CN116039637B - Energy recovery method, device and system for automatic driving vehicle - Google Patents
Energy recovery method, device and system for automatic driving vehicle Download PDFInfo
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- CN116039637B CN116039637B CN202211658005.4A CN202211658005A CN116039637B CN 116039637 B CN116039637 B CN 116039637B CN 202211658005 A CN202211658005 A CN 202211658005A CN 116039637 B CN116039637 B CN 116039637B
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- 230000007613 environmental effect Effects 0.000 claims description 15
- 230000008569 process Effects 0.000 abstract description 11
- 238000005265 energy consumption Methods 0.000 abstract description 7
- 238000004146 energy storage Methods 0.000 abstract description 6
- 238000004458 analytical method Methods 0.000 abstract description 5
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Classifications
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- 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
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- 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
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- 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
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- 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
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- 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
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- 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
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Abstract
The invention discloses an energy recovery method, device and system for an automatic driving vehicle. The method comprises the steps of obtaining state information, environment information and road condition information of a vehicle; determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance between the vehicle and the intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle; the energy recovery of the vehicle is performed based on the vehicle satisfying a first distance of the vehicle from the intersection, a vehicle energy recovery braking distance, and a distance required for mechanical braking. According to the method, through calculation force analysis, the vehicle enters deceleration in advance, the allowable braking distance is increased, the participation degree of energy recovery in the braking process is increased, the energy storage is increased, and the running energy consumption of the vehicle is reduced.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to an energy recovery method, an apparatus, an electronic device, and a computer storage medium for an autonomous vehicle.
Background
In the related art, an automatic driving vehicle generally extracts a current road speed limit sign according to visual equipment such as a camera and the like, prompts the current road speed limit according to map navigation data, and controls the vehicle speed according to the conditions such as a front vehicle and the like, but when factors such as weather, road conditions, environment and the like occur, sometimes the vehicle speed is faster, the speed of the vehicle is delayed at a retarding time, quick braking is required from the higher vehicle speed, the braking distance is short, the vehicle is basically realized through mechanical braking, the energy recovery is less, and the driving energy consumption of the vehicle is larger. How to better achieve energy recovery for an autonomous vehicle is a challenge.
Disclosure of Invention
The object of the present invention is to solve at least to some extent one of the above-mentioned technical problems.
Therefore, a first object of the present invention is to provide an energy recovery method for an automatic driving vehicle, which advances to slow down by calculation force analysis, increases allowable braking distance, increases energy recovery participation in braking, increases energy storage, and reduces driving energy consumption of the vehicle.
To achieve the above object, an embodiment of the present invention provides a method for recovering energy of an autonomous vehicle, the method including: acquiring state information, environment information and road condition information of a vehicle; determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance from the vehicle to an intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle; and performing energy recovery of the vehicle based on the vehicle satisfying a first distance of the vehicle from an intersection, the vehicle energy recovery braking distance, and the mechanical braking required distance.
According to the energy recovery method for the automatic driving vehicle, the state information, the environment information and the road condition information of the vehicle are obtained, the posture of the vehicle is determined according to the state information, the environment information and the road condition information, the first distance between the vehicle and an intersection, the vehicle energy recovery braking distance and the mechanical braking required distance are calculated based on the posture of the vehicle, and the energy recovery of the vehicle is executed based on the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the mechanical braking required distance. According to the method, through calculation force analysis, the vehicle enters deceleration in advance, the allowable braking distance is increased, the participation degree of energy recovery in the braking process is increased, the energy storage is increased, and the running energy consumption of the vehicle is reduced.
According to one embodiment of the present invention, the state information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information, and battery state; the environmental information includes one or more of front vehicle information, adjacent lane vehicle information, and obstacle information.
According to one embodiment of the present invention, the road condition information includes one or more of intersection information, traffic information, and road information; the posture of the vehicle comprises one of normal running of the vehicle, self-adaptive cruising of the vehicle, active emergency braking obstacle avoidance, lane departure of the vehicle, impending crossing, parking of the vehicle and automatic parking of the vehicle.
According to one embodiment of the invention, a vehicle energy recovery braking distance is calculated based on a first calculation model according to the state information, the environment 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 according to the first braking distance and a first preset safety distance.
According to one embodiment of the present invention, the target braking torque is obtained from a vehicle speed of the vehicle and a charging power of the vehicle.
According to one embodiment of the invention, the distance required by mechanical braking is calculated based on a second calculation model according to the state information, the environment 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 braking pressure and a corresponding second braking distance, and the distance required by mechanical braking is calculated according to the second braking distance and a second preset safety distance.
According to one embodiment of the invention, performing energy recovery of the vehicle based on the vehicle satisfying a first distance of the vehicle from an intersection, the vehicle energy recovery brake distance, and the mechanical brake required distance, comprises: judging whether the first distance is greater than the vehicle energy recovery braking distance; if yes, not executing energy recovery of the vehicle; if not, and when the first distance is determined to be greater than the distance required by mechanical braking, controlling the vehicle to be decelerated to a target vehicle speed so as to execute energy recovery of the vehicle, and simultaneously acquiring the first distance, the vehicle energy recovery braking distance and the distance required by mechanical braking in real time so as to control the vehicle speed.
According to one embodiment of the invention, 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 parked at a reduced speed.
To achieve the above object, an energy recovery device for an autonomous vehicle according to an embodiment of a second aspect of the present invention includes: the acquisition module is used for acquiring the state information, the environment information and the road condition information of the vehicle; the calculation module is used for determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance from the vehicle to the intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle; and the execution module is used for executing the energy recovery of the vehicle based on the first distance of the vehicle from the intersection, the vehicle energy recovery braking distance and the distance required by mechanical braking.
To achieve the above object, an embodiment of the present invention provides an energy recovery system for an autonomous vehicle, the system including: the vehicle control system comprises a vehicle control module and an automatic driving control module, wherein the vehicle control module is used for reporting vehicle information to the automatic driving control module, receiving a control instruction of the automatic driving control module and sending the control instruction to one or more sub-control units, and the sub-control units are used for controlling energy recovery of the vehicle.
To achieve the above object, an electronic device according to a fourth aspect of the present invention includes: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the energy recovery method of the automatic driving vehicle according to the embodiment of the first aspect of the invention when executing the computer program.
To achieve the above object, an embodiment of a fifth aspect of the present invention provides a computer readable storage medium, which when executed by a processor, implements an energy recovery method for an autonomous vehicle according to the embodiment of the first aspect of the present invention.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a flow chart of a method of energy recovery for an autonomous vehicle according to one embodiment of the invention;
FIG. 2 is a flow chart of a method of energy recovery for an autonomous vehicle according to another embodiment of the invention;
FIG. 3 is a schematic illustration of an energy recovery system of an autonomous vehicle according to one embodiment of the invention;
FIG. 4 is a schematic illustration of an energy recovery device for an autonomous vehicle according to one embodiment of the invention; and
fig. 5 is a schematic structural view of an electronic device according to an embodiment of the present invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
To this end, the invention provides an energy recovery method and device for an automatic driving vehicle, an electronic device and a storage medium.
In particular, an energy recovery method, an apparatus, an electronic device, and a storage medium of an autonomous vehicle according to an embodiment of the present invention are described below with reference to the accompanying drawings.
FIG. 1 is a flow chart of a method of energy recovery for an autonomous vehicle according to one embodiment of the invention. It should be noted that, the energy recovery method of the automatic driving vehicle according to the embodiment of the present invention may be applied to the energy recovery device and the system of the automatic driving vehicle according to the embodiment of the present invention, where the device may be configured on an electronic device or may be configured in a server. The electronic device may be a PC or a mobile terminal. The embodiment of the present invention is not limited thereto.
As shown in fig. 1, the energy recovery method of the autonomous vehicle includes:
s110, acquiring state information, environment information and road condition information of the vehicle.
In the embodiment of the invention, the state information, the environment information and the road condition information of the vehicle can be acquired through a plurality of sensors.
Wherein the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information, and battery status.
Wherein the environmental information includes one or more of front vehicle information, adjacent lane vehicle information, and obstacle information.
The road condition information comprises one or more of intersection information, traffic information and road information.
S120, determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the distance required by mechanical braking based on the gesture of the vehicle.
The gesture of the vehicle comprises one of normal running of the vehicle, self-adaptive cruising of the vehicle, active emergency braking obstacle avoidance, lane departure of the vehicle, impending crossing, parking of the vehicle and automatic parking of the vehicle.
In the embodiment of the invention, the vehicle energy recovery braking distance and the mechanical braking distance can be calculated according to the state information, the environment information and the road condition information by combining the calculation model. Reference is made to the following embodiments for specific implementation.
S130, performing energy recovery of the vehicle based on the first distance that the vehicle meets the intersection, the vehicle energy recovery braking distance and the distance required by mechanical braking.
In an embodiment of the invention, the energy recovery of the vehicle may be performed by comparing the first distance with a vehicle energy recovery braking distance and a mechanical braking required distance. Reference is made to the following embodiments for specific implementation.
According to the automatic driving vehicle energy recovery method, the attitude of the vehicle is determined according to the acquired state information, environment information and road condition information of the vehicle, the first distance between the vehicle and an intersection, the vehicle energy recovery braking distance and the mechanical braking required distance are calculated based on the attitude of the vehicle, and the vehicle energy recovery is executed based on the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the mechanical braking required distance. According to the method, whether the vehicle enters a deceleration process in advance or not is determined through calculation and example analysis, the allowable braking distance is increased, the participation degree of energy recovery in the braking process is increased, the energy storage is increased, and unnecessary energy consumption in the vehicle running process is reduced.
For easier understanding of the present invention by those skilled in the art, fig. 2 is a flowchart of an energy recovery method of an autonomous vehicle according to one embodiment of the present invention. As shown in fig. 2, the energy recovery method of the autonomous vehicle includes:
s210, acquiring state information, environment information and road condition information of the vehicle.
In the embodiment of the invention, the state information, the environment information and the road condition information of the vehicle can be acquired through a plurality of sensors.
Wherein the status information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information, and battery status.
Wherein the environmental information includes one or more of front vehicle information, adjacent lane vehicle information, and obstacle information.
In one embodiment of the present invention, environmental information of a vehicle is acquired, and the environmental information may be subjected to a filtering process. For example, the front vehicle information can be collected by the camera of the current vehicle, and based on the collected front vehicle image information, the image information is processed by using an image filtering technology, such as a linear filtering technology and a nonlinear filtering technology, so as to enhance the contrast and detail of the image, and highlight the layering sense, so that the automatic driving control system can obtain the related information more quickly, and the timeliness and accuracy of the automatic driving decision are improved.
The road condition information comprises one or more of intersection information, traffic information and road information.
S220, determining the posture of the vehicle according to the state information, the environment information and the road condition information.
In the embodiment of the invention, the state information, the environment information and the road condition information of the vehicle are acquired, and the state information, the environment information and the road condition information can be integrated to determine the posture of the vehicle.
The gesture of the vehicle comprises one of normal running of the vehicle, self-adaptive cruising of the vehicle, active emergency braking obstacle avoidance, lane departure of the vehicle, impending crossing, parking of the vehicle and automatic parking of the vehicle.
For example, the content of the integration process includes, but is not limited to: a) Positioning a road and a lane where a vehicle is currently located, and a current road section speed limit value, a current lane speed limit value, intersection information and traffic light information based on high-precision positioning data of a fusion radar, a camera and a GPS; b) Based on the combination of vision, laser radar and ultrasonic radar detection, extracting lane information (pavement, gradient, curvature and side inclination) and side roadblock conditions of the current vehicle position; c) Judging the current running state of the vehicle, the state of an energy system in the vehicle and the state of a braking and steering system based on the rotating speed information; d) Based on the current route, a driving route is dynamically planned, basic control information of the vehicle (controlling the vehicle to run, turn and brake, controlling light and the like) is calculated in real time, and whether an active emergency braking obstacle avoidance is needed, whether steering control or road maintenance is needed, whether the vehicle speed is needed to be adjusted or the vehicle is required to adaptively cruise is judged.
S230, calculating a first distance between the vehicle and the intersection based on the posture of the vehicle.
In the embodiment of the invention, after the gesture of the vehicle is determined, the first distance between the vehicle and the intersection is calculated in real time based on road condition information.
S240, calculating the vehicle energy recovery braking distance based on the posture of the vehicle.
In the embodiment of the invention, the vehicle energy recovery braking distance is calculated based on the first calculation model according to the state information, the environment 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.
Wherein the target braking torque is obtained from a vehicle speed of the vehicle and a charging power of the vehicle.
For example, the first preset safety distance may 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 vehicle-mounted sensing system can acquire road surface information, and further can acquire road surface coefficients.
It should be noted that, before calculating the vehicle energy recovery braking distance based on the first calculation model, the whole vehicle safety problem, such as anti-lock and whole vehicle bump, needs to be considered.
S250, calculating the distance required by mechanical braking based on the posture of the vehicle.
In the embodiment of the invention, the distance required by mechanical braking is calculated based on the second calculation model according to the state information, the environment 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 distance required by mechanical braking is calculated according to the second braking distance and the second preset safety distance.
The braking pressure is a pressure value of stopping in a normal deceleration range.
The vehicle-mounted sensing system can acquire road surface information, and further can acquire road surface coefficients.
For example, after the road surface coefficient and the vehicle speed are input into the second calculation model, a second braking distance corresponding to different deceleration braking pressures can be output, and then the sum of the second braking distance and a second preset safety distance is used as a distance required by mechanical braking. For example, the second predetermined safe distance may be 2 meters.
S260, energy recovery of the vehicle is performed based on the first distance that the vehicle meets the intersection, the vehicle energy recovery braking distance, and the distance required for mechanical braking.
In an embodiment of the invention, determining whether the first distance is greater than a vehicle energy recovery braking distance; if yes, not executing energy recovery of the vehicle; if not, and when the first distance is determined to be greater than the distance required by mechanical braking, controlling the vehicle to decelerate to the target vehicle speed so as to execute energy recovery of the vehicle, and simultaneously acquiring the first distance, the vehicle energy recovery braking distance and the distance required by mechanical braking in real time so as to control the vehicle speed.
In an embodiment of the invention, when the first distance is not greater than the distance required by the mechanical brake, the mechanical brake is started or the vehicle is decelerated and stopped.
According to the energy recovery method for the automatic driving vehicle, the state information, the environment information and the road condition information of the vehicle are obtained, the posture of the vehicle is determined according to the state information, the environment information and the road condition information, the first distance between the vehicle and an intersection, the vehicle energy recovery braking distance and the mechanical braking required distance are calculated based on the posture of the vehicle, and the energy recovery of the vehicle is executed based on the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the mechanical braking required distance. According to the method, the energy feedback braking function of the driving motor is started at a proper time through calculation, the speed is reduced in advance, the participation of the energy braking of the driving motor in the braking and decelerating process is improved, the participation degree of the mechanical braking is reduced, the energy recovery rate is improved, the energy storage is increased, the driving energy consumption of the vehicle is reduced, and the driving range of the vehicle is improved.
The present invention also proposes an energy recovery system for an autonomous vehicle, as shown in fig. 3, the energy recovery system 300 for an autonomous vehicle comprising: the vehicle control module 310 and the automatic driving control module 320, wherein the vehicle control module 310 is configured to report vehicle information to the automatic driving control module 320, receive a control instruction of the automatic driving control module 320, and issue the control instruction to one or more sub-control units, and the sub-control units are configured to control energy recovery of a vehicle.
The sub-control unit comprises a driving unit and a braking unit. That is, the whole vehicle control module 310 is configured to report the vehicle information to the autopilot control module 320, so that the autopilot control module 320 generates a driving control command or a braking control command or a steering command based on the vehicle information, and issues the command to a corresponding sub-control unit, for example, to a driving unit or a braking unit.
The energy recovery system 300 of the autopilot vehicle further includes a battery module for reporting the battery and battery controller status to the autopilot control module 320. In the energy recovery process, braking energy feedback of the driving unit is received, and the battery is charged, so that energy recovery is realized; the battery module needs to simultaneously meet the following conditions to allow braking energy recovery: 1) Vehicle ready state (key-containing ON state); 2) The driving system and the battery system have no serious faults; 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 equalized and within a normal range.
The vehicle information comprises state information, environment information and road condition information of the vehicle.
In an embodiment of the present invention, the energy recovery system 300 of the autopilot vehicle further includes a vehicle-mounted sensing module, where the vehicle-mounted sensing module is configured to acquire environmental information of the vehicle and report the environmental information to the overall vehicle control module 310.
In the embodiment of the present invention, the energy recovery system 300 of the autopilot vehicle further includes a communication module, where the communication module is configured to communicate with the cloud end and/or receive data, for example, may receive vehicle status information reported by each sensor in real time, including a vehicle steering signal, a torque signal, a braking signal, a vehicle speed signal, a battery status, etc., and report the status information to the overall vehicle control module 310.
In an embodiment of the present invention, the energy recovery system 300 of the automatic driving vehicle further includes a positioning module, where the positioning module is used for real-time positioning, and when networking, 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 is reported to the whole vehicle control module 310.
In correspondence to the energy recovery method of the autonomous vehicle provided in the foregoing embodiments, an embodiment of the present invention further provides an energy recovery device of the autonomous vehicle, and since the energy recovery device of the autonomous vehicle provided in the embodiment of the present invention corresponds to the energy recovery method of the autonomous vehicle provided in the foregoing embodiments, implementation of the energy recovery method of the autonomous vehicle is also applicable to the energy recovery device of the autonomous vehicle provided in the present embodiment, and will not be described in detail in the present embodiment. Fig. 4 is a schematic structural view of an energy recovery device of an autonomous vehicle according to an embodiment of the present invention.
As shown in fig. 4, the energy recovery device 400 of the autonomous vehicle includes: an acquisition module 410, a calculation module 420, and an execution module 430, wherein,
an acquisition module 410, configured to acquire status information, environmental information, and road condition information of a vehicle;
the calculating module 420 is configured to determine a posture of the vehicle according to the state information, the environmental information, and the road condition information, and calculate a first distance from the vehicle to the intersection, a vehicle energy recovery braking distance, and a distance required for mechanical braking based on the posture of the vehicle;
an execution module 430 for executing energy recovery of the vehicle based on the vehicle satisfying a first distance of the vehicle from an intersection, the vehicle energy recovery brake distance, and the mechanical brake required distance.
According to the energy recovery device for the automatic driving vehicle, the state information, the environment information and the road condition information of the vehicle are acquired, the posture of the vehicle is determined according to the state information, the environment information and the road condition information, the first distance between the vehicle and an intersection, the vehicle energy recovery braking distance and the mechanical braking required distance are calculated based on the posture of the vehicle, and the energy recovery of the vehicle is executed based on the first distance between the vehicle and the intersection, the vehicle energy recovery braking distance and the mechanical braking required distance. Therefore, through calculation force analysis, the vehicle enters deceleration in advance, the allowable braking distance is increased, the participation degree of energy recovery in the braking process is increased, the energy storage is increased, and the running energy consumption of the vehicle is reduced.
In one embodiment of the present invention, the state information includes one or more of vehicle steering information, torque information, braking information, vehicle speed information, and battery state; the environmental information includes one or more of front vehicle information, adjacent lane vehicle information, and obstacle information.
In one embodiment of the present invention, the road condition information includes one or more of intersection information, traffic information, and road information; the posture of the vehicle comprises one of normal running of the vehicle, self-adaptive cruising of the vehicle, active emergency braking obstacle avoidance, lane departure of the vehicle, impending crossing, parking of the vehicle and automatic parking of the vehicle.
In one embodiment of the present invention, the calculating module 420 is specifically configured to calculate a vehicle energy recovery braking distance 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 to the first calculation model to output a first braking distance, and calculate the vehicle energy recovery braking distance according to the first braking distance and a first preset safety distance.
In one embodiment of the invention, the calculation module 420 is specifically configured to obtain the target braking torque based on a vehicle speed of the vehicle and a charging power of the vehicle.
In one embodiment of the present invention, the calculating module 420 is specifically configured to calculate a distance required 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 to the second calculation model to output a braking pressure and a corresponding second braking distance, and calculate the distance required for mechanical braking according to the second braking distance and a second preset safety distance.
In one embodiment of the present invention, the execution module 430 is specifically configured to determine whether the first distance is greater than the vehicle energy recovery brake distance; if yes, not executing energy recovery of the vehicle; if not, and when the first distance is determined to be greater than the distance required by mechanical braking, controlling the vehicle to be decelerated to a target vehicle speed so as to execute energy recovery of the vehicle, and simultaneously acquiring the first distance, the vehicle energy recovery braking distance and the distance required by mechanical braking in real time so as to control the vehicle speed.
In one embodiment of the present invention, the execution module 430 is specifically configured to initiate a mechanical brake or slow down to park when the first distance is determined to be not greater than the distance required for the mechanical brake.
Referring now to fig. 5, a schematic diagram of an electronic device (e.g., a terminal device or server in fig. 1) 500 suitable for implementing an embodiment of the present invention is shown. The electronic device in the embodiment of the present invention may include, but is not limited to, a mobile terminal such as a mobile phone, a notebook computer, a digital broadcast receiver, a PDA (personal digital assistant), a PAD (tablet computer), a PMP (portable multimedia player), a car-mounted terminal (e.g., car navigation terminal), etc., and a stationary terminal such as a digital TV, a desktop computer, etc. The electronic device shown in fig. 5 is only an example and should not be construed as limiting the functionality and scope of use of the embodiments of the present invention.
As shown in fig. 5, the electronic device 500 may include a processing means (e.g., a central processing unit, a graphics processor, etc.) 501, which may 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 means 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
In general, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 508 including, for example, magnetic tape, hard disk, etc.; and communication means 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 shows an electronic device 500 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead.
In particular, according to embodiments of the present invention, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program embodied on a non-transitory computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication means 509, or from the storage means 508, or from the ROM 502. The above-described functions defined in the method of the embodiment of the present invention are performed when the computer program is executed by the processing means 501.
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 can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers 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). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be contained in the electronic device; or may exist alone without being incorporated into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring state information, environment information and road condition information of a vehicle; determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance between the vehicle and the intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle; the energy recovery of the vehicle is performed based on the vehicle satisfying a first distance of the vehicle from the intersection, a vehicle energy recovery braking distance, and a distance required for mechanical braking.
Alternatively, the computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquiring state information, environment information and road condition information of a vehicle; determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance between the vehicle and the intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle; the energy recovery of the vehicle is performed based on the vehicle satisfying a first distance of the vehicle from the intersection, a vehicle energy recovery braking distance, and a distance required for mechanical braking.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including, but not limited to, an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present invention may be implemented in software or in hardware. The name of the unit does not in any way constitute a limitation of the unit itself, for example the first acquisition unit may also be described as "unit acquiring at least two internet protocol addresses".
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
In the context of the present invention, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. The 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. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The above description is only illustrative of the preferred embodiments of the present invention and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure referred to in the present invention is not limited to the specific combinations of technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the spirit of the disclosure. Such as the above-mentioned features and the technical features disclosed in the present invention (but not limited to) having similar functions are replaced with each other.
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the invention. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
Claims (11)
1. A method of energy recovery for an autonomous vehicle, the method comprising:
acquiring state information, environment information and road condition information of a vehicle;
determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance from the vehicle to an intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle;
performing energy recovery of the vehicle based on the vehicle satisfying a first distance of the vehicle from an intersection, the vehicle energy recovery braking distance, and the mechanical braking required distance;
judging whether the first distance is greater than the vehicle energy recovery braking distance;
if not, and when the first distance is determined to be greater than the distance required by the mechanical braking, controlling the vehicle to decelerate to a target vehicle speed so as to execute energy recovery of the vehicle;
and simultaneously acquiring the first distance, the vehicle energy recovery braking distance and the distance required by mechanical braking in real time so as to control the vehicle speed.
2. The method of energy recovery for an autonomous vehicle of claim 1, wherein 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.
3. The method of energy recovery for an autonomous vehicle of claim 1, wherein the traffic information comprises one or more of traffic information; the posture of the vehicle comprises one of normal running of the vehicle, self-adaptive cruising of the vehicle, active emergency braking obstacle avoidance, lane departure of the vehicle, impending crossing, parking of the vehicle and automatic parking of the vehicle.
4. The energy recovery method of an autonomous vehicle according to any one of claims 1 to 3, wherein a 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, a road surface coefficient, and a target braking torque are input to the first calculation model to output a first braking distance, and the vehicle energy recovery braking distance is calculated according to the first braking distance and a first preset safety distance.
5. The energy recovery method of an autonomous vehicle according to claim 4, wherein the target braking torque is obtained from a vehicle speed of the vehicle and a charging power of the vehicle.
6. The method for recovering energy of an automatically driven vehicle according to any one of claims 1 to 3, wherein a distance required 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 a braking pressure and a corresponding second braking distance, and the distance required for mechanical braking is calculated according to the second braking distance and a second preset safety distance.
7. The method of energy recovery for an autonomous vehicle of claim 1, wherein when it is determined that the first distance is not greater than the distance required for the mechanical brake, then either the mechanical brake is activated or the vehicle is parked at a reduced speed.
8. An energy recovery device for an autonomous vehicle, the device comprising:
the acquisition module is used for acquiring the state information, the environment information and the road condition information of the vehicle;
the calculation module is used for determining the gesture of the vehicle according to the state information, the environment information and the road condition information, and calculating a first distance from the vehicle to the intersection, a vehicle energy recovery braking distance and a mechanical braking required distance based on the gesture of the vehicle;
an execution module for executing energy recovery of the vehicle based on the vehicle satisfying a first distance from the intersection, the vehicle energy recovery braking distance, and the mechanical braking required distance;
judging whether the first distance is greater than the vehicle energy recovery braking distance;
if not, and when the first distance is determined to be greater than the distance required by the mechanical braking, controlling the vehicle to decelerate to a target vehicle speed so as to execute energy recovery of the vehicle;
and simultaneously acquiring the first distance, the vehicle energy recovery braking distance and the distance required by mechanical braking in real time so as to control the vehicle speed.
9. An energy recovery system for an autonomous vehicle, the system comprising: the vehicle control system comprises a vehicle control module and an automatic driving control module, wherein the vehicle control module is used for reporting vehicle information to the automatic driving control module, receiving a control instruction of the automatic driving control module and sending the control instruction to one or more sub-control units, and the sub-control units are used for controlling energy recovery of the vehicle.
10. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein,,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the energy recovery method of the autonomous vehicle of any of claims 1-7.
11. A non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the energy recovery method of an autonomous vehicle according to any one of claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211658005.4A CN116039637B (en) | 2022-12-22 | 2022-12-22 | Energy recovery method, device and system for automatic driving vehicle |
| PCT/CN2023/133876 WO2024131436A1 (en) | 2022-12-22 | 2023-11-24 | Energy recovery method, apparatus and system for autonomous vehicle |
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| CN202211658005.4A CN116039637B (en) | 2022-12-22 | 2022-12-22 | Energy recovery method, device and system for automatic driving vehicle |
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| WO2024131436A1 (en) | 2024-06-27 |
| CN116039637A (en) | 2023-05-02 |
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