CN112572405B - Method, device, storage medium, and vehicle for driving a vehicle - Google Patents

Abstract

The present disclosure relates to a method, a device, a storage medium, and a vehicle for driving a vehicle, which can acquire the current driving state parameters of the vehicle; In the preset driving mode, the target engine fuel consumption rate corresponding to the driving state parameter, and the driving parameter corresponding relationship includes the engine fuel consumption rate corresponding to different driving state parameters in each preset driving mode; The target engine fuel consumption rate is determined, and a target driving mode is determined from the plurality of preset driving modes; the vehicle is driven to travel according to the target driving mode.

Description

Method, device, storage medium, and vehicle for driving a vehicle

technical field

The present disclosure relates to the field of vehicle driving, and in particular, to a method, a device, a storage medium and a vehicle for driving a vehicle.

Background technique

Hybrid vehicles have the characteristics of lower emissions and higher fuel economy than traditional fuel vehicles, as well as longer driving mileage than pure electric vehicles due to their two on-board power sources. With the continuous development of the current hybrid vehicle drive control, more energy-saving and more economical direction is developed.

In the related art, a hybrid electric vehicle control method based on minimum equivalent fuel consumption is provided. The method needs to identify the current operating condition in real time, and then based on the pre-stored in the controller the operating condition similar to the current operating condition. The equivalent factor adjusts and optimizes the control method of the vehicle adaptively to achieve the purpose of minimum fuel consumption, but this pre-stored working condition is basically impossible to be completely consistent with the current working condition. In addition, when the current operating conditions are complex, the optimal control effect will be greatly reduced, so the application of this method in actual vehicle control will have certain limitations.

SUMMARY OF THE INVENTION

An object of the present disclosure is to provide a method, device, storage medium and vehicle for driving a vehicle.

In a first aspect, a method for driving a vehicle is provided, the method comprising: acquiring a current driving state parameter of the vehicle; for each preset driving mode in a plurality of preset driving modes, obtaining the driving parameter corresponding relationship in the preset driving mode. Suppose in the driving mode, the target engine fuel consumption rate corresponding to the driving state parameters, and the driving parameter corresponding relationship includes the engine fuel consumption rate corresponding to different driving state parameters in each preset driving mode; For the target engine fuel consumption rate, a target driving mode is determined from the plurality of preset driving modes; the vehicle is driven to travel according to the target driving mode.

Optionally, the determining a target driving mode from the multiple preset driving modes according to the acquired target engine fuel consumption rate includes: selecting the target engine fuel consumption rate from the multiple preset driving modes. The lowest preset drive mode is used as the target drive mode.

Optionally, the preset driving mode includes a parallel driving mode and a parallel power generation mode; the driving parameter correspondence also includes motor efficiencies corresponding to different driving state parameters in each of the preset driving modes; the According to the acquired target engine fuel consumption rate, determining a target driving manner from the plurality of preset driving manners includes: if the preset driving manner with the lowest target engine fuel consumption rate is the parallel driving manner and the Any one of the parallel power generation modes, and the preset drive mode with the next lowest target engine fuel consumption rate is the other of the parallel drive mode and the parallel power generation mode, and the driving mode under the parallel drive mode is obtained. The difference between the target engine fuel consumption rate corresponding to the state parameter and the target engine fuel consumption rate corresponding to the driving state parameter in the parallel power generation mode; if the absolute value of the difference is less than or equal to the preset difference threshold, According to the corresponding relationship of the driving parameters, for each preset driving mode in the parallel driving mode and the parallel power generation mode, the target motor efficiency corresponding to the driving state parameter in the preset driving mode is obtained; In the parallel drive mode and the parallel power generation mode, the preset drive mode with the highest efficiency of the target motor is used as the target drive mode.

Optionally, the determining a target driving mode from the plurality of preset driving modes according to the acquired target engine fuel consumption rate further includes: if the absolute value of the difference is greater than the preset difference threshold , from the parallel drive mode and the parallel power generation mode, the preset drive mode with the lowest fuel consumption rate of the target engine is used as the target drive mode.

Optionally, the driving parameter correspondence may be predetermined in the following manner: acquiring a plurality of driving state sample parameter sets, where the driving state sample parameter set is a set consisting of a plurality of driving state sample parameters, the driving state sample parameters The parameters include vehicle speed, required torque, engine gear position and engine target torque; according to the vehicle speed, the required torque, the engine gear position and the engine target torque, in different preset driving modes, the driving state of each driving state is determined. The target driving parameters corresponding to the sample parameter sets respectively, the target driving parameters include the target engine fuel consumption rate and the target motor efficiency.

Optionally, determining the target driving parameters corresponding to each of the driving state sample parameter sets in different preset driving modes according to the vehicle speed, the required torque, the engine gear, and the engine target torque. Including: determining the motor speed, motor target torque and motor efficiency of the vehicle according to the vehicle speed, the required torque, the engine gear, the engine target torque and the motor gear; according to the vehicle speed, the engine The gear position and the engine target torque determine the engine fuel consumption rate of the vehicle; determine the motor torque ranges corresponding to different preset driving modes according to the motor speed; according to the motor target torque, the motor torque range, The motor efficiency and the engine fuel consumption rate determine the target driving parameters corresponding to each of the sample driving parameter sets in different preset driving modes.

In a second aspect, a device for driving a vehicle is provided, the device comprising: a first acquisition module for acquiring current driving state parameters of the vehicle; a second acquisition module for each preset driving mode in a plurality of preset driving modes Set the driving mode, and obtain the target engine fuel consumption rate corresponding to the driving state parameter under the preset driving mode through the corresponding relationship of the driving parameters, and the driving parameter corresponding relationship includes the different driving states under each preset driving mode. The fuel consumption rate of the engine corresponding to the parameters respectively; the determining module is used to determine the target driving mode from the multiple preset driving modes according to the obtained target engine fuel consumption rate; the driving module is used to drive the vehicle according to the The target drive mode travels.

Optionally, the determining module is configured to select a preset driving manner with the lowest fuel consumption rate of the target engine as the target driving manner from among a plurality of preset driving manners.

Optionally, the preset driving mode includes a parallel driving mode and a parallel power generation mode; the driving parameter correspondence also includes motor efficiencies corresponding to different driving state parameters in each of the preset driving modes; the A determination module, used for if the preset drive mode with the lowest fuel consumption rate of the target engine is any one of the parallel drive mode and the parallel power generation mode, and the preset drive mode with the next lowest fuel consumption rate of the target engine The method is the other of the parallel drive mode and the parallel power generation mode, and the target engine fuel consumption rate corresponding to the driving state parameter in the parallel drive mode is obtained, and the driving state parameter in the parallel power generation mode is obtained. The difference value of the corresponding target engine fuel consumption rate; if the absolute value of the difference value is less than or equal to the preset difference value threshold, through the corresponding relationship of the driving parameters, for each of the parallel driving mode and the parallel power generation mode A preset driving mode is obtained, and the target motor efficiency corresponding to the driving state parameter in the preset driving mode is obtained; from the parallel driving mode and the parallel power generation mode, the preset motor efficiency with the highest target motor efficiency is selected. A driving method is used as the target driving method.

Optionally, the determining module is further configured to, if the absolute value of the difference is greater than the preset difference threshold, calculate the target engine fuel consumption from the parallel driving mode and the parallel power generation mode. The preset driving mode with the lowest rate is used as the target driving mode.

Optionally, the driving parameter correspondence may be predetermined in the following manner:

Obtain a plurality of driving state sample parameter sets, the driving state sample parameter set is a set composed of a plurality of driving state sample parameters, and the driving state sample parameters include vehicle speed, required torque, engine gear and engine target torque; The vehicle speed, the required torque, the engine gear, and the engine target torque determine the target driving parameters corresponding to each of the driving state sample parameter sets in different preset driving modes, and the target driving parameters include all the target engine fuel consumption rate and the target motor efficiency.

Optionally, determining the target driving parameters corresponding to each of the driving state sample parameter sets in different preset driving modes according to the vehicle speed, the required torque, the engine gear, and the engine target torque. Including: determining the motor speed, motor target torque and motor efficiency of the vehicle according to the vehicle speed, the required torque, the engine gear, the engine target torque and the motor gear; according to the vehicle speed, the engine The gear position and the engine target torque determine the engine fuel consumption rate of the vehicle; determine the motor torque ranges corresponding to different preset driving modes according to the motor speed; according to the motor target torque, the motor torque range, The motor efficiency and the engine fuel consumption rate determine the target driving parameters corresponding to each of the sample driving parameter sets in different preset driving modes.

A third aspect provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the method described in the first aspect of the present disclosure.

In a fourth aspect, a vehicle is provided, including the device for driving the vehicle according to the second aspect of the present disclosure.

Through the above technical solution, the current driving state parameters of the vehicle are obtained; for each preset driving mode in the plurality of preset driving modes, the corresponding driving parameters in the preset driving mode are obtained through the corresponding relationship of the driving parameters. The target engine fuel consumption rate, the driving parameter corresponding relationship includes the engine fuel consumption rate corresponding to different driving state parameters in each preset driving mode; It is assumed that a target driving mode is determined in the driving mode; the vehicle is driven according to the target driving mode, that is to say, the present disclosure can determine the target engine fuel consumption corresponding to various preset driving modes of the vehicle based on the current driving state parameters of the vehicle. Then, based on the target engine fuel consumption rate, the target driving mode with the lowest current fuel consumption of the vehicle can be determined, which is not only not limited by the specific working conditions, but also ensures that the current driving mode of the vehicle is the most economical driving mode. Improve vehicle economy.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following detailed description, are used to explain the present disclosure, but not to limit the present disclosure. In the attached image:

FIG. 1 is a flowchart of a first method for driving a vehicle according to an exemplary embodiment;

FIG. 2 is a flowchart of a second method for driving a vehicle according to an exemplary embodiment;

FIG. 3 is a flowchart of a method for determining a corresponding relationship of driving parameters according to an exemplary embodiment;

FIG. 4 is a block diagram of an apparatus for driving a vehicle according to an exemplary embodiment;

Fig. 5 is a structural block diagram of a vehicle according to an exemplary embodiment.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

First, the application scenarios of the present disclosure are introduced. The present disclosure is mainly applied to the driving control scenarios of hybrid electric vehicles. At present, the driving control of hybrid electric vehicles is mostly developed in a more energy-saving and economical direction. The fuel consumption in the driving control process is adaptively adjusted and optimized based on the equivalent factor of the operating condition similar to the current operating condition pre-stored in the controller to achieve the purpose of minimum fuel consumption, but this It is basically impossible for the pre-stored working conditions to be completely consistent with the current working conditions. If the control is completely based on the known pre-stored fixed working conditions, and the current working conditions are more complex, the optimal control effect will be greatly reduced. Therefore, this method There will be some limitations when applied to actual vehicle control.

In order to solve the above-mentioned problems, the present disclosure provides a method, device, storage medium and vehicle for driving a vehicle, considering the drive mode of the whole vehicle (such as pure electric drive, pure fuel drive, parallel drive or parallel power generation drive, etc.). Selection is an important factor in determining whether a hybrid vehicle meets the requirements for energy saving and economy. Therefore, the present disclosure first obtains the current driving state parameters of the vehicle (such as vehicle speed, engine gear, accelerator depth, etc.) Parameter correspondence, obtain the target engine fuel consumption rate corresponding to the driving state parameter under each preset driving mode (the target engine fuel consumption rate is usually the optimal engine fuel consumption rate under the preset driving mode), and then set the The target engine fuel consumption rates corresponding to the various preset drive modes are compared, and the preset drive mode with the lowest target engine fuel consumption rate is taken as the target drive mode, and the vehicle is driven to drive according to the target drive mode, that is to say , the present disclosure can determine the target driving mode with the lowest current fuel consumption of the vehicle based on the target engine fuel consumption rate. Improve vehicle economy.

Fig. 1 is a flowchart of a method for driving a vehicle according to an exemplary embodiment. As shown in Fig. 1 , the method includes the following steps:

In step 101, the current driving state parameters of the vehicle are obtained.

Wherein, the driving state parameters may include parameters such as vehicle speed, accelerator depth, and engine gear position.

In practical application scenarios, the drive control of hybrid vehicles usually includes four driving modes, namely pure electric drive mode, pure fuel drive mode, parallel drive mode and parallel power generation mode. When the speed of the hybrid vehicle is less than the preset speed In the case of a vehicle speed threshold (such as 10km/h), the vehicle is usually driven by pure electric drive, and when the vehicle speed is greater than or equal to the preset vehicle speed threshold, the engine of the vehicle is started, and the drive mode of the vehicle is usually pure. One of the three drive modes: fuel drive mode, parallel drive mode, and parallel power generation mode. Since the present disclosure is mainly applied to the scenario of driving control of the hybrid vehicle after the engine is started, therefore, in this step, a possible In an implementation manner, if it is determined that the vehicle speed of the vehicle reaches the preset vehicle speed threshold, an action of acquiring the current driving state parameter of the vehicle may be triggered.

In step 102 , for each preset driving mode among the plurality of preset driving modes, the target engine fuel consumption rate corresponding to the driving state parameter in the preset driving mode is obtained through the corresponding relationship of the driving parameters.

The preset drive modes may include pure fuel drive mode, parallel drive mode, and parallel power generation mode. In the pure fuel drive mode, the engine of the vehicle provides driving torque to drive the vehicle; in the parallel drive mode, the vehicle motor terminal The torque and the torque at the engine end jointly drive the vehicle; in the parallel power generation mode, part of the torque at the engine end is used to drive the vehicle, and the other part is used to generate electricity for the motor, which in turn charges the power battery; the target engine fuel consumption rate can include pre-calculated The optimal engine fuel consumption rate corresponding to the preset driving mode, and the driving parameter corresponding relationship includes the engine fuel consumption rate corresponding to different driving state parameters in each preset driving mode.

In step 103, according to the obtained target engine fuel consumption rate, a target driving mode is determined from the plurality of preset driving modes.

In this step, the preset drive mode with the lowest fuel consumption rate of the target engine may be selected as the target drive mode from among multiple preset drive modes.

In step 104, the vehicle is driven according to the target driving mode.

Using the above method, the target engine fuel consumption rate corresponding to various preset driving modes of the vehicle can be determined based on the current driving state parameters of the vehicle, and then the target driving mode with the lowest current fuel consumption can be determined based on the target engine fuel consumption rate. Not only is it not limited by specific working conditions, but it can also ensure that the current driving mode of the vehicle is the most economical driving mode, so as to improve the economy of the whole vehicle.

Fig. 2 is a flowchart of a method for driving a vehicle according to an exemplary embodiment. As shown in Fig. 2, the method includes the following steps:

In step 201, the current driving state parameters of the vehicle are obtained.

Wherein, the driving state parameters may include parameters such as vehicle speed, accelerator depth, and engine gear position.

In practical application scenarios, the drive control of hybrid vehicles usually includes four driving modes, namely pure electric drive mode, pure fuel drive mode, parallel drive mode and parallel power generation mode. When the speed of the hybrid vehicle is less than the preset speed In the case of a vehicle speed threshold (such as 10km/h), the vehicle is usually driven by pure electric drive, and when the vehicle speed is greater than or equal to the preset vehicle speed threshold, the engine of the vehicle is started, and the drive mode of the vehicle is usually pure. One of the three drive modes: fuel drive mode, parallel drive mode, and parallel power generation mode. Since the present disclosure is mainly applied to the scenario of driving control of the hybrid vehicle after the engine is started, therefore, in this step, a possible In an implementation manner, if it is determined that the vehicle speed of the vehicle reaches the preset vehicle speed threshold, an action of acquiring the current driving state parameter of the vehicle may be triggered.

In step 202 , for each preset driving mode among the plurality of preset driving modes, the target engine fuel consumption rate corresponding to the driving state parameter in the preset driving mode is obtained through the corresponding relationship of the driving parameters.

The preset drive modes may include pure fuel drive mode, parallel drive mode, and parallel power generation mode. In the pure fuel drive mode, the engine of the vehicle provides driving torque to drive the vehicle; in the parallel drive mode, the vehicle motor terminal The torque and the torque at the engine end jointly drive the vehicle; in the parallel power generation mode, part of the torque at the engine end is used to drive the vehicle, and the other part is used to generate electricity for the motor, which in turn charges the power battery; the target engine fuel consumption rate can include pre-calculated The optimal engine fuel consumption rate corresponding to the preset driving mode; the driving parameter corresponding relationship may include the engine fuel consumption rate corresponding to different driving state parameters under each preset driving mode, and the driving parameter corresponding relationship may also include In each preset driving mode, the motor efficiency corresponding to different driving state parameters respectively.

It should be noted that the corresponding relationship of the driving parameters can be pre-determined according to the sample parameters of the driving state of the vehicle (the specific implementation of determining the corresponding relationship of the driving parameters will be introduced in the following description), and then the corresponding relationship of the driving parameters is stored in the vehicle In this way, in this step, for each preset driving mode in the plurality of preset driving modes, the corresponding relationship of the driving parameters can be used to obtain the driving state parameter under the preset driving mode by looking up a table. The corresponding target engine fuel consumption rate.

Exemplarily, Table 1 shows a possible corresponding relationship of the driving parameters. As shown in Table 1, in each of the three preset driving modes, different vehicle speeds, required torques, and engine gears The target engine fuel consumption rate and the target motor efficiency corresponding to the position are different, and the same vehicle speed, required torque and engine gear are in three different preset driving modes, the corresponding target engine fuel consumption rate and The target motor efficiency is also different. In this way, it is assumed that after step 201 is executed, the current driving state parameters of the vehicle are obtained, the vehicle speed is V2, the engine gear is X2, and the accelerator depth (that is, the depth at which the driver steps on the accelerator pedal) is H2, since the corresponding relationship between the driving parameters shown in Table 1 records the corresponding relationship between the required torque, the target engine fuel consumption rate and the target motor efficiency, therefore, before determining the target engine fuel consumption rate corresponding to the driving state parameter , the required torque needs to be determined according to the accelerator depth (for example, it can be determined by looking up a table, or it can be determined by other methods provided in the prior art, which is not limited in this disclosure), assuming that the required torque determined according to the accelerator depth H2 is T2, so, in this step, by looking up Table 1, it is possible to find the target engine fuel consumption rate F_B2 corresponding to the vehicle speed V2, the required torque T2, and the engine gear X2 under the pure fuel driving mode, and the corresponding The target motor efficiency is F_E2; in the parallel drive mode, the vehicle speed is V2, the required torque is T2, and the engine gear is X2, the target engine fuel consumption rate is P_B2, and the corresponding target motor efficiency is P_E2; in the parallel power generation mode, The vehicle speed is V2, the required torque is T2, and the engine gear is X2. The target engine fuel consumption rate is G_B2, and the corresponding target motor efficiency is G_E2. So far, each of the three preset drive modes shown in Table 1 has been obtained. In the preset driving mode, the target engine fuel consumption rate and the target motor efficiency corresponding to the driving state parameter, the above examples are only illustrative, and are not limited in the present disclosure.

It should also be noted that, considering the actual application scenario, the obtained current driving state parameters of the vehicle may not be completely consistent with the driving state parameters in the preset corresponding relationship of the driving parameters. For example, the driving In a set of correspondences stored in the parameter correspondence, vehicle speed=20km/h, required torque=50N.m, and the engine gear is 2nd gear in this driving state parameter, but the current driving state parameters of the vehicle are actually obtained. , the vehicle speed=23km/h, the required torque corresponding to the accelerator depth of 2%=55N.m), and the engine gear is 2nd gear. At this time, the target that completely corresponds to the current driving state parameters of the vehicle cannot be found by looking up the table. Engine fuel consumption rate, for this situation, the present disclosure can use interpolation (interpolation is an important method of discrete function approximation, by which the approximate value of the function at other points can be estimated through the value status of the function at a limited number of points) The method combines the discrete driving state parameters stored in the corresponding relationship of the driving parameters to estimate the target engine fuel consumption rate corresponding to the current driving state parameters of the vehicle. The specific implementation method can refer to the relevant description in the prior art, which will not be repeated here. .

Table 1

In step 203, according to the obtained target engine fuel consumption rate, a target driving mode is determined from the plurality of preset driving modes.

Wherein, the target driving mode may include the current most economical (which can be understood as the lowest fuel consumption rate) vehicle driving mode of the vehicle. Therefore, in a possible implementation mode of this step, from a variety of preset driving modes, the The preset driving mode with the lowest fuel consumption rate of the target engine is used as the target driving mode.

For example, after step 202 is executed, it is assumed that the target engine fuel consumption rate F_B2 corresponding to the driving state parameter in the pure fuel driving mode is obtained; in the parallel driving mode, the target engine fuel oil corresponding to the driving state parameter is obtained. The consumption rate is P_B2; in this parallel power generation mode, the target engine fuel consumption rate corresponding to the driving state parameter is G_B2. In this way, the sizes of F_B2, P_B2 and G_B2 can be compared, and the target engine fuel consumption rate with the smallest value corresponds to the target engine fuel consumption rate. The preset driving mode is determined as the target driving mode.

In addition, in an actual application scenario, if the preset drive mode with the lowest fuel consumption rate of the target engine is any one of the parallel drive mode and the parallel power generation mode, and the preset drive mode with the next lowest fuel consumption rate of the target engine The mode is the other of the parallel drive mode and the parallel power generation mode, and the target engine fuel consumption rate corresponding to the driving state parameter in the parallel drive mode is the target engine fuel consumption corresponding to the driving state parameter in the parallel power generation mode. If there is no big difference in the rate of the engine, it means that the fuel consumption rate of the parallel drive mode and the parallel power generation mode engine is equivalent (that is, the economy is equivalent). At this time, the target drive mode can be further determined according to the motor efficiency of the vehicle motor. Therefore, in In another possible implementation manner of the present disclosure, if the preset drive mode with the lowest fuel consumption rate of the target engine is any one of the parallel drive mode and the parallel power generation mode, and the preset drive mode with the next lowest fuel consumption rate of the target engine is Assuming that the driving mode is the other of the parallel driving mode and the parallel power generation mode, the target engine fuel consumption rate corresponding to the driving state parameter in the parallel driving mode can be obtained, and the target engine fuel consumption corresponding to the driving state parameter in the parallel power generation mode can be obtained. The difference between the fuel consumption rate of the engine; if the absolute value of the difference is less than or equal to the preset difference threshold, the corresponding relationship of the drive parameters can be used to determine the parallel drive mode and the parallel power generation mode for each preset drive mode. Obtain the target motor efficiency corresponding to the driving state parameter in the preset driving mode (the specific implementation is shown in the example in step 202, which will not be repeated here), so that the parallel driving mode and the parallel power generation can be generated. In the mode, the preset drive mode with the highest efficiency of the target motor is used as the target drive mode.

In addition, if the absolute value of the difference is greater than the preset difference threshold, it can be considered that the fuel consumption rate of the engine in the parallel driving mode and the parallel power generation mode is greatly different (that is, the economy is greatly different). In the drive mode and the parallel power generation mode, the preset drive mode with the lowest fuel consumption rate of the target engine is used as the target drive mode.

Illustratively, continuing to take the above example as an example, after step 202 is executed, it is assumed that the target engine fuel consumption rate F_B2 corresponding to the driving state parameter in the pure fuel driving mode is obtained; in the parallel driving mode, the driving The target engine fuel consumption rate corresponding to the state parameter is P_B2; in this parallel power generation mode, the target engine fuel consumption rate corresponding to the driving state parameter is G_B2. After comparing the sizes of F_B2, P_B2 and G_B2, if it is determined that F_B2>P_B2, And F_B2>G_B2, the difference between P_B2 and G_B2 can be further judged. If the absolute value of the difference between P_B2 and G_B2 is greater than the preset difference threshold (indicating that the parallel driving mode and the parallel power generation mode are different in terms of economy of the engine at this time) If the absolute value of the difference between P_B2 and G_B2 is less than or equal to this The preset difference threshold (indicating that the parallel drive mode is equivalent to the economy of the parallel power generation mode of the engine at this time) can be further obtained under the parallel drive mode, the target motor efficiency corresponding to the driving state parameter is P_E2, obtained in the parallel drive mode In the power generation mode, the target motor efficiency corresponding to the driving state parameter is G_E2. In this way, the sizes of P_E2 and G_E2 can be further judged. From the parallel drive mode and the parallel power generation mode, determine the preset value corresponding to the target motor efficiency with the smallest value. The driving manner is the target driving manner, and the above examples are merely illustrative, and are not limited in the present disclosure.

It should be noted that, in order to ensure the balance of battery power in the driving process of the hybrid vehicle and prolong the service life of the battery, the target driving mode can be determined by comprehensively considering the battery charge of the vehicle. Specifically, the target driving mode of the battery can be preset. The amount of charge (the target amount of charge is usually the target amount of charge that the driver wants the vehicle battery to reach in advance, generally between 15% and 70% of the maximum charge amount of the battery, and this range is usually the best battery working range, and the lower the target charge amount is set, the more the driver prefers to drive the vehicle with electricity, and the higher the target charge amount is set, the more the driver prefers to drive the vehicle with oil.), and then obtain the current current status of the vehicle in real time If the actual charge of the battery is less than the target charge, it can be determined that the current target drive mode of the vehicle can be selected from three preset drive modes: pure fuel drive mode, parallel drive mode and parallel power generation mode. If the actual charge of the battery is greater than or equal to the target charge, in order to avoid battery overcharge affecting the service life of the battery, the current target drive mode of the vehicle can be selected from two preset drive modes: pure fuel drive mode and parallel drive mode , so as to achieve the purpose of ensuring the balance of battery power and prolonging the service life of the battery.

In step 204, the vehicle is driven according to the target driving mode.

Using the above method, the target engine fuel consumption rate corresponding to various preset driving modes of the vehicle can be determined based on the current driving state parameters of the vehicle, and then the target driving mode with the lowest current fuel consumption can be determined based on the target engine fuel consumption rate. Not only is it not limited by specific working conditions, but it can also ensure that the current driving mode of the vehicle is the most economical driving mode at the same time, thereby improving the economy of the whole vehicle. In addition, the present disclosure can also comprehensively consider the amount of charge of the vehicle battery to determine the driving mode. Target driving mode, so as to ensure the balance of battery power in the driving process of the hybrid vehicle and prolong the service life of the battery.

The method for determining the corresponding relationship of the driving parameters as shown in Table 1 will be described below. In a possible implementation, the corresponding relationship of the driving parameters may be determined by offline calculation. FIG. 3 is according to an exemplary implementation. A flowchart of a method for pre-determining the corresponding relationship of the driving parameters is illustrated, as shown in FIG. 3 , the method includes the following steps:

In step 301, a plurality of driving state sample parameter sets are obtained, the driving state sample parameter set is a set composed of a plurality of driving state sample parameters, and the driving state sample parameters include vehicle speed, required torque, engine gear, and engine target torque .

序列中的任一发动机档位(其中，i_{k_eng}(k＝1,2,...,n)表示该发动机档位为k档)，输入该发动机目标扭矩可以为0到T_{max_eng}序列中的任一扭矩(其中，T_{max_eng}表示发动机峰值扭矩，该发动机峰值扭矩与发动机的本体特性相关，为一个常数，并且在该发动机目标扭矩序列中相邻两个发动机目标扭矩之间的变化幅度，也可以根据实际需求的不同预先设定不同的幅度值)，这样，装载该仿真平台的设备可以根据输入的多个行驶状态样本参数分别对应的序列，将多个序列中的行驶状态样本参数进行排列组合，得到多个该行驶状态样本参数集合。In a possible implementation manner, the actual driving scene of the vehicle can be simulated by means of simulation, so as to determine the corresponding relationship of the driving parameters. For example, the user (generally the staff of the depot) can input the vehicle speed as 0 on the simulation platform to any vehicle speed in the V _max vehicle speed sequence (wherein, V _max is the maximum value of the preset vehicle speed, and the variation range between two adjacent vehicle speeds in the vehicle speed sequence can be preset according to the actual demand Different magnitude values, for example, the vehicle speed sequence can be: 0,5km/h, 10km/h, 15km/h,...,V _max ), the input driver's demand torque can be 0 to T _{req_max} demand Any torque in the torque sequence (wherein, T _{req_max} is the maximum value of the preset demand torque, and the variation range between two adjacent demand torques in the demand torque sequence can also be preset according to the actual demand. Set different amplitude values, for example, the required torque sequence can be: 0, 10N.m, 20N.m, 30N.m,...,T _{req_max} ), the input engine gear can be

Any engine gear in the sequence (wherein, i _{k_eng} (k=1,2,...,n) indicates that the engine gear is k gear), the input engine target torque can be 0 to T _{max_eng} in the sequence Any torque (wherein, T _{max_eng} represents the engine peak torque, the engine peak torque is related to the body characteristics of the engine, is a constant, and the variation range between two adjacent engine target torques in the engine target torque sequence, also Different amplitude values can be preset according to different actual needs), in this way, the equipment loaded with the simulation platform can arrange the driving state sample parameters in the multiple sequences according to the sequences corresponding to the input multiple driving state sample parameters. Combining to obtain a plurality of sample parameter sets of the driving state.

For example, suppose the inputted vehicle speed sequence is 5km/h, 10km/h, the inputted torque demand sequence is 10N.m, 20N.m, the inputted engine gear sequence is 1st gear, 2nd gear, the inputted this The engine target torque sequence is 8N.m, 9N.m. By arranging and combining the data in the above four sequences, multiple sets of driving state sample parameters can be obtained: Set 1: (5km/h, 10N.m, 1st gear, 8N.m), set 2: (10km/h, 20N.m, 2nd gear, 9N.m), set 3: (5km/h, 20N.m, 2nd gear, 8N.m), here is only an example Lists part of the driving state sample parameter sets, the above examples are only examples, and the present disclosure does not limit them.

After obtaining a plurality of driving state sample parameter sets, step 302 to step 305 can be performed to determine, according to the vehicle speed, required torque, engine gear and engine target torque in the driving state sample parameter set, the driving mode for each driving mode in different preset driving modes. The target driving parameters corresponding to each of the driving state sample parameter sets respectively, the target driving parameters include the target engine fuel consumption rate and the target motor efficiency.

In step 302, the motor speed, motor target torque and motor efficiency of the vehicle are determined according to the vehicle speed, the required torque, the engine gear, the engine target torque and the motor gear.

Among them, in practical application scenarios, the motor gear usually has only one gear, so the motor gear can be regarded as a constant.

In this step, the motor speed can be calculated according to the vehicle speed and the motor gear. Specifically, the motor gear transmission ratio of the vehicle can be determined by looking up a table according to the motor gear first, and then according to formula (1) Calculate the motor speed:

Among them, n _mg represents the motor speed, v represents the vehicle speed, ratio _mg represents the gear ratio of the motor gear, and r represents the tire radius.

In this step, the engine speed of the vehicle can be calculated according to the vehicle speed and the engine gear. Specifically, the transmission ratio of the engine gear corresponding to the engine gear can be determined by looking up a table according to the engine gear, and then according to formula (2 ) to calculate the engine speed:

Among them, n _eng represents the engine speed, v represents the vehicle speed, ratio _eng represents the engine gear ratio, and r represents the tire radius.

In this way, after the engine speed is calculated, the maximum output torque of the engine (which can be expressed as T _{max_eng_act} ) at the current engine speed can be obtained according to the engine speed and the characteristics of the vehicle engine (which can be understood as engine peak torque), and then according to the engine The maximum output torque corrects the input engine target torque, and limits the engine target torque below the maximum engine output torque. Specifically, it can be corrected according to formula (3):

T _{tar_eng} =min(T _{tar_eng} ,T _{max_eng_act} ) (3)

Wherein, T _{tar_eng} on the left side of the equal sign in formula (3) represents the corrected target torque of the engine, T _{tar_eng on the right side of the equal sign represents the engine target torque before correction, and T max_eng_act represents} the maximum output torque of the engine.

In this way, after obtaining the revised target engine torque, the motor target torque can be calculated according to the formula (4) according to the required torque, the engine gear position, the revised engine target torque and the motor gear position:

T _{tar_mg} = (T _req -T _{tar_eng} *ratio _eng )/ratio _mg (4)

Among them, T _{tar_mg} represents the target torque of the motor, T _req represents the required torque, T _{tar_eng} represents the corrected target torque of the engine, ratio _eng represents the corresponding engine gear (can be determined by looking up a table according to the engine gear) The gear ratio of the engine gear, ratio _mg represents the gear ratio of the motor gear.

After the motor speed and the motor target torque are obtained, the motor efficiency corresponding to the motor speed and the motor target torque can be determined by looking up a table according to the motor efficiency calibration experimental data.

In step 303, the engine fuel consumption rate of the vehicle is determined according to the vehicle speed, the engine gear and the engine target torque.

Considering that in the process of determining the fuel consumption rate of the engine, the current engine speed and engine target torque can usually be used to determine the current engine speed and engine target torque corresponding to the current engine speed and engine target torque by looking up the table according to the experimental data of the universal characteristics of the engine. The engine fuel consumption rate, therefore, in this step, the engine speed can be calculated according to the vehicle speed and the engine gear position according to formula (2), and then the target engine torque can be corrected according to formula (3), so that the engine target torque can be corrected according to formula (3). The engine speed and the revised target engine torque determine an engine fuel consumption rate for the vehicle.

In step 304, motor torque ranges corresponding to different preset driving modes are determined according to the motor speed.

In this step, the maximum output torque of the motor (which can be expressed as T _{max_mg_act} ) at the current motor speed can be obtained first according to the motor speed and the characteristics of the motor (which can be understood as the motor peak torque), and then different values are determined according to the maximum output torque of the motor. The motor torque ranges corresponding to the preset drive modes.

For example, it is assumed that the preset drive mode includes three drive modes: pure fuel drive mode, parallel drive mode, and parallel power generation mode. In an actual application scenario, when the preset drive mode is pure fuel drive mode, the motor does not provide torque. , the target torque of the motor should be 0, when the preset drive mode is parallel drive mode, the motor provides positive torque, the motor torque range where the motor target torque is located should be (0,T _{max_mg_act} ), and the default drive mode is parallel power generation In the mode, the motor provides negative torque, and the motor torque range in which the target torque of the motor is located should be (-T _{max_mg_act} ,0), where T _{max_mg_act} represents the maximum output torque of the motor. Not limited.

In step 305, according to the target torque of the motor, the torque range of the motor, the efficiency of the motor and the fuel consumption rate of the engine, the target driving parameters corresponding to each of the sample driving parameter sets under different preset driving modes are determined. Parameters include the target engine fuel consumption rate and the target motor efficiency.

In the actual driving parameter corresponding relationship determination scenario, the relationship between the demand torque, the engine target torque and the motor target torque can be as shown in formula (5) (formula (5) can be obtained by deforming formula (4)) :

T _req =T _{tar_eng} *ratio _eng +T _{tar_mg} *ratio _mg (5)

Among them, T _req represents the required torque, T _{tar_eng} represents the engine target torque, T _{tar_mg} represents the motor target torque, ratio _eng represents the engine gear ratio, and ratio _mg represents the motor gear ratio. Therefore, the required torque input by the user Each required torque in the sequence corresponds to a plurality of combinations of the engine target torque and the motor target torque, and different combinations of the engine target torque and the motor target torque are combined with the same vehicle speed and the same engine gear according to steps 302 to 302. The fuel consumption rate of the engine and the motor efficiency calculated by the method described in step 303 will also be different, that is to say, under the same vehicle speed, the same engine gear, and the same required torque, multiple fuel consumption rates of the engine and a plurality of the engine fuel consumption rates can be calculated. Therefore, in this step, according to the target torque of the motor and the torque range of the motor, a plurality of fuel consumption rates of the engine and a plurality of the In the motor efficiency, the target engine fuel consumption rate and the target motor efficiency corresponding to each sample driving parameter set under different preset driving modes are screened out.

For example, according to the target torque of the motor and the torque range of the motor, among multiple fuel consumption rates of the engine and multiple efficiencies of the motor calculated based on the same vehicle speed, the same engine gear, and the same required torque, the motor can be filtered out. The engine fuel consumption rate and motor efficiency when the target torque is 0 are the target engine fuel consumption and the target motor efficiency corresponding to the pure fuel drive mode, and the engine fuel consumption rate when the motor target torque is in the range of (0,T _{max_mg_act} ) is screened out The target engine fuel consumption and the target motor efficiency corresponding to the motor efficiency in the parallel drive mode, filter out the engine fuel consumption rate and motor efficiency when the motor target torque is in the range of (-T _{max_mg_act} , 0) and the motor efficiency corresponding to the parallel power generation mode. The target engine fuel consumption and the target motor efficiency, the above examples are only for illustration, and are not limited in the present disclosure.

In addition, the corresponding relationship of the driving parameters may also record the optimal engine torque and the optimal motor torque corresponding to each sample driving parameter set under different preset driving modes of the vehicle, and specifically determine the optimal engine torque. For the method of torque and optimal motor torque, reference may be made to the method for determining the target engine fuel consumption and the target motor efficiency, which will not be repeated here.

So far, the target engine fuel consumption rate and the target motor efficiency corresponding to each of the driving state sample parameter sets under different preset driving modes are determined, and the corresponding relationship of the driving parameters is also determined.

The above method can be used to pre-determine the target engine fuel consumption rate and target motor efficiency corresponding to different driving state parameters in each preset driving mode. In this way, in the actual vehicle driving scenario, the corresponding driving parameters can be directly Based on the current driving state parameters of the vehicle, the target engine fuel consumption rate and target motor efficiency corresponding to the various preset driving modes of the vehicle are determined, and then the target driving mode with the lowest current fuel consumption of the vehicle is determined. It can also ensure that the current driving mode of the vehicle is the most economical driving mode, so as to improve the economy of the whole vehicle.

Fig. 4 is a block diagram of an apparatus for driving a vehicle according to an exemplary embodiment. As shown in Fig. 4 , the apparatus includes:

The first obtaining module 401 is used to obtain the current driving state parameters of the vehicle;

The second obtaining module 402 is configured to, for each preset driving mode among the plurality of preset driving modes, obtain the target engine fuel consumption rate corresponding to the driving state parameter in the preset driving mode through the corresponding relationship of the driving parameters, The driving parameter corresponding relationship includes the engine fuel consumption rate corresponding to different driving state parameters in each preset driving mode;

A determination module 403, configured to determine a target driving mode from the plurality of preset driving modes according to the obtained target engine fuel consumption rate;

The driving module 404 is configured to drive the vehicle to travel according to the target driving mode.

Optionally, the determining module 403 is configured to select a preset driving mode with the lowest fuel consumption rate of the target engine from among a plurality of preset driving modes as the target driving mode.

Optionally, the preset drive mode includes a parallel drive mode and a parallel power generation mode; the drive parameter correspondence also includes motor efficiencies corresponding to different driving state parameters in each of the preset drive modes; the determining module 403, Used if the preset drive mode with the lowest fuel consumption rate of the target engine is any one of the parallel drive mode and the parallel power generation mode, and the preset drive mode with the next lowest fuel consumption rate of the target engine is the parallel drive mode and In the other of the parallel power generation modes, the target engine fuel consumption rate corresponding to the driving state parameter in the parallel driving mode is obtained, and the difference between the target engine fuel consumption rate corresponding to the driving state parameter in the parallel power generation mode; if the The absolute value of the difference is less than or equal to the preset difference threshold, and through the corresponding relationship of the drive parameters, for each preset drive mode in the parallel drive mode and the parallel power generation mode, the driving mode in the preset drive mode is obtained. The target motor efficiency corresponding to the state parameter; from the parallel drive mode and the parallel power generation mode, the preset drive mode with the highest target motor efficiency is used as the target drive mode.

Optionally, the determining module 403 is further configured to, if the absolute value of the difference is greater than the preset difference threshold, select a preset value with the lowest fuel consumption rate of the target engine from the parallel drive mode and the parallel power generation mode. The drive method is used as the target drive method.

Optionally, the driving parameter correspondence may be predetermined in the following manner:

Obtain a plurality of driving state sample parameter sets, the driving state sample parameter set is a set composed of a plurality of driving state sample parameters, and the driving state sample parameters include vehicle speed, required torque, engine gear and engine target torque; according to the vehicle speed, The required torque, the engine gear, and the engine target torque determine target driving parameters corresponding to each of the driving state sample parameter sets under different preset driving modes, and the target driving parameters include the target engine fuel consumption rate and the target Motor efficiency.

Optionally, in the determination of different preset driving modes according to the vehicle speed, the required torque, the engine gear position and the engine target torque, the target driving parameters corresponding to each of the driving state sample parameter sets respectively include: according to the vehicle speed, The required torque, the engine gear, the engine target torque and the motor gear determine the motor speed, motor target torque and motor efficiency of the vehicle; determine the vehicle's engine fuel according to the vehicle speed, the engine gear and the engine target torque The motor torque range corresponding to the different preset drive modes is determined according to the motor speed; the motor torque range is determined according to the motor target torque, the motor torque range, the motor efficiency and the engine fuel consumption rate under different preset drive modes. Each of the sample driving parameter sets corresponds to the target driving parameters respectively.

Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

With the above device, the target engine fuel consumption rate corresponding to various preset driving modes of the vehicle can be determined based on the current driving state parameters of the vehicle, and then the target driving mode with the lowest current fuel consumption of the vehicle can be determined based on the target engine fuel consumption rate. Not only is it not limited by specific working conditions, but it can also ensure that the current driving mode of the vehicle is the most economical driving mode, so as to improve the economy of the whole vehicle.

FIG. 5 is a block diagram of a vehicle according to an exemplary embodiment. As shown in FIG. 5 , the vehicle includes the above-mentioned device for driving the vehicle.

The preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that the various specific technical features described in the above-mentioned specific embodiments can be combined in any suitable manner unless they are inconsistent. In order to avoid unnecessary repetition, the present disclosure provides The combination method will not be specified otherwise.

In addition, the various embodiments of the present disclosure can also be arbitrarily combined, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the contents disclosed in the present disclosure.

Claims (12)

1. A method of driving a vehicle, the method comprising:

acquiring current driving state parameters of a vehicle;

aiming at each preset driving mode in a plurality of preset driving modes, acquiring a target engine fuel consumption rate corresponding to the running state parameters in the preset driving mode through a driving parameter corresponding relation, wherein the driving parameter corresponding relation comprises the engine fuel consumption rates corresponding to different running state parameters in each preset driving mode;

determining a target driving mode from the plurality of preset driving modes according to the acquired target engine fuel consumption rate;

driving the vehicle to run according to the target driving mode;

the preset driving mode comprises a parallel driving mode and a parallel power generation mode; the corresponding relation of the driving parameters further comprises the motor efficiency corresponding to different driving state parameters under each preset driving mode; the determining a target driving style from the plurality of preset driving styles according to the acquired target engine fuel consumption rate comprises:

if the preset driving mode with the lowest target engine fuel consumption rate is any one of the parallel driving mode and the parallel power generation mode, and the preset driving mode with the lowest target engine fuel consumption rate is the other one of the parallel driving mode and the parallel power generation mode, acquiring a difference value between the target engine fuel consumption rate corresponding to the running state parameter in the parallel driving mode and the target engine fuel consumption rate corresponding to the running state parameter in the parallel power generation mode;

if the absolute value of the difference is smaller than or equal to a preset difference threshold, acquiring target motor efficiency corresponding to the running state parameter in the preset driving mode aiming at each preset driving mode in the parallel driving mode and the parallel power generation mode through the corresponding relation of the driving parameters;

and taking a preset driving mode with the highest target motor efficiency from the parallel driving mode and the parallel power generation mode as the target driving mode.

2. The method according to claim 1, wherein the determining a target drive style from among the plurality of preset drive styles according to the acquired target engine fuel consumption rate comprises:

and taking the preset driving mode with the lowest target engine fuel consumption rate as the target driving mode from a plurality of preset driving modes.

3. The method of claim 1, wherein determining a target drive style from the plurality of preset drive styles based on the retrieved target engine specific fuel consumption further comprises:

and if the absolute value of the difference is larger than the preset difference threshold, taking the preset driving mode with the lowest target engine fuel consumption rate as the target driving mode from the parallel driving mode and the parallel power generation mode.

4. A method according to claim 1 or 3, characterized in that the driving parameter correspondence is predetermined by:

acquiring a plurality of running state sample parameter sets, wherein the running state sample parameter sets are a set consisting of a plurality of running state sample parameters, and the running state sample parameters comprise a vehicle speed, a required torque, an engine gear and an engine target torque;

and determining target driving parameters corresponding to each running state sample parameter set under different preset driving modes according to the vehicle speed, the required torque, the engine gear and the engine target torque, wherein the target driving parameters comprise the target engine fuel consumption rate and the target motor efficiency.

5. The method according to claim 4, wherein the determining of the target driving parameters corresponding to each driving state sample parameter set in different preset driving modes according to the vehicle speed, the required torque, the engine gear and the engine target torque comprises:

determining the motor rotating speed, the motor target torque and the motor efficiency of the vehicle according to the vehicle speed, the required torque, the engine gear, the engine target torque and the motor gear;

determining an engine fuel consumption rate of the vehicle according to the vehicle speed, the engine gear and the engine target torque;

determining motor torque ranges respectively corresponding to different preset driving modes according to the motor rotating speed;

and determining the target driving parameters corresponding to each sample driving parameter set respectively under different preset driving modes according to the motor target torque, the motor torque range, the motor efficiency and the engine fuel consumption rate.

6. An apparatus for driving a vehicle, characterized in that the apparatus comprises:

the first acquisition module is used for acquiring the current running state parameters of the vehicle;

a second obtaining module, configured to obtain, for each preset driving manner in the plurality of preset driving manners, a target engine fuel consumption rate corresponding to the driving state parameter in the preset driving manner through a driving parameter corresponding relationship, where the driving parameter corresponding relationship includes engine fuel consumption rates corresponding to different driving state parameters in each preset driving manner; the preset driving mode comprises a parallel driving mode and a parallel power generation mode; the corresponding relation of the driving parameters further comprises the motor efficiency corresponding to different driving state parameters under each preset driving mode;

a determining module, configured to obtain a difference between a target engine fuel consumption rate corresponding to the driving state parameter in the parallel driving mode and a target engine fuel consumption rate corresponding to the driving state parameter in the parallel generating mode, if a preset driving mode in which the target engine fuel consumption rate is the lowest is any one of the parallel driving mode and the parallel generating mode, and a preset driving mode in which the target engine fuel consumption rate is the lowest is the other of the parallel driving mode and the parallel generating mode; if the absolute value of the difference is smaller than or equal to a preset difference threshold, acquiring target motor efficiency corresponding to the running state parameter in the preset driving mode aiming at each preset driving mode in the parallel driving mode and the parallel power generation mode through the corresponding relation of the driving parameters; taking a preset driving mode with the highest target motor efficiency from the parallel driving mode and the parallel power generation mode as a target driving mode;

and the driving module is used for driving the vehicle to run according to the target driving mode.

7. The apparatus of claim 6, wherein the determination module is configured to use a preset drive mode with a lowest fuel consumption rate of the target engine as the target drive mode from among a plurality of preset drive modes.

8. The apparatus of claim 6, wherein the determining module is further configured to use a preset driving method with a lowest fuel consumption rate of the target engine from the parallel driving method and the parallel power generation method as the target driving method if the absolute value of the difference is greater than the preset difference threshold.

9. The apparatus according to claim 6 or 8, wherein the driving parameter correspondence relationship is predetermined by:

acquiring a plurality of running state sample parameter sets, wherein the running state sample parameter sets are a set consisting of a plurality of running state sample parameters, and the running state sample parameters comprise a vehicle speed, a required torque, an engine gear and an engine target torque; and determining target driving parameters corresponding to each running state sample parameter set under different preset driving modes according to the vehicle speed, the required torque, the engine gear and the engine target torque, wherein the target driving parameters comprise the target engine fuel consumption rate and the target motor efficiency.

10. The apparatus according to claim 9, wherein the determining of the target driving parameters corresponding to each driving state sample parameter set in different preset driving modes according to the vehicle speed, the required torque, the engine gear and the engine target torque comprises:

determining the motor rotating speed, the motor target torque and the motor efficiency of the vehicle according to the vehicle speed, the required torque, the engine gear, the engine target torque and the motor gear;

determining an engine fuel consumption rate of the vehicle according to the vehicle speed, the engine gear and the engine target torque;

determining motor torque ranges respectively corresponding to different preset driving modes according to the motor rotating speed;

and determining the target driving parameters corresponding to each sample driving parameter set respectively under different preset driving modes according to the motor target torque, the motor torque range, the motor efficiency and the engine fuel consumption rate.

11. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.

12. A vehicle characterized by comprising the apparatus for driving a vehicle according to any one of claims 6 to 10.

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