电功率确定车辆的耗电量的具体过程与上述步骤S102的具体过程类似，请参见对上述步骤S102的描述，为了减少冗余，此处不再赘述。
在步骤S336中，判断车辆的耗电量是否小于或等与剩余电量。
若车辆的耗电量小于或等于剩余电量，则执行步骤S337；否则执行步骤S338。
在步骤S337中，将候选最大行驶速度作为新的最大行驶速度，同时将候选峰值放电功率作为新的峰值放电功率。
在步骤S338中，将候选最大行驶速度作为新的最大行驶速度，同时将候选峰值放电功率作为新的峰值放电功率，并再次执行步骤S331至步骤S336，直至车辆的耗电量小于或等于剩余电量。
例如，候选最大行驶速度为100km/h，大于预设速度50km/h，此时，将候选最大行驶速度100km/h作为新的最大行驶速度，并再次执行步骤S331至步骤S336，直至车辆续航里程大于或等于目标行驶里程，此时，候选最大行驶速度为60km/h，候选峰值放电功率为50kW，因而可将车辆的新的最大行驶速度设置为60km/h，电池组的新的放电功率设置为50kW。
值得说明的是，在确定车辆的最大行驶速度和电池组的峰值放电功率后，可以基于该最大行驶速度和该峰值放电功率对车辆进行控制。具体地，可以响应于驾驶员的操作指令控制车辆行驶并且在车辆的行驶过程中实时获取车辆的行驶速度和电池组的放电功率，当车辆的行驶速度大于或等该最大行驶速度时，控制车辆以最大行驶速度行驶，以 及当电池组的放电功率大于或等于该峰值放电功率时，控制电池组以峰值放电功率放电。
这样，通过限制车辆的最大行驶速度可以降低车辆所需的驱动功率，通过限制电池组的峰值放电功率可以避免因车辆急加速产生的电池组大功率放电问题，可以提高电池组的放电效率，降低车辆的耗电量，以使车辆能够到达目的地。
针对上述实施方式，在设定车辆的最大行驶速度的过程中，在每一次根据最大行驶速度和预设速度变化量计算得到候选最大行驶速度后，若候选最大行驶速度小于或等于预设速度阈值，则不能继续降低最大行驶速度，相应地，如图2至图4所示，上述方法还包括：
若候选最大行驶速度小于预设速度阈值，则执行步骤S104，即获取车辆前方的路况信息并根据路况信息确定新的目标行驶路径；和/或获取车辆的预设区域内的充电桩信息，并根据充电桩信息输出提示信息。
例如，候选最大行驶速度80km/h能够让车辆到达目的地，而预设速度阈值为90km/h，此时，可以由车辆的人机交互模块获取车辆前方的路况信息并根据路况信息确定新的目标行驶路径，以使车辆按照该新的目标行驶路径行驶到达目的地。还可以通过车辆的人机交互模块获取车辆预设区域内(例如以车辆为圆心、固定距离为半径的区域)的充电桩信息，并且输出用于指示对电池组进行充电的提示信息，该提示信息用于指示用户根据充电桩信息对车辆进行充电。其中，提示信息可以包括充电桩的位置、占用状态信息等信息。
值得说明的是，提示信息的形式可以包括但不限于：文字、声音、震动以及任意两者或三者的组合等。
在本公开的一个实施例中，针对上述步骤S103，若目标行驶路径包括高速路段和非高速路段，则可以获取高速路段的最低限速值。对于非高速路段，可以根据预设速度阈值调整最大行驶速度和/或峰值放电功率；而在高速路段，可以将该高速路段的最低限速值作为新的预设速度阈值，根据新的预设速度阈值调整最大行驶速度和/或峰值放电功率。
值得说明的是，即使在非高速路段，也可以采取仅调整车辆在非高速路段的部分路段的最大行驶速度和/或电池组的峰值放电功率，以使车辆能够达到目的地，满足驾驶员的驾驶需求。
在另一个实施例中，针对上述步骤S103，在车辆的耗电量大于剩余电量时，可以输出用于指示调整最大行驶速度和/或峰值放电功率的提示信息，并在接收到用于指示调整最大行驶速度和/或峰值放电功率的请求指令时，调整最大行驶速度和/或峰值放电功率。
示例地，在车辆的耗电量大于剩余电量时，可以由车辆的人机交互模块输出提示信息，以使驾驶员确定是否调整车辆的最大行驶速度和/或电池组的峰值放电功率并等待接收驾驶员的指示信号。在人机交互模块接收到驾驶员输入的指示调整最大行驶速度和/或峰值放电功率的请求指令时，可以根据图2至图3所述的任一实施例调整最大行驶速度和峰值放电功率。通过采取人机交互的方式，实现了驾驶员与车辆之间的对话功能。
本公开还提供了一种车辆控制系统，如图5所示，该车辆控制系统500包括导航模块501、电源管理模块502、整车控制器503。
导航模块501用于获取车辆的行驶信息，行驶信息包括车辆的预设速度阈值、最大行驶速度和目标行驶路径。
具体地，导航模块501内置有GPS定位单元，结合卫星定位获取车辆的当前位置以及使用在线地图查询车辆的当前位置和目的地之间的路况信息，并根据路况信息规划至少一条行驶路径，驾驶员可以通过行驶路径选择其中一条作为目标行驶路径。
对于车辆的最大行驶速度，其可以是预先设置好的(例如车辆出厂时的默认缺省值或者驾驶员根据需要设定的数值)，也可以是由导航模块501中内置的速度传感器获取到的车辆从出发时刻至当前时刻这段时间内所达到的最大行驶速度。
值得说明的是，预设速度阈值可以是默认缺省值，也可以由驾驶员根据需要设置的数值。此外，考虑到某些路段对车辆有最低行驶速度的要求，还可以根据目标行驶路径确定。例如，目标行驶路径中包含高速路段，若该高速路段限速最低为90km/h，则可将预设速度阈值设置为90km/h。
电源管理模块502用于获取车辆的电池信息，电池信息包括电池组的剩余电量和峰值放电功率。
具体地，电源管理模块502可以包括电池传感器、温度传感器等，电池传感器可以获取电池组的SOC(State of Charge，荷电状态)和SOH(Section of Health，性能状态)信息，温度传感器可以获取电池组的温度信息，通过这些信息与电池组的剩余电量之间的预设对应关系计算当前采集到的SOC、SOH以及温度等信息所对应的电池组的剩余电 量。
整车控制器503，分别与导航模块501和电源管理模块502连接，用于根据目标行驶路径、最大行驶速度和峰值放电功率，确定车辆的耗电量；在至少满足车辆的耗电量大于剩余电量时，根据预设速度阈值调整车辆的最大行驶速度和/或峰值放电功率。
具体地，整车控制器503与导航模块501和电源管理模块502之间的连接方式可以包括但不限于通过车辆总线(如CAN总线)连接的方式。
在一个实施例中，整车控制器503用于根据最大行驶速度和预设速度变化量计算候选最大行驶速度；在候选最大行驶速度大于或等于预设速度阈值时，根据目标行驶路径、候选最大行驶速度和峰值放电功率确定车辆的耗电量；
在车辆的耗电量小于或等于剩余电量时，将候选最大行驶速度作为新的最大行驶速度。
在车辆的耗电量大于剩余电量时，将候选最大行驶速度作为新的最大行驶速度，并再次执行所述根据最大行驶速度和预设速度变化量计算候选最大行驶速度至所述根据目标行驶路径、候选最大行驶速度和峰值放电功率确定车辆的耗电量的步骤，直至车辆的耗电量小于或等于所述剩余电量。
在一个实施例中，整车控制器503用于根据峰值放电功率和预设放电功率变化量计算候选峰值放电功率；根据峰值放电功率与车辆的最大行驶速度之间的预设对应关系，确定与候选峰值放电功率对应的新的最大行驶速度；当所述新的最大行驶速度大于或等于预设速度阈值时，根据目标行驶路径、新的最大行驶速度和候选峰值放电功率确定车辆的耗电量；
当车辆的耗电量小于或等于剩余电量时，将候选峰值放电功率作为新的峰值放电功率。
当车辆的耗电量大于剩余电量时，将候选峰值放电功率作为新的峰值放电功率，并再次执行所述根据峰值放电功率和预设放电功率变化量计算候选峰值放电功率至所述根据目标行驶路径、新的最大行驶速度和候选峰值放电功率确定车辆的耗电量的步骤，直至车辆的耗电量小于或等于剩余电量。
在一个实施例中，整车控制器503用于在目标行驶路径包括高速路段和非高速路段时，获取高速路段的最低限速值；在非高速路段，根据预设速度阈值调整最大行驶速度和/或峰值放电功率；在高速路段，将最低限速值作为新的预设速度阈值，根据新的预 设速度阈值调整最大行驶速度和/或峰值放电功率。
在另一个实施例中，车辆控制系统500还包括人机交互模块504，人机交互模块504与整车控制器503连接，在车辆的耗电量大于剩余电量时，整车控制器503向人机交互模块504发送控制信号；
人机交互模块504用于响应于该控制信号，输出用于指示调整最大行驶速度和/或峰值放电功率的提示信息；在接收到用于指示调整最大行驶速度和/或峰值放电功率的请求指令时，向整车控制器503发送指示信息。
整车控制器503还用于响应于该指示信息，调整最大行驶速度和/或峰值放电功率。
示例地，当车辆的耗电量大于剩余电量时，控制器503向人机交互模块504发送控制信号，人机交互模块504响应于控制器503发送的控制信号，输出提示信息，以使驾驶员确定是否调整车辆的最大行驶速度和/或电池组的峰值放电功率。人机交互模块504在接收到驾驶员输入的指示调整最大行驶速度和/或峰值放电功率的请求指令时，向整车控制器503发送指示信息。整车控制器503响应于人机交互模块504发送的指示信息，调整最大行驶速度和/或峰值放电功率。其中，人机交互模块504可以通过CAN总线与整车控制器503连接，指示信息的形式可以例如包括但不限于：文字、声音、震动以及任意两者或者三者的组合等。
关于上述实施例中的系统，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
采用上述车辆控制系统，在车辆电池组的剩余电量无法让车辆到达目的地时，通过调整车辆的最大行驶速度和/或电池组的峰值放电功率，可以提高电池组的放电效率，减少车辆的耗电量，使车辆能够到达目的地。
本公开还提供了一种车辆，包括上述任一实施例所述的车辆控制系统，对于车辆控制系统，在此不在赘述。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合。为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (10)

  1. 一种车辆控制方法，其特征在于，包括：
    获取车辆的行驶信息和电池信息，所述行驶信息包括所述车辆的预设速度阈值、最大行驶速度和目标行驶路径，所述电池信息包括所述车辆的电池组的剩余电量和峰值放电功率；
    根据所述目标行驶路径、所述最大行驶速度和所述峰值放电功率，确定所述车辆的耗电量；
    在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率。
  2. 根据权利要求1所述的方法，其特征在于，所述根据所述预设速度阈值调整所述最大行驶速度，包括：
    根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度；
    若所述候选最大行驶速度大于或等于所述预设速度阈值，则根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量；
    若所述车辆的耗电量小于或等于所述剩余电量，则将所述候选最大行驶速度作为新的最大行驶速度。
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述预设速度阈值调整所述最大行驶速度，还包括：
    若所述车辆的耗电量大于所述剩余电量，则将所述候选最大行驶速度作为新的最大行驶速度，并再次执行所述根据所述最大行驶速度和预设速度变化量计算候选最大行驶速度至所述根据所述目标行驶路径、所述候选最大行驶速度和所述峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
  4. 根据权利要求2所述的方法，其特征在于，所述方法还包括：
    若所述候选最大行驶速度小于所述预设速度阈值，则执行以下操作：
    获取所述车辆前方的路况信息并根据所述路况信息确定新的目标行驶路径；和/或
    获取所述车辆的预设区域内的充电桩信息，并根据所述充电桩信息输出提示信息。
  5. 根据权利要求1所述的方法，其特征在于，所述根据所述预设速度阈值调整所述峰值放电功率，包括：
    根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率；
    根据峰值放电功率与所述车辆的最大行驶速度之间的预设对应关系，确定与所述候选峰值放电功率对应的新的最大行驶速度；
    若所述新的最大行驶速度大于或等于所述预设速度阈值，则根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量；
    若所述车辆的耗电量小于或等于所述剩余电量，则将所述候选峰值放电功率作为新的峰值放电功率。
  6. 根据权利要求5所述的方法，其特征在于，所述根据所述预设速度阈值调整所述峰值放电功率，还包括：
    若所述车辆的耗电量大于所述剩余电量，则将所述候选峰值放电功率作为新的峰值放电功率，并再次执行所述根据所述峰值放电功率和预设放电功率变化量计算候选峰值放电功率至所述根据所述目标行驶路径、所述新的最大行驶速度和所述候选峰值放电功率确定所述车辆的耗电量的步骤，直至所述车辆的耗电量小于或等于所述剩余电量。
  7. 根据权利要求1～6中任一项所述的方法，其特征在于，所述根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率，包括：
    若所述目标行驶路径包括高速路段和非高速路段，则获取所述高速路段的最低限速值；
    在所述非高速路段，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率；
    在所述高速路段，将所述最低限速值作为新的预设速度阈值，根据所述新的预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率。
  8. 根据权利要求1～6任一项所述的方法，其特征在于，所述在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述最大行驶速度和/或所述峰值放电功率，包括：
    在所述车辆的耗电量大于所述剩余电量时，输出用于指示调整所述最大行驶速度和/或所述峰值放电功率的提示信息；
    在接收到用于指示调整所述最大行驶速度和/或所述峰值放电功率的请求指令时，调整所述最大行驶速度和/或所述峰值放电功率。
  9. 一种车辆控制系统，其特征在于，包括：
    导航模块，用于获取车辆的行驶信息，所述行驶信息包括所述车辆的预设速度阈值、最大行驶速度和目标行驶路径；
    电源管理模块，用于获取所述车辆的电池信息，所述电池信息包括所述车辆的电池组的剩余电量和峰值放电功率；
    整车控制器，分别与所述导航模块和所述电源管理模块连接，用于根据所述目标行驶路径、所述最大行驶速度和所述峰值放电功率，确定所述车辆的耗电量；在至少满足所述车辆的耗电量大于所述剩余电量时，根据所述预设速度阈值调整所述车辆的最大行驶速度和/或所述峰值放电功率。
  10. 一种车辆，其特征在于，包括权利要求9所述的车辆控制系统。
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