WO2024131436A1 - Procédé, appareil et système de récupération d'énergie pour véhicule autonome - Google Patents

Procédé, appareil et système de récupération d'énergie pour véhicule autonome Download PDF

Info

Publication number
WO2024131436A1
WO2024131436A1 PCT/CN2023/133876 CN2023133876W WO2024131436A1 WO 2024131436 A1 WO2024131436 A1 WO 2024131436A1 CN 2023133876 W CN2023133876 W CN 2023133876W WO 2024131436 A1 WO2024131436 A1 WO 2024131436A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
distance
information
energy recovery
braking
Prior art date
Application number
PCT/CN2023/133876
Other languages
English (en)
Chinese (zh)
Inventor
王锦霞
李雷
姚要攀
Original Assignee
德力新能源汽车有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 德力新能源汽车有限公司 filed Critical 德力新能源汽车有限公司
Publication of WO2024131436A1 publication Critical patent/WO2024131436A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18109—Braking
    • B60W30/18127—Regenerative braking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects

Definitions

  • the present invention relates to the field of vehicle technology, and in particular to an energy recovery method, device, electronic device and computer storage medium for an autonomous driving vehicle.
  • the speed control of autonomous vehicles usually extracts the current road speed limit signs based on visual devices such as cameras, and combines map navigation data to indicate the current road speed limit, and controls the vehicle speed based on the situation of the vehicle in front.
  • the vehicle speed is sometimes still relatively fast, and the deceleration timing is delayed, requiring rapid braking from a higher speed, and the braking distance is short, which is basically achieved through mechanical braking, resulting in less energy recovery and greater vehicle driving energy consumption. Therefore, how to better achieve energy recovery for autonomous vehicles has become an urgent problem to be solved.
  • the object of the present invention is to solve one of the above-mentioned technical problems at least to a certain extent.
  • the first purpose of the present invention is to propose an energy recovery method for an autonomous driving vehicle.
  • the method through computing power analysis, enters deceleration in advance, increases the allowable braking distance, increases the participation of energy recovery in the braking process, increases energy storage, and reduces the vehicle's driving energy consumption.
  • an energy recovery method for an autonomous driving vehicle includes: obtaining status information, environmental information and road condition information of the vehicle; determining the vehicle posture according to the status information, environmental information and the road condition information, and calculating a first distance of the vehicle from an intersection, a vehicle energy recovery braking distance and a distance required for mechanical braking based on the vehicle posture; performing energy recovery of the vehicle based on the vehicle satisfying the first distance of the vehicle from an intersection, the vehicle energy recovery braking distance and the distance required for mechanical braking, wherein the energy recovery of the vehicle is performed by comparing the first distance with the vehicle energy recovery braking distance and the distance required for mechanical braking.
  • the vehicle posture is determined according to the state information, environmental information and road condition information, and a first distance from the vehicle to the intersection, a braking distance of the vehicle energy recovery braking and a required distance for mechanical braking are calculated based on the vehicle posture, and the first distance from the vehicle to the intersection, a braking distance of the vehicle energy recovery braking and a required distance for mechanical braking are calculated based on the vehicle satisfying the first distance from the vehicle to the intersection, a braking distance of the vehicle energy recovery braking and a required distance for mechanical braking.
  • the required distance for mechanical braking is used to perform energy recovery of the vehicle, wherein the energy recovery of the vehicle is performed by comparing the first distance with the vehicle energy recovery braking distance and the required distance for mechanical braking.
  • the method uses power analysis to enter deceleration in advance, increase the allowable braking distance, increase the participation of energy recovery in the braking process, increase energy storage, and reduce the vehicle's driving energy consumption.
  • the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information and battery status; the environmental information includes one or more of front vehicle information, adjacent lane vehicle information and obstacle information.
  • the road condition information includes one or more of intersection information, traffic information and road information;
  • the vehicle posture includes one of normal vehicle driving, adaptive cruise control, active emergency braking to avoid obstacles, lane deviation, about to pass an intersection, parking state and preparing for automatic parking.
  • the vehicle energy recovery braking distance is calculated based on a first calculation model according to the state information, the environmental information and the road condition information, wherein the vehicle speed information, the road surface coefficient and the target braking torque are input into the first calculation model to output a first braking distance, and the vehicle energy recovery braking distance is calculated based on the first braking distance and a first preset safety distance.
  • the target braking torque is obtained according to the vehicle speed and the charging power of the vehicle.
  • the required distance for mechanical braking is calculated based on a second calculation model according to the state information, the environmental information and the road condition information, wherein the vehicle speed information and the road surface coefficient are input into the second calculation model to output the braking pressure and the corresponding second braking distance, and the required distance for mechanical braking is calculated based on the second braking distance and the second preset safety distance.
  • energy recovery of the vehicle is performed, including: determining whether the first distance is greater than the vehicle's energy recovery braking distance; if so, not performing energy recovery of the vehicle; if not, and determining that the first distance is greater than the distance required for mechanical braking, controlling the vehicle to decelerate to a target speed to perform energy recovery of the vehicle, and simultaneously acquiring the first distance, the vehicle's energy recovery braking distance and the distance required for mechanical braking in real time to control the vehicle speed.
  • the mechanical brake when it is determined that the first distance is not greater than the distance required for the mechanical brake, the mechanical brake is activated or the vehicle is decelerated to stop.
  • a first distance between the vehicle and the intersection is calculated in real time based on road condition information.
  • an energy recovery system for an autonomous driving vehicle is proposed in an embodiment of the third aspect of the present invention, and the system includes: a whole vehicle control module and an autonomous driving control module, wherein the whole vehicle control module is used to report vehicle information to the autonomous driving control module, and at the same time receive control instructions from the autonomous driving control module, and send the control instructions to one or more sub-control units, and the sub-control units are used to control the energy recovery of the vehicle.
  • the electronic device proposed in the fourth aspect of the embodiment of the present invention includes: a memory, a processor, and a computer program stored in the memory and executable on the processor.
  • the processor executes the computer program, the energy recovery method for the autonomous driving vehicle described in the first aspect of the embodiment of the present invention is implemented.
  • the fifth aspect of the present invention provides a computer-readable storage medium, and when the computer program is executed by a processor, it implements the energy recovery method for the autonomous driving vehicle described in the first aspect of the present invention.
  • FIG1 is a flow chart of an energy recovery method for an autonomous driving vehicle according to an embodiment of the present invention.
  • FIG2 is a flow chart of an energy recovery method for an autonomous driving vehicle according to another embodiment of the present invention.
  • FIG3 is a schematic diagram of an energy recovery system for an autonomous driving vehicle according to an embodiment of the present invention.
  • FIG4 is a schematic diagram of an energy recovery device for an autonomous driving vehicle according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
  • the present invention proposes an energy recovery method, device, electronic device and storage medium for an autonomous driving vehicle.
  • FIG1 is a flow chart of an energy recovery method for an autonomous driving vehicle according to an embodiment of the present invention.
  • the energy recovery method for an autonomous driving vehicle according to an embodiment of the present invention can be applied to an energy recovery device and system for an autonomous driving vehicle according to an embodiment of the present invention, and the device can be configured on an electronic device or in a server.
  • the electronic device can be a PC or a mobile terminal. The embodiment of the present invention does not limit this.
  • the energy recovery method of the autonomous driving vehicle includes:
  • the vehicle's status information, environmental information, and road condition information may be acquired through a plurality of sensors.
  • the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information and battery status.
  • the environmental information includes one or more of the following: the vehicle ahead information, the vehicle in the adjacent lane information, and the obstacle information.
  • the traffic information includes one or more of intersection information, traffic information and road information.
  • vehicle's state information, environmental information, and road condition information can also be obtained through a variety of other ways.
  • vehicle's state information, environmental information, and/or road condition information can be obtained via vehicle networking communication, such as from other traffic participants and/or traffic infrastructure.
  • the vehicle posture or vehicle state determining the vehicle posture or vehicle state according to the state information, environment information and road condition information, and calculating the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the required mechanical braking distance based on the vehicle posture.
  • the current position of the vehicle can be determined according to the state information, environment information and road condition information.
  • driving state the vehicle is or is about to be in such as about to pass an intersection or the vehicle is in a parking state.
  • "Calculating the first distance of the vehicle from the intersection, the vehicle's energy recovery braking distance and the required distance for mechanical braking based on the vehicle posture” can be understood as the calculation of the first distance, the vehicle's energy recovery braking distance and the required distance for mechanical braking being associated with the determined vehicle posture.
  • the vehicle posture includes one of the following: the vehicle is driving normally, the vehicle is in adaptive cruising, active emergency braking to avoid obstacles, the vehicle is deviating from the lane, the vehicle is about to pass an intersection, the vehicle is in a parking state, and the vehicle is ready to automatically park.
  • the calculation of the first distance, the vehicle's energy recovery braking distance and the required distance for mechanical braking can be triggered under a determined vehicle posture (for example, the vehicle is about to actively emergency brake to avoid obstacles, the vehicle is about to pass an intersection, the vehicle is about to stop or park, etc.). Therefore, the calculation of the first distance, the vehicle's energy recovery braking distance and the required distance for mechanical braking can be enabled according to the determined vehicle posture or vehicle state. For example, when it is determined that the vehicle is about to pass an intersection, the calculation of the first distance, the vehicle energy recovery braking distance and the required distance for mechanical braking can be automatically started to find out whether the desired energy recovery method is allowed to be performed.
  • the vehicle energy recovery braking distance and the required distance for mechanical braking can be calculated.
  • the specific implementation process can refer to the subsequent embodiments.
  • S130 based on the vehicle meeting the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the required distance for mechanical braking, the vehicle energy recovery is performed.
  • the energy recovery of the vehicle can be performed by comparing the first distance with the energy recovery braking distance of the vehicle and the required distance of mechanical braking.
  • the specific implementation process can refer to the subsequent embodiments.
  • the vehicle posture is determined by the acquired vehicle status information, environmental information and road condition information, and the first distance of the vehicle from the intersection, the vehicle energy recovery braking distance and the required distance for mechanical braking are calculated based on the vehicle posture, and the vehicle energy recovery is performed based on the vehicle satisfying the first distance of the vehicle from the intersection, the vehicle energy recovery braking distance and the required distance for mechanical braking.
  • the method determines whether to enter the deceleration process in advance through case analysis, increase the allowed braking distance, increase the participation of energy recovery in the braking process, increase energy storage, and reduce unnecessary energy consumption during vehicle driving.
  • FIG2 is a flow chart of an energy recovery method for an autonomous driving vehicle according to a specific embodiment of the present invention.
  • the energy recovery method for an autonomous driving vehicle includes:
  • the vehicle status information, environment information and road condition information can be obtained through multiple sensors. It should be understood that the vehicle status information, environment information and road condition information can also be obtained through multiple other. In some embodiments, the vehicle's status information, environmental information, and/or road condition information may be acquired via vehicle networking communications, such as from other traffic participants and/or traffic infrastructure.
  • the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information and battery status.
  • the environmental information includes one or more of the following: the vehicle ahead information, the vehicle in the adjacent lane information, and the obstacle information.
  • the environmental information of the vehicle is obtained and the environmental information can be filtered.
  • the front vehicle information can be collected by the camera of the current vehicle, and based on the collected front vehicle image information, image filtering technology, such as linear filtering technology and nonlinear filtering technology, is used to perform noise filtering, edge detection, image segmentation, feature extraction and other processing on the image information to enhance image contrast and details and highlight the sense of hierarchy, so that the automatic driving control system can obtain relevant information more quickly and improve the timeliness and accuracy of automatic driving decisions.
  • image filtering technology such as linear filtering technology and nonlinear filtering technology
  • the traffic information includes one or more of intersection information, traffic information and road information.
  • determining the vehicle posture or vehicle state may include not only finding out what driving state the vehicle is currently in according to the state information, environment information and road condition information, but also predicting what driving state the vehicle is about to enter according to the state information, environment information and road condition information.
  • the state information, environment information and road condition information of the vehicle are acquired, and the state information, environment information and road condition information can be integrated and processed to determine the vehicle posture or vehicle state.
  • the vehicle posture or vehicle status includes one of the following: the vehicle is driving normally, the vehicle is in adaptive cruising, active emergency braking to avoid obstacles, the vehicle is deviating from the lane, the vehicle is about to pass through an intersection, the vehicle is in a parking state, and the vehicle is preparing to automatically park.
  • the content of the integrated processing includes but is not limited to: a) Based on the high-precision positioning data of the integrated radar, camera and GPS, locate the current road and lane of the vehicle, as well as the current speed limit of the road section, the current lane speed limit, intersection information, and traffic light information; b) Based on the combination of vision, lidar and ultrasonic radar detection, extract the lane information (road surface, slope, curvature, roll) and side obstacles of the current vehicle position; c) Based on the speed information, judge the current driving state of the vehicle, the state of the vehicle's internal energy system, and the state of the braking and steering systems; d) Based on the current route, dynamically plan the driving route, calculate the basic control information of the vehicle in real time (control the vehicle's driving, turning and braking, control the lights, etc.), and judge whether active emergency braking is required to avoid obstacles, whether steering control or road keeping is required, whether the speed needs to be adjusted or the vehicle needs adaptive cruise control, etc. S230, based on vehicle posture Calcul
  • the first distance between the vehicle and the intersection is calculated in real time based on the road condition information.
  • the following vehicle posture can be determined or predicted based on the state information, environmental information and road condition information, that is, the vehicle is about to pass through the intersection.
  • the calculation of the first distance between the vehicle and the intersection can be enabled based on the determination of the corresponding vehicle posture. Additionally or alternatively, the calculation of the first distance between the vehicle and the intersection can be enabled based on the following vehicle posture, that is, the vehicle is about to pass through the intersection and needs to slow down or even stop with a higher probability.
  • the state information, environmental information and/or road condition information it is found that the traffic light at the relevant intersection is about to become or is already in a red light, and it is usually predicted that it is necessary to slow down or even stop with a higher probability.
  • traffic congestion or traffic accidents occur at the relevant intersection, and it is usually predicted that it is necessary to slow down or even stop with a higher probability.
  • the first distance of the vehicle from the intersection can be calculated in real time based on the road condition information and the vehicle positioning information.
  • the location data of the intersection that the vehicle is about to pass can be found based on the road condition information, such as the road condition information stored in the navigation map.
  • the first distance of the vehicle from the intersection can be calculated in combination with the location data of the intersection and the vehicle positioning information.
  • the measurement data of the intersection ahead can be obtained by means of a sensor, and the first distance of the vehicle from the intersection can be calculated in real time based on the measurement data.
  • the point cloud data of the intersection ahead can be obtained by means of a laser radar, and/or the image of the intersection ahead can be obtained by means of a camera, and objects associated with the intersection (such as zebra crossings, traffic lights, etc.) can be identified based on the point cloud data and/or the image.
  • the first distance of the vehicle from the intersection can be calculated based on the positioning of the identified object.
  • the first distance of the vehicle from the intersection may be calculated based on the position data of the intersection (which may be obtained, for example, from road condition information, such as road condition information stored in a navigation map), the vehicle positioning information, and the length of the congested road section (which may be obtained, for example, from road condition information, such as road condition information stored in a navigation map).
  • the measurement data of the traffic participants at the end of the congested section can be obtained by means of sensors, and the first distance of the vehicle from the intersection can be adjusted in real time based on the measurement data.
  • the point cloud data of the traffic participants at the end of the congested section can be obtained by means of a laser radar.
  • an image of a traffic participant at the end of the congested road section may be obtained by means of a camera.
  • the first distance between the vehicle and the intersection may be adjusted based on the location of the traffic participant at the end of the congested road section.
  • S240 calculating a regenerative braking distance of the vehicle based on the vehicle posture.
  • the vehicle energy recovery braking distance is calculated based on a first calculation model according to state information, environmental information and road condition information, wherein the vehicle speed information, road surface coefficient and target braking torque are input into the first calculation model to output a first braking distance, and the vehicle energy recovery braking distance is calculated based on the first braking distance and a first preset safety distance.
  • the target braking torque is obtained according to the speed of the vehicle and the charging power of the vehicle.
  • the state of charge of the battery of the vehicle can be detected, and the target braking torque is adjusted according to the state of charge of the battery.
  • the maximum value of the target braking torque is specified when the state of charge of the battery is lower than a first predetermined threshold.
  • the minimum value of the target braking torque is specified when the state of charge of the battery is higher than a second predetermined threshold.
  • the first preset safety distance can be set to 2 meters.
  • the sum of the first braking distance and the first preset safety distance can be used as the vehicle energy recovery braking distance.
  • the first preset safety distance can be adjusted according to road condition information.
  • the first preset safety distance can be adjusted according to the road type, road speed limit, and/or road surface coefficient (road surface friction coefficient). Thereby further improving driving safety.
  • the road surface information can be obtained through the vehicle-mounted sensing system, and then the road surface coefficient can be obtained.
  • the road surface information can be obtained with the help of vehicle network data and/or sensor detection data, and then the road surface coefficient can be obtained.
  • a real-time detection program can be started, that is, the road surface coefficient is first determined by the distance traveled from the first speed to the second speed in a predetermined braking mode.
  • point cloud data of the road surface can be obtained with the help of a laser radar, and/or an image of the road surface can be obtained with the help of a camera.
  • the road surface coefficient can be determined based on the analysis of the point cloud data and/or the image.
  • the required distance for mechanical braking is calculated based on a second calculation model according to state information, environmental information and road condition information, wherein the vehicle speed information and the road surface coefficient are input into the second calculation model to output the braking pressure and the corresponding second braking distance, and the required distance for mechanical braking is calculated based on the second braking distance and the second preset safety distance.
  • the braking pressure is the pressure value for parking within the normal deceleration range.
  • the road surface information can be obtained through the vehicle-mounted sensing system, and then the road surface coefficient can be obtained.
  • the road surface information can be obtained with the help of vehicle network data and/or sensor detection data, and then the road surface coefficient can be obtained. It is also possible that when the road surface information from different sources is inconsistent, a real-time detection operation can be initiated, that is, the road surface coefficient is determined by the distance traveled from the first speed to the second speed in a predetermined braking mode.
  • point cloud data of the road surface can be obtained with the help of a laser radar, and/or an image of the road surface can be obtained with the help of a camera. The road surface coefficient can be determined based on the analysis of the point cloud data and/or the image.
  • the second braking distance corresponding to different deceleration braking pressures can be output, and then the sum of the second braking distance and the second preset safety distance is used as the required distance for mechanical braking.
  • the second preset safety distance can be 2 meters.
  • the second preset safety distance can be adjusted according to road condition information.
  • the second preset safety distance can be adjusted according to the road type, road speed limit, and/or road surface coefficient (road friction coefficient). This further improves driving safety.
  • the vehicle's energy recovery braking distance it is determined whether the first distance is greater than the vehicle's energy recovery braking distance; if so, the vehicle's energy recovery is not performed; if not, and when it is determined that the first distance is greater than the distance required for mechanical braking, the vehicle is controlled to decelerate to a target speed to perform vehicle energy recovery, and at the same time, the first distance, the vehicle's energy recovery braking distance and the distance required for mechanical braking are obtained in real time to control the vehicle speed.
  • the first distance, the vehicle energy recovery braking distance and the required mechanical braking distance need to be updated or calculated in real time, and different braking modes are triggered according to different comparison relationships with each other.
  • the mechanical braking or deceleration to stop the vehicle is initiated.
  • the vehicle's energy recovery braking distance and the required distance for mechanical braking are calculated based on the vehicle's posture. Based on the vehicle satisfying the first distance of the vehicle from the intersection, the vehicle's energy recovery braking distance and the required distance for mechanical braking, the vehicle's energy recovery is performed.
  • the method enables the drive motor's energy regenerative braking function at the appropriate time through calculation, decelerates in advance, and improves the drive motor's energy braking during the deceleration process.
  • the participation of the vehicle can be reduced, the participation of mechanical brakes can be reduced, the energy recovery rate can be improved, the energy storage can be increased, the vehicle's driving energy consumption can be reduced, and the vehicle's driving range can be increased.
  • the present invention also proposes an energy recovery system for an autonomous driving vehicle.
  • the energy recovery system 300 for an autonomous driving vehicle includes: a vehicle control module 310 and an autonomous driving control module 320, wherein the vehicle control module 310 is used to report vehicle information to the autonomous driving control module 320, while receiving control instructions from the autonomous driving control module 320, and sending the control instructions to one or more sub-control units, and the sub-control units are used to control the energy recovery of the vehicle.
  • the sub-control unit includes a drive unit and a brake unit. That is, the vehicle control module 310 is used to report vehicle information to the automatic driving control module 320, so that the automatic driving control module 320 generates a drive control instruction or a brake control instruction or a steering instruction based on the vehicle information, and sends the instruction to the corresponding sub-control unit, for example, to the drive unit or the brake unit.
  • the energy recovery system 300 of the autonomous driving vehicle also includes a battery module, which is used to report the status of the battery and the battery controller to the autonomous driving control module 320.
  • the braking energy feedback of the drive unit is received to charge the battery to achieve energy recovery; the battery module must meet the following conditions at the same time to allow braking energy recovery: 1) the vehicle is in a ready state (including the key is in the ON state); 2) there are no serious faults in the drive system and the battery system; 3) the insulation state is normal; 4) the main relay is in a normal closed state; 5) the battery SOC is lower than 95%; 6) the battery temperature is balanced and within the normal range.
  • the vehicle information includes the vehicle's status information, environment information, and road condition information.
  • the energy recovery system 300 of the autonomous driving vehicle further includes an on-board sensor module, which is used to obtain environmental information of the vehicle and report the environmental information to the vehicle control module 310.
  • the energy recovery system 300 of the autonomous driving vehicle also includes a communication module, which is used for cloud communication and/or data reception. For example, it can receive vehicle status information reported by various sensors in real time, including vehicle steering signals, torque signals, braking signals, vehicle speed signals, battery status, etc., and report the status information to the vehicle control module 310.
  • a communication module which is used for cloud communication and/or data reception. For example, it can receive vehicle status information reported by various sensors in real time, including vehicle steering signals, torque signals, braking signals, vehicle speed signals, battery status, etc., and report the status information to the vehicle control module 310.
  • the energy recovery system 300 of the autonomous driving vehicle also includes a positioning module, which is used for real-time positioning.
  • a positioning module which is used for real-time positioning.
  • road condition information such as intersection information, traffic information, and road information, can be obtained based on the positioning module, and the road condition information can be reported to the vehicle control module 310.
  • an embodiment of the present invention further provides an energy recovery device for an autonomous driving vehicle. Since the energy recovery device for an autonomous driving vehicle provided in the embodiment of the present invention corresponds to the energy recovery methods for autonomous driving vehicles provided in the above-mentioned embodiments, The implementation of the energy recovery method in the autonomous driving vehicle is also applicable to the energy recovery device of the autonomous driving vehicle provided in this embodiment, and will not be described in detail in this embodiment.
  • Figure 4 is a schematic diagram of the structure of the energy recovery device of the autonomous driving vehicle according to one embodiment of the present invention.
  • the energy recovery device 400 of the autonomous driving vehicle includes: an acquisition module 410 , a calculation module 420 , and an execution module 430 , wherein:
  • the acquisition module 410 is used to acquire vehicle status information, environmental information and road condition information;
  • a calculation module 420 configured to determine the vehicle posture according to the state information, the environment information and the road condition information, and calculate a first distance of the vehicle from the intersection, a vehicle energy recovery braking distance and a required mechanical braking distance based on the vehicle posture;
  • the execution module 430 is used to execute the energy recovery of the vehicle based on the first distance between the vehicle and the intersection, the energy recovery braking distance of the vehicle, and the required distance for the mechanical brake. In other words, the execution module 430 is used to execute the energy recovery of the vehicle based on the comparison between the first distance and the energy recovery braking distance of the vehicle and the required distance for the mechanical brake.
  • the execution module 430 can be configured to determine whether the first distance is greater than the vehicle's energy recovery braking distance; if not, and when it is determined that the first distance is greater than the distance required for the mechanical braking, the vehicle is controlled to decelerate to a target speed to perform energy recovery for the vehicle; and at the same time, the first distance, the vehicle's energy recovery braking distance and the distance required for the mechanical braking are acquired in real time to control the vehicle speed.
  • the first distance, the vehicle energy recovery braking distance and the required mechanical braking distance need to be updated or calculated in real time, and different braking modes are triggered according to different comparison relationships between them.
  • the acquisition module 410 may be configured to acquire vehicle status information, environmental information, and road condition information from a variety of sources.
  • the vehicle status information, environmental information, and/or road condition information may be acquired via vehicle networking communications, such as from other traffic participants and/or traffic infrastructure.
  • the calculation module 420 may be configured to start calculating the first distance, the vehicle energy recovery braking distance, and the required distance for mechanical braking according to the determined vehicle posture or vehicle state. For example, when it is determined that the vehicle is about to pass through an intersection, the calculation of the first distance, the vehicle energy recovery braking distance, and the required distance for mechanical braking may be automatically started to find out whether the desired energy recovery method is allowed to be executed.
  • the calculation module 420 can be configured to calculate the traffic flow according to the state information, environment information and road conditions. Information can be used to find out what kind of driving state the vehicle is currently in, and it can be predicted what kind of driving state the vehicle is about to enter according to state information, environmental information and road condition information.
  • the computing module 420 can be configured to determine or predict the following vehicle posture according to state information, environmental information and road condition information, that is, the vehicle is about to pass through an intersection. Based on the determination of the corresponding vehicle posture, the calculation of the first distance of the vehicle from the intersection can be opened.
  • the calculation of the first distance of the vehicle from the intersection can be opened according to the following vehicle posture, that is, the vehicle is about to pass through an intersection and needs to slow down or even stop with a higher probability.
  • vehicle posture that is, the vehicle is about to pass through an intersection and needs to slow down or even stop with a higher probability.
  • state information, environmental information and/or road condition information it is found that the traffic lights at the relevant intersection are about to become or are already in a red light, and it is usually predicted that it is necessary to slow down or even stop with a higher probability.
  • traffic congestion or traffic accidents occur at the relevant intersection, and it is usually predicted that it is necessary to slow down or even stop with a higher probability.
  • the calculation module 420 can be configured to calculate the first distance of the vehicle from the intersection in real time based on the road condition information and the vehicle positioning information.
  • the location data of the intersection that the vehicle is about to pass can be found based on the road condition information, such as the road condition information stored in the navigation map.
  • the first distance of the vehicle from the intersection can be calculated by combining the location data of the intersection and the vehicle positioning information.
  • the calculation module 420 can be configured to obtain measurement data of the front intersection by means of a sensor, and calculate the first distance of the vehicle from the intersection in real time based on the measurement data.
  • the point cloud data of the front intersection can be obtained by means of a laser radar, and/or the image of the front intersection can be obtained by means of a camera, and objects associated with the intersection (such as zebra crossings, traffic lights, etc.) can be identified based on the point cloud data and/or the image.
  • the first distance of the vehicle from the intersection can be calculated based on the positioning of the identified object. Additionally or alternatively, other traffic participants in front of the vehicle's driving lane can be advantageously considered when calculating the first distance of the vehicle from the intersection.
  • traffic congestion can be found out at the corresponding intersection by means of vehicle network data and/or sensor detection data, for example, a certain number of other traffic participants have stopped at the corresponding intersection.
  • the first distance of the vehicle from the intersection can be calculated based on the position data of the intersection (which can be obtained from road condition information, such as road condition information stored in a navigation map), vehicle positioning information, and the length of the congested section (which can be obtained from road condition information, such as road condition information stored in a navigation map).
  • the measurement data of the traffic participants at the end of the congested section can be obtained by means of a sensor, and the first distance of the vehicle from the intersection can be adjusted in real time based on the measurement data.
  • the point cloud data of the traffic participants at the end of the congested section can be obtained by means of a laser radar, and/or the image of the traffic participants at the end of the congested section can be obtained by means of a camera.
  • the first distance of the vehicle from the intersection can be adjusted based on the positioning of the traffic participants at the end of the congested section.
  • the energy recovery device of the autonomous driving vehicle of the embodiment of the present invention by acquiring the state information of the vehicle, Environmental information and road condition information, according to the state information, environmental information and road condition information, determine the vehicle posture, and calculate the first distance of the vehicle from the intersection, the vehicle energy recovery braking distance and the required distance for mechanical braking based on the vehicle posture, and execute the vehicle's energy recovery based on the vehicle meeting the first distance of the vehicle from the intersection, the vehicle energy recovery braking distance and the required distance for mechanical braking. Therefore, through computing power analysis, deceleration is entered in advance, the allowed braking distance is increased, the participation of energy recovery in the braking process is increased, energy storage is increased, and the vehicle's driving energy consumption is reduced.
  • the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information and battery status; the environmental information includes one or more of front vehicle information, adjacent lane vehicle information and obstacle information.
  • the road condition information includes one or more of intersection information, traffic information and road information;
  • the vehicle posture includes one of the following: normal vehicle driving, vehicle adaptive cruising, active emergency braking to avoid obstacles, vehicle lane deviation, about to pass an intersection, vehicle in a parked state, and vehicle preparing to automatically park.
  • the calculation module 420 is specifically used to calculate the vehicle energy recovery braking distance based on the first calculation model according to the state information, the environmental information and the road condition information, wherein the vehicle speed information, the road surface coefficient and the target braking torque are input into the first calculation model to output the first braking distance, and the vehicle energy recovery braking distance is calculated according to the first braking distance and the first preset safety distance.
  • the calculation module 420 is specifically used to obtain the target braking torque according to the vehicle speed and the charging power of the vehicle.
  • the calculation module 420 is specifically used to calculate the required distance for mechanical braking based on a second calculation model according to the state information, the environmental information and the road condition information, wherein the vehicle speed information and the road surface coefficient are input into the second calculation model to output the braking pressure and the corresponding second braking distance, and the required distance for mechanical braking is calculated based on the second braking distance and the second preset safety distance.
  • the execution module 430 is specifically used to determine whether the first distance is greater than the energy recovery braking distance of the vehicle; if so, the vehicle energy recovery is not executed; if not, and when it is determined that the first distance is greater than the distance required for the mechanical braking, the vehicle is controlled to decelerate to a target speed to execute the energy recovery of the vehicle, and the first distance, the vehicle energy recovery braking distance and the distance required for the mechanical braking are obtained in real time to control the vehicle speed.
  • the execution module 430 is specifically configured to start mechanical braking or decelerate to stop the vehicle when it is determined that the first distance is not greater than the distance required for the mechanical brake.
  • FIG5 shows a schematic diagram of the structure of an electronic device (such as the terminal device or server in FIG1) 500 suitable for implementing the embodiment of the present invention.
  • the electronic device in the embodiment of the present invention may include but is not limited to mobile terminals such as mobile phones, notebook computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc.
  • the electronic device shown in FIG5 is only an example and should not bring any limitation to the functions and scope of use of the embodiment of the present invention.
  • the electronic device 500 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 to a random access memory (RAM) 503.
  • a processing device e.g., a central processing unit, a graphics processing unit, etc.
  • RAM random access memory
  • various programs and data required for the operation of the electronic device 500 are also stored.
  • the processing device 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504.
  • An input/output (I/O) interface 505 is also connected to the bus 504.
  • the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 508 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 509.
  • the communication devices 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data.
  • FIG. 5 shows an electronic device 500 with various devices, it should be understood that it is not required to implement or have all the devices shown. More or fewer devices may be implemented or have instead.
  • an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart.
  • the computer program can be downloaded and installed from the network through the communication device 509, or installed from the storage device 508, or installed from the ROM502.
  • the processing device 501 the above-mentioned functions defined in the method of the embodiment of the present invention are executed.
  • the computer-readable medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two.
  • the computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.
  • a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, device or device.
  • the program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
  • the client and server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network).
  • HTTP HyperText Transfer Protocol
  • Examples of communication networks include a local area network ("LAN”), a wide area network ("WAN”), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.
  • the computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.
  • the above-mentioned computer-readable medium carries one or more programs.
  • the electronic device obtains the vehicle's status information, environmental information and road condition information; determines the vehicle's posture according to the status information, environmental information and road condition information, and calculates the first distance of the vehicle from the intersection, the vehicle's energy recovery braking distance and the distance required for mechanical braking based on the vehicle's posture; performs vehicle energy recovery based on the vehicle satisfying the first distance of the vehicle from the intersection, the vehicle's energy recovery braking distance and the distance required for mechanical braking.
  • the computer-readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: obtains the vehicle's status information, environmental information and road condition information; determines the vehicle's posture according to the status information, environmental information and road condition information, and calculates a first distance from the vehicle to an intersection, a vehicle energy recovery braking distance and a distance required for mechanical braking based on the vehicle's posture; performs vehicle energy recovery based on the vehicle satisfying the first distance from the intersection, the vehicle energy recovery braking distance and the distance required for mechanical braking.
  • Computer program code for performing the operations of the present invention may be written in one or more programming languages or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages.
  • the program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server.
  • the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).
  • LAN local area network
  • WAN wide area network
  • Internet service provider e.g., via the Internet using an Internet service provider
  • each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function.
  • the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved.
  • each square box in the block diagram and/or flow chart, and the combination of the square boxes in the block diagram and/or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments of the present invention may be implemented by software or hardware.
  • the name of a unit does not limit the unit itself in some cases.
  • the first acquisition unit may also be described as a "unit for acquiring at least two Internet Protocol addresses".
  • exemplary types of hardware logic components include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.
  • FPGAs field programmable gate arrays
  • ASICs application specific integrated circuits
  • ASSPs application specific standard products
  • SOCs systems on chip
  • CPLDs complex programmable logic devices
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing.
  • machine-readable storage media would include electrical connections based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), Erasable Programmable Read Only Memory (EPROM or Flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • RAM random access memory
  • ROM read-only memory
  • EPROM or Flash memory Erasable Programmable Read Only Memory
  • CD-ROM portable compact disk read only memory
  • magnetic storage device or any suitable combination of the above.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

Procédé, appareil et système de récupération d'énergie pour un véhicule autonome. Le procédé consiste : à acquérir des informations d'état d'un véhicule, des informations d'environnement et des informations de condition de route ; à déterminer la posture du véhicule en fonction des informations d'état, des informations d'environnement et des informations de condition de route, et sur la base de la posture du véhicule, à calculer une première distance entre le véhicule et une intersection, une distance de freinage de récupération d'énergie de véhicule, et une distance requise pour un freinage mécanique ; et au moyen de la comparaison de la première distance avec la distance de freinage de récupération d'énergie de véhicule et de la distance requise pour un freinage mécanique, à exécuter une récupération d'énergie du véhicule.
PCT/CN2023/133876 2022-12-22 2023-11-24 Procédé, appareil et système de récupération d'énergie pour véhicule autonome WO2024131436A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211658005.4 2022-12-22
CN202211658005.4A CN116039637B (zh) 2022-12-22 2022-12-22 自动驾驶车辆的能量回收方法、装置及系统

Publications (1)

Publication Number Publication Date
WO2024131436A1 true WO2024131436A1 (fr) 2024-06-27

Family

ID=86120965

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/133876 WO2024131436A1 (fr) 2022-12-22 2023-11-24 Procédé, appareil et système de récupération d'énergie pour véhicule autonome

Country Status (2)

Country Link
CN (1) CN116039637B (fr)
WO (1) WO2024131436A1 (fr)

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR100921129B1 (ko) * 2006-10-26 2009-10-12 현대자동차주식회사 전기자동차용 회생제동 제어 방법
GB2516257B (en) * 2013-07-16 2019-06-19 Bentley Motors Ltd Brake control with obstacle detection to optimise regenerative braking
CN108058615B (zh) * 2016-11-09 2022-02-25 华为技术有限公司 车辆制动能量的回收方法和装置
CN110920406A (zh) * 2019-11-20 2020-03-27 台州学院 一种可进行能量回收的自动驾驶车辆
CN112874512B (zh) * 2021-02-25 2022-09-20 北京经纬恒润科技股份有限公司 一种港口无人集卡的停车方法及系统
CN113320392B (zh) * 2021-06-02 2022-09-16 武汉理工大学 车辆滑行能量回收的控制方法、系统和存储介质
CN114103650B (zh) * 2021-11-12 2024-05-10 上汽通用五菱汽车股份有限公司 车辆的单踏板控制方法、装置、电子设备及存储介质

Also Published As

Publication number Publication date
CN116039637A (zh) 2023-05-02
CN116039637B (zh) 2023-10-20

Similar Documents

Publication Publication Date Title
JP7355877B2 (ja) 車路協同自動運転の制御方法、装置、電子機器及び車両
WO2022007655A1 (fr) Procédé et appareil de changement automatique de voie, et dispositif et support de stockage
WO2021212379A1 (fr) Procédé et appareil de détection de ligne de délimitation de voie
WO2020147361A1 (fr) Procédé et appareil utilisés pour commander un véhicule
CN112590813B (zh) 自动驾驶车辆信息生成方法、装置、电子设备和介质
EP4016130A2 (fr) Procédé de sortie d'informations d'avertissement précoce, dispositif, support de stockage et produit programme
CN112512887B (zh) 一种行驶决策选择方法以及装置
CN113415275A (zh) 车辆消息的处理方法、装置、可读介质及电子设备
EP4083957A1 (fr) Système de navigation doté d'un mécanisme de détection d'état de trafic et son procédé de fonctionnement
CN115092130A (zh) 车辆碰撞预测方法、装置、电子设备、介质和车辆
WO2022242125A1 (fr) Procédé et appareil de traitement de déplacement en formation, support lisible par ordinateur et dispositif électronique
WO2024065951A1 (fr) Procédé et appareil de rencontre de véhicules sur route étroite, dispositif et support de stockage
WO2024131436A1 (fr) Procédé, appareil et système de récupération d'énergie pour véhicule autonome
US20210012660A1 (en) Parking prediction
CN114771533A (zh) 自动驾驶车辆的控制方法、装置、设备、车辆及介质
CN114333381A (zh) 针对自动驾驶车辆的数据处理方法、装置和电子设备
CN114379588B (zh) 进站状态检测方法、装置、车辆、设备和存储介质
CN114379576B (zh) 变道信息提示方法、装置、电子设备和计算机可读介质
CN116086477B (zh) 局部路径信息生成方法、装置、设备和计算机可读介质
EP4292896A1 (fr) Procédé de commande de déplacement de véhicule, dispositif électronique, support d'informations, puce et véhicule
CN114379584B (zh) 车辆控制方法、装置、车辆、设备和存储介质
WO2024065950A1 (fr) Procédé et appareil pour dépasser des véhicules sur une route étroite, dispositif et support de stockage
CN115123223B (zh) 车辆控制方法、装置、设备和介质
CN114771515A (zh) 车辆碰撞处理方法、装置及相关设备
CN113655790A (zh) 车辆控制方法、装置、设备、存储介质及程序产品