CN117842025A - Carrier control method, system and computer readable storage medium - Google Patents

Abstract

The application provides a carrier control method, a carrier control system and a computer readable storage medium, and relates to the technical field of intelligent driving. The method comprises the following steps: detecting state information of a target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information; judging whether a target working condition exists according to the running requirement of the target carrier; executing target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start. According to the method and the device, hardware equipment such as a sensor is not required to be configured, the actual state of the target carrier can be detected on an original vehicle-mounted system, and whether the target working condition related to the ramp exists or not is judged by combining corresponding running requirements, so that the target carrier is controlled, target operation related to the ramp is executed, the hardware cost of control is effectively reduced, the anti-slip effect is optimized, and the safety of the carrier is improved.

Description

Carrier control method, system and computer readable storage medium

Technical Field

The present application relates to the field of intelligent driving technologies, and in particular, to a carrier control method, a carrier control system, and a computer readable storage medium.

Background

At present, the use requirement of electric vehicles with new energy sources is larger and larger, and due to the control difference between the electric vehicles and the traditional vehicles, traffic accidents caused by sliding of the electric vehicles easily occur when the electric vehicles climb a slope, and in order to improve the safety of the vehicles, the anti-sliding performance of the electric vehicles is generally improved through hardware transformation. Compared with the traditional vehicle, the pure electric vehicle has no clutch sliding and friction and engine reverse dragging functions, and hardware components such as a gradient sensor or a traction control system and the like are generally configured in the electric vehicle so as to reduce safety accidents caused by vehicle sliding on a slope.

However, hardware components such as a gradient sensor or a traction control system are high in hardware cost, at present, part of pure electric vehicles are not configured, a driver is required to actively pull up a hand brake to stop, and the vehicle is started in a mode of cooperation of a hand brake and an accelerator during starting. On one hand, the difficulty of operation of a driver is increased, on the other hand, the effect of avoiding the vehicle from sliding on a slope is poor, so that the safety of driving the electric vehicle is low, and the current safety requirement cannot be met.

Disclosure of Invention

In view of the foregoing, an object of the embodiments of the present application is to provide a carrier control method, a carrier control system and a computer readable storage medium, so as to solve the problem of low safety in driving an electric vehicle in the prior art.

In order to solve the above problem, in a first aspect, an embodiment of the present application provides a carrier control method, where the method includes:

detecting state information of a target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information;

judging whether a target working condition exists according to the running requirement of the target carrier;

executing target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start.

In the implementation process, hardware equipment such as a sensor and the like does not need to be configured in the target carrier, the actual state of the target carrier can be detected on the original vehicle-mounted system, and whether the target carrier has a target working condition related to the ramp or not is judged by combining corresponding running requirements. When the control is performed, the target carrier can be controlled to execute the target operation related to the ramp by combining the state information and the working condition, so that the functions of stopping and preventing the ramp are realized, and the risk of sliding the vehicle during the hill start is eliminated. Through the functional improvement to original on-vehicle system, reduced the hardware cost to the ramp control effectively to reduce the processing degree of difficulty of preventing swift current operation, optimized the swift current effect of preventing of target carrier, in order to improve the security when driving electric carrier, satisfy present multiple running demand and safety requirement.

Optionally, the determining whether the target working condition exists according to the running requirement of the target carrier includes:

determining the driving requirement of automatic driving; wherein the travel demand includes: target vehicle speed and target gear;

if the target vehicle speed is 0 and the target gear is a neutral gear, determining that a first target working condition where the target carrier stays on a slope exists;

if the target vehicle speed is 0 and the target gear is not neutral gear, determining that a second target working condition of slope pause exists in the target carrier;

and if the target vehicle speed is not 0, the target gear is not neutral, and the target carrier is in a parking state, determining that a third target working condition of hill start exists in the target carrier.

In the implementation process, when the working condition judgment is carried out, the target speed and the target gear issued by the target carrier during automatic driving can be obtained, so that the actual running scene of the target carrier is determined according to the actual conditions of the speed and the gear, and the current actual working condition of the target carrier is determined. The method can judge the scene and the working condition of the target carrier according to the real-time speed and gear, and effectively improves the accuracy and the effectiveness of the target working condition.

Optionally, wherein the target operation includes the ramp parking; the executing the target operation based on the state information and the target working condition includes:

controlling the target carrier with the first target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier;

and if the target carrier is judged to be stopped, controlling brake to be started so as to stop the target carrier at the current position.

In the implementation process, when the target carrier has the first target working condition of ramp stopping, in order to reduce the sliding situation caused by stopping in a ramp scene, the target carrier can be controlled to execute ramp stopping operation, the target carrier in the first target working condition is controlled to decelerate according to the current information of the target carrier through preset control performance until the target carrier is stopped, and braking is started after stopping so as to stop the target carrier at the current position. The parking control system can timely control the target carrier to park so as to reduce overheat conditions caused by continuous work of each work assembly, effectively prolong the service life of each work module, reduce the sliding condition caused when the target carrier stops in a ramp scene and improve the safety of the target carrier during running.

Optionally, wherein the target operation includes the anti-slip pause; the executing the target operation based on the state information and the target working condition includes:

controlling the target carrier with the second target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier;

if the target carrier is judged to be stopped, controlling the motor 0 speed output in the target carrier to suspend the target carrier at the current position;

and judging whether to start the suspended target carrier according to the torque data corresponding to the starting instruction and the motor torque.

In the implementation process, when the target carrier has the second target working condition of ramp suspension, in consideration of that the target carrier may have corresponding gear shifting and other treatments in the running process, in order to reduce the situation of sliding caused by the treatment in the ramp scene, the target carrier can be controlled to execute the anti-slip suspension operation. And controlling the target carrier under the second target working condition to decelerate according to the current information of the target carrier through preset control performance until the target carrier is stopped, and controlling a motor of the target carrier to output at 0 speed after stopping, so that the target carrier keeps at 0 rotating speed on the ramp to achieve the purpose of preventing slipping, and suspending the target carrier at the current position. In addition, considering the processing requirement of the target carrier in the suspension process, whether the suspension state is exited or not can be judged according to the torque data corresponding to the starting instruction and the motor torque, so that the suspended target carrier is started in time when the target carrier has the corresponding processing requirement, and normal running work is carried out. The method has the advantages that the target carrier can be timely controlled to be suspended, so that a safe processing environment is provided when the target carrier is subjected to various processing operations in a ramp scene, the sliding situation caused in the processing process is reduced, the safety of the target carrier in running is improved, the short-time suspension is realized by utilizing 0-speed control, the loss caused by frequent use of the brake is prevented, the service life of the brake is prolonged, the following and following can be realized, and the running efficiency of the target carrier is further improved.

Optionally, the executing the target operation based on the state information and the target working condition further includes:

judging whether an abnormal condition exists under the condition that the target carrier is suspended at the current position or not based on the state information;

and if the abnormal condition exists in the target carrier, controlling the brake to start so as to park the target carrier at the current position.

In the implementation process, considering that the object carrier is influenced by gravity and time in the suspension process of the ramp, the corresponding sliding risk still exists, therefore, after the ramp suspension process is performed, whether the object carrier is suspended at the current position or not has an abnormal condition of sliding can be judged according to the current state information of the object carrier, if the abnormal condition exists, and the corresponding starting instruction is not received, the braking is directly controlled to be started, so that the suspension mode is converted into the parking mode, and the object carrier is parked at the current position. In the suspension process, whether the abnormal condition of the sliding car exists or not can be judged according to the actual condition of the target carrier, so that the target carrier is controlled to stop when the abnormal condition is judged, the sliding car condition caused by long-time suspension is reduced, and the safety of the target carrier in running is further improved.

Optionally, the determining, based on the state information, whether an abnormal situation exists in the situation that the target carrier is suspended at the current position includes:

judging whether the rotating direction of the rotating speed of the motor is opposite to the required direction of the current gear or not;

if the rotation direction is opposite to the demand direction, judging whether the motor rotation speed exceeds a preset threshold value;

if the motor rotating speed is judged to exceed the preset threshold value, the abnormal condition exists under the condition that the target carrier is suspended at the current position.

In the implementation process, when determining whether the target carrier has an abnormal situation of sliding along the ramp, whether the rotation direction of the motor rotation speed is consistent with the demand direction of the current gear or not can be determined, if not, whether the motor rotation speed exceeds a corresponding preset threshold value is continuously judged, and whether the target carrier has an abnormal situation of sliding. The method can determine the difference between the actual condition of the target carrier and the gear requirement from two aspects of direction and rotating speed, so as to judge the movement trend of the target carrier, judge whether an abnormal condition exists or not, and effectively improve the accuracy and the effectiveness of the abnormal condition judgment.

Optionally, wherein the target operation includes the hill start; the executing the target operation based on the state information and the target working condition includes:

determining a starting condition of the target carrier with the third target working condition based on the driving requirement; wherein the starting conditions include output torque and executing a gear;

converting the starting condition into a corresponding driving signal;

controlling the stopped target carrier driving based on the state information and the driving signal by the control performance of the target carrier;

and if the target carrier is judged to be driven, controlling the brake to be closed.

In the implementation process, when the target carrier has the third target working condition of hill start, in order to reduce the situation of sliding caused by the start in the hill scene, the target carrier can be controlled to execute the hill start operation. Firstly, determining the starting condition of the target carrier under the third target working condition according to the running requirement, converting the starting condition into a corresponding driving signal, controlling the stopped target carrier to be driven in advance according to the state information and the driving signal through the preset control performance, and controlling the brake to be closed after driving. The vehicle-sliding prevention device has the advantages that the brake can be turned off after the target carrier is started in advance, so that the sliding situation caused by turning off the brake and then starting in a ramp scene is effectively reduced, the starting anti-sliding function is realized, and the safety of the target carrier during running is improved.

Optionally, wherein the control performance of the target carrier is preconfigured by;

determining a plurality of functional parameters according to different test conditions; wherein the test conditions include: at least one of speed conditions, pressure conditions, time conditions, grade conditions; the functional parameters include: at least one of a pressure parameter, a release time parameter, a drive parameter;

optimizing the functional parameters by combining with an actual control process to obtain target parameters;

and solidifying the target parameters into the target carrier, and configuring to obtain the control performance.

In the implementation process, due to the difference of the function types and the model numbers of the target carriers, the target carriers can be pre-tested according to different test conditions to determine corresponding various different function parameters, and in consideration of the difference between an actual driving scene and a test scene, the function parameters can be optimized by combining an actual control process, so that the optimized target parameters are solidified into the target carriers, and the control performance is pre-configured into the target carriers. The corresponding control performance can be configured into the target carrier according to the test condition and the actual control scene of the target carrier, so that the target carrier can execute corresponding control modes according to different conditions, the suitability and the practicability of the control performance are effectively improved, and the effectiveness of the target carrier in executing various target operations is improved.

In a second aspect, embodiments of the present application further provide a carrier control system, the system including: the device comprises a detection module, a control module and a wire control module;

the detection module is used for detecting the state information of the target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information;

the control module is used for judging whether a target working condition exists according to the running requirement of the target carrier;

the drive-by-wire module is used for executing target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start.

In the implementation process, the actual state of the target carrier is detected through the detection module to obtain various types of state information, the control module is used for judging whether the target carrier has a target working condition related to the ramp or not according to corresponding running requirements, the drive-by-wire module is used for controlling the target carrier to execute target operation related to the ramp according to the state information and the working condition, so that the functions of stopping and preventing the ramp are realized, and the risk of sliding the vehicle during starting of the ramp is eliminated.

In a third aspect, embodiments of the present application further provide a computer readable storage medium having stored therein computer program instructions that, when read and executed by a processor, perform steps in any implementation of the above-described carrier control method.

In summary, the embodiments of the present application provide a method, a system, and a computer readable storage medium for controlling a carrier, which do not need to configure hardware devices such as a sensor, and can detect an actual state of a target carrier on an original vehicle-mounted system, and determine whether a target working condition related to a ramp exists in combination with a corresponding driving requirement, so as to control the target carrier, execute a target operation related to the ramp, effectively reduce the hardware cost of control, optimize the anti-slip effect, and improve the safety of the carrier.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic flow chart of a carrier control method according to an embodiment of the present application;

fig. 2 is a detailed flowchart of step S200 provided in the embodiment of the present application;

fig. 3 is a detailed flowchart of the first step S300 provided in the embodiment of the present application;

fig. 4 is a detailed flowchart of a second step S300 provided in the embodiment of the present application;

fig. 5 is a detailed flowchart of a third step S300 provided in the embodiment of the present application;

fig. 6 is a detailed flowchart of step S324 according to an embodiment of the present application;

fig. 7 is a detailed flowchart of a fourth step S300 provided in the embodiment of the present application;

fig. 8 is a schematic flow chart of another method for controlling a carrier according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a carrier control system according to an embodiment of the present application.

Icon: 500-carrier control system; 510-a detection module; 520-a control module; 530-a drive-by-wire module.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present application without making any inventive effort, are intended to be within the scope of the embodiments of the present application.

At present, the ramp auxiliary system is adopted to prevent the sliding under more effective conditions, the sliding prevention time is set time, long-time sliding prevention/parking cannot be ensured, and potential safety hazards still exist. In addition, because hardware cost of hardware components such as a gradient sensor or a traction control system is high, a part of pure electric vehicles in the market at present are not provided with corresponding hardware to realize the anti-slip function. In the running process, a driver is required to actively pull up the hand brake to stop, and the hand brake is started in a mode of matching the hand brake and the accelerator during starting. The difficulty of driver operation is great and avoid the effect of vehicle landslide also relatively poor, and the security when leading to driving electric vehicle is lower, can't satisfy present safety requirement.

In order to solve the above-mentioned problems, the embodiment of the present application provides a carrier control method, which is applied to carrier equipment, where the carrier equipment may be equipment with a running function, such as various different types of vehicles, for example, various different types of home vehicles, and various functional vehicles, such as unmanned sprinkler, unmanned cleaning vehicle, etc. It should be noted that, the carrier equipment is provided with a corresponding carrier control system, and the carrier control system can be a vehicle-mounted computer, a vehicle-mounted system and other systems with logic calculation functions, so that the functions of stopping on a ramp and preventing sliding can be realized without increasing hardware cost, and the risk of sliding during hill start is eliminated.

Referring to fig. 1, fig. 1 is a schematic flow chart of a carrier control method according to an embodiment of the present application, and the method may include steps S100-S300.

Step S100, detecting state information of the target carrier.

Wherein the status information may include: the present speed, the present gear, the motor rotation speed, the motor torque, braking information, and the like may be various information related to the present state of the target carrier, and the braking information may include information related to EHB (electro-hydraulic brake)/EPB (electronic parking brake) state. The target carrier can be provided with a plurality of different types of functional components, such as a velometer and the like, and the detection module is electrically connected with each functional component so as to respectively acquire the state information uploaded by each functional component and feed the acquired state information back to the control module to be processed.

Step S200, judging whether a target working condition exists according to the running requirement of the target carrier.

The method comprises the steps of determining whether a target carrier has a target working condition related to a ramp or not according to corresponding running requirements of the target carrier.

It should be noted that, the execution sequence of the step S100 and the step S200 is not limited, and the two steps may be executed simultaneously, or may be executed sequentially according to actual situations and requirements.

The control module for judging can be an automatic driving control module and a whole vehicle control module which are related to an automatic driving function, the automatic driving control module is connected with the service end through a network, a driving route can be planned according to an instruction sent by the service end, a driving instruction is formed, and instructions such as a target vehicle speed, a target gear and the like are issued to the whole vehicle control module in real time; the whole vehicle control module CAN acquire related instructions (including but not limited to a target gear and a target vehicle speed) and state information of the running requirement of the automatic driving module through the CAN bus so as to judge the working condition of the target carrier.

Step S300, executing target operation based on the state information and the target working condition.

When the control is performed, the target carrier can be controlled to execute target operation related to the ramp by combining the state information and the working condition, so that the functions of stopping and preventing the ramp are realized, and the risk of sliding the vehicle during the start of the ramp is eliminated.

Optionally, the target operation may include: various corresponding operation conditions in a ramp scene such as ramp stopping, anti-slip stopping, ramp starting and the like.

Optionally, the drive-by-wire module may include a drive-by-wire module and a drive-by-wire module, where when the target operation is executed, the drive-by-wire module may perform driving and other processes according to the corresponding target operation, and the drive-by-wire module may perform deceleration and other processes according to the corresponding target operation, where functions of the drive-by-wire module include, but are not limited to, braking, parking, adaptive parking release, driving instruction, and 0-speed control instruction.

It should be noted that, during the running process, the states of the working modules can be detected and fed back to the whole vehicle control module in real time at the same time, and the states can be used as the judgment basis of the whole vehicle control module. The status of each operating module includes, but is not limited to, the current operating status of the module, fault information, brake pressure, park status, motor drive torque, motor speed, direction, etc. The whole vehicle control module can compare the target gear, the target vehicle speed and the state information of the target carrier issued by the automatic driving module so as to control correspondingly: when the power of the whole vehicle does not affect the driving fault of the target carrier, the target gear issued by the automatic driving module is consistent with the current gear of the target carrier, and when the target vehicle speed is greater than the current vehicle speed, the target carrier is represented to be not at a preset speed currently and needs to be accelerated, the whole vehicle control module can calculate the required driving torque according to the vehicle speed difference of the two vehicle speeds and issue the driving torque to the drive-by-wire driving module, and the drive-by-wire driving module outputs enough driving force to prompt the target carrier to accelerate to the target vehicle speed. When the issued target gear is consistent with the current gear and the target vehicle speed is smaller than the current vehicle speed, the current overspeed of the target carrier is represented, the deceleration is needed, the whole vehicle control module calculates the needed deceleration according to the vehicle speed difference of the two vehicle speeds and issues the deceleration to the line control movable module, and the line control movable module controls the target carrier to decelerate to the target vehicle speed. When the target gear is inconsistent with the current gear, setting the target vehicle speed to 0, firstly controlling the target carrier to be decelerated to 0, and then performing the next processing according to gear management so as to perform real-time adjustment according to the received instruction and the current state of the target carrier.

It should be noted that, the method provided by the embodiment of the application does not need to upgrade the hardware of the line control dynamic module, does not need to be equipped with hardware equipment such as a ramp sensor, and the like, can be completed on the original carrier control system of the target carrier, and has lower hardware cost required by control.

In the embodiment shown in fig. 1, through improving the functions of the original vehicle-mounted system, the hardware cost for controlling the ramp is effectively reduced, the processing difficulty of anti-slip operation is reduced, the anti-slip effect of the target carrier is optimized, the safety when the electric carrier is driven is improved, and the current various driving requirements and safety requirements are met.

Optionally, referring to fig. 2, fig. 2 is a detailed flowchart of step S200 provided in the embodiment of the present application, and step S200 may include steps S210-S240.

Step S210, determining the running requirement of the autopilot.

The travel demand may include a target vehicle speed and a target gear, among others. When the working condition judgment is carried out, the target vehicle speed and the target gear issued during the automatic driving of the target carrier can be obtained to serve as the driving requirement during the automatic driving of the target carrier.

Step S220, if it is determined that the target vehicle speed is 0 and the target gear is a neutral gear, determining that the target carrier has a first target working condition where the ramp stays.

If the target vehicle speed is determined to be 0, and the target gear is a neutral gear, namely a gear N, the current target carrier is characterized to have the parking requirement, and in order to improve the safety in a ramp scene, the first target working condition that the target carrier stays on the ramp can be determined.

In step S230, if it is determined that the target vehicle speed is 0 and the target gear is not neutral, it is determined that the target carrier has a second target condition in which the ramp is suspended.

If the target vehicle speed is determined to be 0, but the target gear is not neutral, the current target carrier is characterized to have a pause requirement of short-time parking or gear switching, and in order to improve safety in a ramp scene, a second target working condition that the target carrier has a ramp pause can be determined.

In step S240, if it is determined that the target vehicle speed is not 0, the target gear is not neutral, and the target carrier is in the parking state, it is determined that the target carrier has a third target condition for hill start.

If it is determined that the target vehicle speed is not 0 and the target gear is not neutral, it is indicated that the current target carrier is in a parking state and has a starting requirement from suspension to movement, and in order to improve safety in a ramp scene, it may be determined that a third target working condition for ramp starting exists in the target carrier.

In the embodiment shown in fig. 2, the scene and the working condition of the target carrier can be judged according to the real-time speed and gear, so that the accuracy and the effectiveness of the target working condition are effectively improved.

Optionally, referring to fig. 3, fig. 3 is a detailed flowchart of the first step S300 provided in the embodiment of the present application, where the target operation includes a hill-hold, the step S300 may include steps S311-S312.

Step S311, controlling the target carrier with the first target working condition to slow down to a stop based on the state information by the control performance of the target carrier.

The drive-by-wire module has a pre-configured control performance, so when a first target working condition of ramp stay exists in the target carrier, in order to reduce the sliding situation caused by stopping in a ramp scene, the target carrier can be controlled to execute ramp stay operation, and the target carrier under the first target working condition is controlled to decelerate according to the current information of the target carrier through the pre-configured control performance until the target carrier stops.

In step S312, if it is determined that the target carrier is stopped, the brake is controlled to be started so as to stop the target carrier at the current position.

After the target carrier is stopped, in order to fix the position of the target carrier, so as to realize a corresponding parking function, a brake can be started to park the target carrier at the current position. After the target carrier is detected to stop, the brake-by-wire module is immediately requested to park, the anti-slip control is performed, the timeliness is high, the occurrence rate of traffic accidents is effectively reduced, large current is not generated during anti-slip, the control module is not damaged, and the performance of the system is improved.

Optionally, the vehicle control module can stop the output of the drive-by-wire module first and control the brake of the brake-by-wire module to reduce the speed and stop, and after the vehicle stops, the brake of the brake-by-wire module is controlled by the control wire to pull up the electronic brake and actively stop.

In the embodiment shown in fig. 3, the target carrier can be controlled to stop in time, so that overheat conditions caused by continuous operation of each working assembly are reduced, the service lives of each working module are effectively prolonged, the sliding conditions caused when the target carrier stops in a ramp scene are reduced, and the safety of the target carrier in running is improved.

Optionally, referring to fig. 4, fig. 4 is a detailed flowchart of a second step S300 provided in the embodiment of the present application, where the target operation includes anti-slip suspension, the step S300 may include steps S321-S323.

In step S321, the target carrier with the second target working condition is controlled to slow down to a stop based on the state information by the control performance of the target carrier.

When the target carrier has the second target working condition of ramp suspension, the target carrier can be controlled to execute anti-slip suspension operation in order to reduce the vehicle sliding condition caused by processing in a ramp scene by considering that the target carrier possibly has corresponding gear shifting and other processing in the running process. And controlling the target carrier under the second target working condition to decelerate according to the current information of the target carrier through the preset control performance until the target carrier stops.

In step S322, if it is determined that the target carrier is stopped, the motor 0 speed output in the target carrier is controlled to suspend the target carrier at the current position.

After the target carrier is stopped, in order to pause the target carrier, the motor of the target carrier can be controlled to output at 0 speed, so that the target carrier can keep 0 rotating speed on the ramp to achieve the purpose of preventing the slip, and the target carrier is paused at the current position.

Step S323, judging whether to start the suspended target carrier according to the torque data corresponding to the starting instruction and the motor torque.

Considering the processing requirement of the target carrier in the suspension process, whether the suspension state is exited or not can be judged according to the torque data corresponding to the starting instruction and the motor torque, so that the suspended target carrier is started in time when the target carrier has the corresponding processing requirement, and normal running work is carried out.

Optionally, the whole vehicle control module firstly controls the drive-by-wire module to stop outputting, and controls the brake-by-wire module to brake and slow down to stop; after the whole vehicle is stopped, the whole vehicle control module controls the drive-by-wire drive module 0 to control the speed and enter a driving and hill-holding mode. If a new starting instruction issued by the automatic driving module is received during the driving and hill-holding mode, the whole vehicle control module can judge whether the target carrier meets the condition of exiting the driving and hill-holding mode or not according to torque data corresponding to the starting instruction and the current motor torque of the target carrier, and the driving and hill-holding mode is exited after the condition is met, and the drive-by-wire driving module is controlled to start driving. Conditions for exiting the drive hill-holding mode may include: and calculating corresponding torque data according to a starting instruction of the automatic driving control module, comparing the torque data with the motor torque of the obtained drive-by-wire module to determine whether the motor torque exceeds the torque data, and if the motor torque exceeds the torque data, indicating that the target carrier can exit from a pause state for normal starting.

In the embodiment shown in fig. 4, the target carrier can be timely controlled to pause, so as to provide a safe processing environment for the target carrier when being in a ramp scene to perform various processing operations, reduce the sliding situation caused in the processing process, improve the safety of the target carrier when running, realize short-time pause by using 0-speed control, prevent the loss caused by frequent use of the brake, prolong the service life of the brake, realize stop-and-go movement, and further improve the running efficiency of the target carrier.

Optionally, referring to fig. 5, fig. 5 is a detailed flowchart of a third step S300 provided in the embodiment of the present application, and in the case that the target operation includes anti-slip suspension, step S300 may further include steps S324-S325.

Step S324, based on the status information, determines whether an abnormal situation exists in the case where the target carrier is suspended at the current position.

In the process of suspending the target carrier on the ramp, the influence of gravity and time is considered, and the corresponding sliding risk still exists. For example, if the motor cannot maintain the 0-speed output after a period of time is exceeded, the target carrier cannot maintain the suspended state, and an abnormal situation of sliding down along the ramp occurs. Therefore, after the ramp suspension processing is performed, whether the abnormal situation of sliding is present or not can be judged according to the current state information of the target carrier under the condition that the target carrier is suspended at the current position.

Alternatively, whether or not there is an abnormal situation may be determined according to various manners, for example, position information of the target carrier in a suspended state is detected at fixed time, and when the position information changes, it is determined that the target carrier is abnormal.

In step S325, if it is determined that the target carrier has an abnormal condition, the braking is controlled to be started so as to park the target carrier at the current position.

If the abnormal condition exists and a corresponding starting instruction is not received, the fact that the target carrier has no driving requirement at present and can not maintain the pause state is characterized, and in order to reduce the sliding condition under the condition, the brake can be directly controlled to start so as to convert the pause mode into the parking mode, and the target carrier is parked at the current position.

Optionally, the whole vehicle control module controls the brake-by-wire system to pull up the electronic brake for parking, stops the output of the drive-by-wire module, and switches to parking.

In the embodiment shown in fig. 5, whether the abnormal condition of sliding is present or not can be judged according to the actual condition of the target carrier in the suspension process, so that the target carrier is controlled to stop when the abnormal condition is judged, the sliding condition caused by long-time suspension is reduced, and the safety of the target carrier in running is further improved.

Optionally, referring to fig. 6, fig. 6 is a detailed flowchart of step S324 provided in the embodiment of the present application, and step S324 may include steps S3241-S3243.

Step S3241, determining whether the rotation direction of the motor rotation speed is opposite to the required direction of the current gear.

When determining whether the target carrier has abnormal sliding along the ramp, the method can also judge according to the difference between the actual condition of the target carrier and the gear requirement. The rotation direction of the motor rotation speed in the state information can be determined first, and the rotation direction is compared with the required direction of the current gear in the state information, so that the consistency of the actual movement direction and the required movement direction of the target carrier is judged.

Step S3242, if it is determined that the rotation direction is opposite to the demand direction, determining whether the motor rotation speed exceeds a preset threshold.

If the rotation direction is determined to be opposite to the required direction, the actual movement direction of the target carrier is indicated to be opposite to the required movement direction, and the target carrier may move in the opposite direction to the required movement direction, that is, there may be a sliding situation of sliding down in the ramp scene. In order to judge whether the target carrier moves or not, whether the motor rotation speed exceeds a corresponding preset threshold value can be continuously judged, and whether the abnormal condition of sliding of the target carrier exists or not is determined.

Optionally, the preset threshold is a motor rotation speed threshold determined according to the actual condition of the motor in the target carrier, and can represent the corresponding motion condition.

Step S3243, if it is determined that the motor rotation speed exceeds the preset threshold, the target carrier is suspended at the current position and has an abnormal condition.

If the motor rotating speed exceeds the preset threshold, the situation that the target carrier is about to move along the reverse direction of the required moving direction is indicated, namely, the abnormal situation exists under the condition that the target carrier is suspended at the current position.

In the embodiment shown in fig. 6, the difference between the actual condition of the target carrier and the gear requirement can be determined from two aspects of direction and rotation speed, so that the movement trend of the target carrier is judged, whether the abnormal condition exists or not is judged, and the accuracy and the effectiveness of the abnormal condition judgment are effectively improved.

Optionally, referring to fig. 7, fig. 7 is a detailed flowchart of a fourth step S300 provided in the embodiment of the present application, and in the case that the target operation includes hill start, step S300 may further include steps S331-S334.

Step S331, determining a starting condition of the target carrier with the third target working condition based on the driving requirement.

The start-up conditions may include, among other things, output torque and executing gear. When the third target working condition of the hill start exists in the target carrier, the target carrier can be controlled to execute hill start operation in order to reduce the sliding situation caused by the hill start. First, the starting condition of the target carrier under the third target working condition can be determined according to the driving requirement.

In step S332, the start condition is converted into a corresponding driving signal.

In order to realize automatic control, the starting condition may be converted into a corresponding driving signal, for example, the output torque may be converted into a pedal opening signal in the manual driving mode, the execution gear may be converted into a gear selection signal in the manual driving mode, and the driving signal may be input to the drive-by-wire module for processing.

Step S333, controlling the stopped target carrier driving based on the state information and the driving signal by the control performance of the target carrier.

In step S334, if it is determined that the target carrier is driven, the brake is controlled to be turned off.

And the target carrier is controlled to be stopped according to the state information and the driving signal to perform pre-driving through preset control performance, and the brake is controlled to be closed after the driving.

Optionally, the control performance may include an adaptive release condition that is calibrated in advance by the brake-by-wire module according to actual conditions, so as to release the electronic brake under corresponding conditions to enable the target carrier to be started, so as to realize a starting anti-slip function. The adaptive release conditions may include, but are not limited to: the vehicle is characterized in that in an unmanned mode, parameters such as torque, opening and the like in the self-adaptive conditions can be control signals obtained through calibration and simulation according to actual testing conditions and the like of a target carrier, a control strategy is not required to be modified, and judgment and control can be realized only by calibrating a judgment threshold value.

In the embodiment shown in fig. 7, the brake can be turned off after the target carrier is started in advance, so that the situation of sliding caused by turning off the brake and then starting in a ramp scene is effectively reduced, the starting anti-sliding function is realized, and the safety of the target carrier during running is improved.

Optionally, referring to fig. 8, fig. 8 is a flowchart of another carrier control method according to an embodiment of the present application, and the method may further include steps S410 to S430.

Step S410, determining various functional parameters according to different test conditions.

The target carrier can be pre-tested according to different testing conditions to determine corresponding various different functional parameters due to the difference of the functional types and model numbers of the target carrier.

Alternatively, the test conditions may include: speed conditions, pressure conditions, time conditions, grade conditions, etc. are all different types of conditions, and functional parameters may include: various calibration parameters such as pressure parameters, release time parameters, driving parameters and the like.

Optionally, before the target carrier is formally used, brake pressures corresponding to different decelerations can be calibrated offline through a line control brake module, and the time required for building and releasing the pressure of the line width brake module is tested; the test line controls the time required by pulling up and releasing when the dynamic module is parked; under different loads and different gradients, the hill start line control dynamic module adaptively releases corresponding conditions including but not limited to parameters such as driving torque and pedal opening to determine corresponding conditions.

Step S420, the functional parameters are optimized by combining with the actual control process, and the target parameters are obtained.

And step S430, solidifying the target parameters into the target carrier, and configuring to obtain the control performance.

The functional parameters can be optimized by combining an actual control process in consideration of the difference between an actual driving scene and a test scene, so that the optimized target parameters are solidified into the target carrier, and the control performance is preconfigured into the target carrier.

For example, the manner of optimizing the parameters may include: establishing pressure time: in the actual control process, in order to prevent slow deceleration reaction, especially from deceleration of 0 to deceleration, namely, the line control dynamic module builds pressure for the first time, the pressure time can be optimized: the whole vehicle control module can look up a table and superimpose 1 auxiliary deceleration on the basis of parameters of the deceleration obtained by calculating the vehicle speed, so that the initial pressure establishment is quickened, and after the pressure is established, the vehicle control module issues according to the actual deceleration. Pressure release time: in the actual control process, in order to prevent the speed reduction from overshooting, the whole vehicle control module can reduce the speed reduction in advance according to the calibrated functional parameters so as to finish the final speed reduction according to the braking of the pressure release interval. And the driving torque parameters required to be met by the self-adaptive release of the EPB and the relation between different driving torques and pedal opening can be determined in the range of the allowed anti-slip distance of the whole vehicle according to the functional parameters calibrated under different gradients of different loads, and the driving torque parameters and the relation between different driving torques and pedal opening are solidified into the system and are used for simulating and outputting the pedal opening by the whole vehicle control module.

In the embodiment illustrated in fig. 8, the corresponding control performance can be configured in the target carrier according to the test situation and the actual control scenario of the target carrier, so that the target carrier can execute the corresponding control mode according to different situations, and the suitability and practicality of the control performance are effectively improved, so as to improve the effectiveness of the target carrier in executing various target operations.

Referring to fig. 9, fig. 9 is a schematic structural diagram of a carrier control system according to an embodiment of the present application, and a carrier control system 500 may include: a detection module 510, a control module 520, and a drive-by-wire module 530;

the detection module 510 is configured to detect status information of the target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information;

the control module 520 is configured to determine whether a target working condition exists according to a driving requirement of the target carrier;

the drive-by-wire module 530 is configured to perform a target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start.

It should be noted that the wire control module 530 may be an independent component electrically connected to the control module 520, or may be a part of functional modules in the control module 520.

In an alternative embodiment, the control module 520 is specifically configured to: determining the driving requirement of automatic driving; wherein, the driving requirement includes: target vehicle speed and target gear; if the target vehicle speed is 0 and the target gear is the neutral gear, determining that a first target working condition where the target carrier stays on the ramp exists; if the target vehicle speed is 0 and the target gear is not the neutral gear, determining that a second target working condition of ramp suspension exists on the target carrier; and if the target vehicle speed is not 0, the target gear is not neutral, and the target carrier is in a parking state, determining that a third target working condition of hill start exists in the target carrier.

In an alternative embodiment, wherein the target operation comprises a hill-hold; the drive-by-wire module 530 is specifically configured to: controlling the target carrier with the first target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier; and if the target carrier is judged to be stopped, controlling the brake to be started so as to stop the target carrier at the current position.

In an alternative embodiment, wherein the target operation includes a roll-off prevention pause; the drive-by-wire module 530 is specifically configured to: controlling the target carrier with the second target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier; if the target carrier is judged to be stopped, controlling the motor 0 speed output in the target carrier to suspend the target carrier at the current position; and judging whether to start the suspended target carrier according to the torque data corresponding to the starting instruction and the motor torque.

In an alternative embodiment, the control module 520 is specifically configured to: judging whether an abnormal condition exists under the condition that the target carrier is suspended at the current position or not based on the state information; the drive-by-wire module 530 is specifically configured to: and if the abnormal condition of the target carrier is judged, controlling the brake to be started so as to park the target carrier at the current position.

In an alternative embodiment, the control module 520 is specifically configured to: judging whether the rotating direction of the rotating speed of the motor is opposite to the required direction of the current gear or not; if the rotation direction is opposite to the demand direction, judging whether the rotation speed of the motor exceeds a preset threshold value; if the motor rotation speed exceeds the preset threshold value, the target carrier is suspended at the current position, and an abnormal condition exists.

In an alternative embodiment, wherein the target operation comprises hill start; the control module 520 specifically is configured to: determining starting conditions of the target carrier with the third target working condition based on the driving requirement; wherein the starting condition comprises output torque and executing gear; converting the starting condition into a corresponding driving signal; the drive-by-wire module 530 is specifically configured to: controlling the stopped target carrier driving based on the state information and the driving signal through the control performance of the target carrier; and if the target carrier is judged to be driven, controlling the brake to be closed.

In an alternative embodiment, the control module 520 is specifically configured to: determining a plurality of functional parameters according to different test conditions; wherein the test conditions include: at least one of speed conditions, pressure conditions, time conditions, grade conditions; the functional parameters include: at least one of a pressure parameter, a release time parameter, a drive parameter; optimizing the functional parameters by combining with an actual control process to obtain target parameters; and solidifying the target parameters into the target carrier, and configuring to obtain the control performance.

Since the principle of solving the problem of the carrier control system 500 in the embodiment of the present application is similar to that of the previous embodiment of the carrier control method, the implementation of the carrier control system 500 in the embodiment of the present application may refer to the description in the embodiment of the carrier control method, and the repetition is omitted.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores computer program instructions, and when the computer program instructions are read and executed by a processor, the steps in any one of the methods for controlling the carrier provided in the embodiment are executed.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. The system embodiments described above are merely illustrative, for example, the block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices according to various embodiments of the present application. In this regard, each block in the 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 combinations of blocks in the block diagrams, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

The foregoing is merely exemplary embodiments of the present application and is not intended to limit the scope of the present application, and various modifications and variations may be suggested to one skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises the element.

Claims (10)

1. A carrier control method, the method comprising:

detecting state information of a target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information;

judging whether a target working condition exists according to the running requirement of the target carrier;

executing target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start.

2. The method of claim 1, wherein the determining whether the target condition exists according to the driving requirement of the target carrier comprises:

determining the driving requirement of automatic driving; wherein the travel demand includes: target vehicle speed and target gear;

if the target vehicle speed is 0 and the target gear is a neutral gear, determining that a first target working condition where the target carrier stays on a slope exists;

if the target vehicle speed is 0 and the target gear is not neutral gear, determining that a second target working condition of slope pause exists in the target carrier;

and if the target vehicle speed is not 0, the target gear is not neutral, and the target carrier is in a parking state, determining that a third target working condition of hill start exists in the target carrier.

3. The method of claim 2, wherein the target operation comprises the ramp parking; the executing the target operation based on the state information and the target working condition includes:

controlling the target carrier with the first target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier;

and if the target carrier is judged to be stopped, controlling brake to be started so as to stop the target carrier at the current position.

4. The method of claim 2, wherein the target operation comprises the anti-roll pause; the executing the target operation based on the state information and the target working condition includes:

controlling the target carrier with the second target working condition to be decelerated to a stop based on the state information through the control performance of the target carrier;

if the target carrier is judged to be stopped, controlling the motor 0 speed output in the target carrier to suspend the target carrier at the current position;

and judging whether to start the suspended target carrier according to the torque data corresponding to the starting instruction and the motor torque.

5. The method of claim 4, wherein the performing a target operation based on the state information and the target operating condition further comprises:

judging whether an abnormal condition exists under the condition that the target carrier is suspended at the current position or not based on the state information;

and if the abnormal condition exists in the target carrier, controlling the brake to start so as to park the target carrier at the current position.

6. The method of claim 5, wherein the determining whether an abnormal condition exists in the case where the target carrier is suspended at the current location based on the status information comprises:

judging whether the rotating direction of the rotating speed of the motor is opposite to the required direction of the current gear or not;

if the rotation direction is opposite to the demand direction, judging whether the motor rotation speed exceeds a preset threshold value;

if the motor rotating speed is judged to exceed the preset threshold value, the abnormal condition exists under the condition that the target carrier is suspended at the current position.

7. The method of claim 2, wherein the target operation comprises the hill start; the executing the target operation based on the state information and the target working condition includes:

Determining a starting condition of the target carrier with the third target working condition based on the driving requirement; wherein the starting conditions include output torque and executing a gear;

converting the starting condition into a corresponding driving signal;

controlling the stopped target carrier driving based on the state information and the driving signal by the control performance of the target carrier;

and if the target carrier is judged to be driven, controlling the brake to be closed.

8. The method according to any one of claims 3-7, wherein the control performance of the target carrier is preconfigured by;

determining a plurality of functional parameters according to different test conditions; wherein the test conditions include: at least one of speed conditions, pressure conditions, time conditions, grade conditions; the functional parameters include: at least one of a pressure parameter, a release time parameter, a drive parameter;

optimizing the functional parameters by combining with an actual control process to obtain target parameters;

and solidifying the target parameters into the target carrier, and configuring to obtain the control performance.

9. A carrier control system, the system comprising: the device comprises a detection module, a control module and a wire control module;

The detection module is used for detecting the state information of the target carrier; wherein the status information includes: at least one of current speed, current gear, motor speed, motor torque, and braking information;

the control module is used for judging whether a target working condition exists according to the running requirement of the target carrier;

the drive-by-wire module is used for executing target operation based on the state information and the target working condition; wherein the target operation comprises: at least one of hill-holding, anti-slip suspension and hill start.

10. A computer readable storage medium, characterized in that the readable storage medium has stored therein computer program instructions which, when executed by a processor, perform the steps of the method of any of claims 1-8.