Vehicle body control method, device, computer equipment and storage medium

Abstract

The present application relates to a vehicle mounting control method, device, computer equipment, storage medium and computer program product, the method comprising: obtaining a control request signal; when the control request signal satisfies a preset condition, determining the response sequence to the control request signal according to the control request signal, the preset condition being that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained; determining the target speed value and target torque value of the vehicle motor according to the control request signal; adjusting the working state of the vehicle motor according to the response sequence, the target speed value and the target torque value. The present application determines the motor response of each mounting request by analyzing the mounting control request signal, and determines different calculation methods of motor parameters through different interface types, so as to match different mounting interfaces and provide multiple mounting functions, so as to meet the vehicle improvement requirements of different modification factories and the mounting requirements of different working scenarios.

Description

Technical Field

[0001] The present application relates to the field of automobile control technology, and in particular to a vehicle body control method, device, computer equipment, storage medium and computer program product. Background Art

[0002] In order to achieve the goals of carbon peak and carbon neutrality, in the field of commercial vehicles, some energy-saving and emission-reducing new energy vehicles, especially special-purpose vehicles, such as urban washing and sweeping vehicles, sprinkler trucks, dump trucks, mixer trucks, etc., have gradually occupied a place in urban life. Special-purpose vehicles have different functions: road sweeping, water sprinkling, dump trucks, mixing, etc., and the functional requirements for the upper body are also different. At the same time, different upper body modification factories also have different modification requirements, which brings great challenges to chassis manufacturers. They must meet different upper body requirements and the interface forms of different modification factories. This brings a lot of workload to chassis manufacturers: the docking of requirements and the change of functions often make it impossible for chassis manufacturers to respond to customer needs in a timely manner.

[0003] In the related art, after receiving the upper-mounted signal, the vehicle controller determines whether the gear position, handbrake, accelerator pedal and brake pedal meet the conditions, and then uses the operating mechanism to shift the gear to the power take-off device, and then drives the motor to run at a predetermined speed, thereby driving the upper-mounted part to work. Since the upper-mounted signal is obtained through a unique interface, the upper-mounted demand corresponding to the upper-mounted signal is unique, and the operation of the motor is at a predetermined speed, which has limitations. Summary of the invention

[0004] Based on this, it is necessary to provide a vehicle body control method, device, computer equipment, computer readable storage medium and computer program product that can provide multiple body requirements in response to the above technical problems.

[0005] In a first aspect, the present application provides a vehicle body control method. The method comprises:

[0006] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0007] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0008] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0009] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0010] In one embodiment, determining a response sequence to the control request signal according to the control request signal includes:

[0011] Obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation status is normal;

[0012] When the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority;

[0013] In the case that a plurality of control request signals are acquired simultaneously, a response order of each control request signal is determined according to an output level of an interface type corresponding to each control request signal.

[0014] In one embodiment, the process of determining the vehicle work identification includes:

[0015] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0016] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0017] In one embodiment, the method further comprises:

[0018] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0019] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0020] In one embodiment, the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0021] In one embodiment, determining a target speed value and a target torque value of a motor of a vehicle according to a first control request signal includes:

[0022] Obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0023] When the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined based on the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0024] In a second aspect, the present application also provides a vehicle mounted control device. The device comprises:

[0025] A trigger module, used to obtain a control request signal, which is a signal triggered by the driver according to the upper control requirements and used to adjust the working state of the vehicle motor;

[0026] An arbitration module, used for determining a response order to the control request signal according to the control request signal when the control request signal satisfies a preset condition, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0027] A calculation module, used for determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0028] The execution module is used to adjust the working state of the vehicle motor according to the response sequence, the target speed value and the target torque value.

[0029] In a third aspect, the present application further provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

[0030] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0031] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0032] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0033] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0034] In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0035] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0036] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0037] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0038] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0039] In a fifth aspect, the present application further provides a computer program product. The computer program product includes a computer program, and when the computer program is executed by a processor, the following steps are implemented:

[0040] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0041] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0042] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0043] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0044] The above-mentioned vehicle installation control method, device, computer equipment, storage medium and computer program product obtain a control request signal, which is a signal triggered by the driver according to the installation control demand for adjusting the working state of the vehicle motor; when the control request signal meets the preset condition, the response order to the control request signal is determined according to the control request signal, and the preset condition is that the working state of the vehicle meets the preset working condition when the control request signal is obtained; according to the control request signal, the target speed value and target torque value of the vehicle motor are determined; according to the response order, the target speed value and the target torque value, the working state of the vehicle motor is adjusted. This application analyzes the installation control request signal to determine the motor response of each installation request, and determines different motor parameter calculation methods through different interface types. It can match different installation interfaces and provide multiple installation functions to meet the vehicle improvement of different modification factories and the installation requirements of different work scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A diagram showing an application environment of a vehicle upper installation control method in one embodiment;

[0046] Figure 2 A schematic flow chart of a vehicle body control method in one embodiment;

[0047] Figure 3 A schematic flow chart of a vehicle body control method in another embodiment;

[0048] Figure 4 A schematic flow chart of a vehicle body control method in yet another embodiment;

[0049] Figure 5 is a structural block diagram of a vehicle body control device in one embodiment;

[0050] Figure 6 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The vehicle mounting control method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The terminal is used to collect real-time working status data of the vehicle, including multiple sensors. The terminal 102 can be a vehicle-mounted terminal. The data storage system can store the data that the server 104 needs to process. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers. The server 104 processes the vehicle demand data and the vehicle working status data collected by the terminal 102, and analyzes to obtain the control data of the vehicle.

[0053] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers.

[0054] In one embodiment, Figure 2 As shown, a vehicle upper body control method is provided, and the method is applied to Figure 1The server in the example is used to illustrate the following steps:

[0055] Step 202, obtaining a control request signal, where the control request signal is a signal triggered by the driver according to the upper control requirement and used to adjust the working state of the vehicle motor;

[0056] Among them, the control request signal is obtained by detecting the real-time working status of the vehicle. When the driver has the requirement of installation, the state of the mechanical structure of the vehicle will be changed. At this time, the signal collected by the sensor will mutate, thereby generating a control request signal, that is, the work request signal with a rising edge is identified, and it is used as a control request signal. The control request signal is obtained through different forms of interfaces on the vehicle. It matches different working scenarios. According to the interface form of the vehicle installation control, the control request signal corresponds to different interface forms.

[0057] Specifically, the control request signal corresponds to different request types according to different acquisition interfaces. For example, the key interface can identify two types: parking power take-off and driving power take-off. After the driver triggers the parking power take-off switch, the parking power take-off control signal can be obtained to indicate the parking power take-off work request. After the driver triggers the driving power take-off switch, the driving power take-off control signal can be obtained to indicate the driving power take-off work request. It should be noted that the automobile brakes are divided into driving brakes (foot brakes) and parking brakes (hand brakes). The corresponding parking power take-off is when the vehicle is stopped, and the driving power take-off is when the vehicle is moving.

[0058] The CAN bus signal interface can identify two types of work: chassis power take-off and bodywork power take-off. Chassis power take-off corresponds to chassis power take-off work request and speed request; bodywork power take-off corresponds to bodywork power take-off work request and bodywork work status. When the chassis power take-off work request is activated, the activation conditions are determined according to the vehicle working conditions. When the activation conditions are met, the chassis power take-off work request is output;

[0059] When the hand throttle activation switch has a work request, it is judged whether the upper body power taking state is met according to the high voltage power-on state and charge state value of the whole vehicle. When the upper body power taking state is met, the hand throttle work request signal is output.

[0060] It should be noted that since the work process triggered by the driver is relatively short, when controlling the vehicle, the control request signal obtained may be a short-lived signal, which can be converted into a control request identifier for identification, so as to facilitate the identification of work requirements.

[0061] Step 204, when the control request signal satisfies a preset condition, determining a response sequence to the control request signal according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0062] Among them, the working state of the vehicle includes the working states of multiple components in the vehicle, such as brakes, gears, and power batteries; it also includes the overall working state of the vehicle, such as vehicle speed. After the control request signal is activated, it is necessary to determine whether the current overall state of the vehicle can respond to the installation request of the control request signal. It should be noted that different control request signals correspond to different installation requirements, and different installation requirements have different requirements for the working state of the vehicle. Therefore, the preset conditions in this step are not limited to one type. Secondly, the working conditions that the vehicle needs to meet are determined according to specific actual needs.

[0063] The response to the control request signal is executed by the motor. When multiple control request signals are obtained, the motor responds to the control request signals in a certain order, because the motor can only respond to one control request signal at a time to meet one loading requirement.

[0064] Specifically, after the control request signal is identified, it is determined whether the working state of the entire vehicle meets the preset working conditions. For example, the control request signal identified by the push-button interface needs to determine whether the vehicle's handbrake signal, foot brake, gear position, throttle opening, vehicle speed and charge state meet the preset conditions; for example, the control request signal identified by the hand-throttle interface needs to determine whether the vehicle meets the upper-body power take-off state required by the control request signal based on the high-voltage power-on state and charge state value of the entire vehicle.

[0065] Step 206, determining a target speed value and a target torque value of the vehicle motor according to the control request signal;

[0066] Among them, speed and torque are both important operating parameters of the motor. There is a certain relationship between speed and torque. Different speeds and torques of the motor will output different effects. When the control request signal recognized by the key interface is valid, if it is parking power take-off, the motor is controlled to work at a specific speed. When the driver steps on the accelerator, the motor torque is calculated according to the accelerator opening, and the motor is controlled to work at the torque point required by the driver; if it is driving power take-off, the whole vehicle is controlled to work at a specific speed. When the driver steps on the accelerator, the motor torque is calculated according to the accelerator opening, and the motor is controlled to work at the torque point required by the driver.

[0067] When the control request signal recognized by the CAN bus signal interface is valid, if it is chassis power take-off, the power motor is controlled to output the requested target value according to the CAN requested speed or torque value; if it is bodywork power take-off, it is determined that the available power and available discharge power of the power battery meet the working conditions, and the bodywork power take-off enable signal is output;

[0068] The hand throttle triggers a work request. When the interface recognizes that the control request signal is valid, the power motor torque value is calculated according to the hand throttle opening.

[0069] In addition, it should be noted that if the chassis takes power, the final power motor target working point is output according to the current motor working capacity and the power battery working capacity. If the bodywork takes power, the power battery working capacity is used to output whether the bodywork power take-off enable signal is allowed. If the control request signal is not recognized, the power motor speed value and torque value are equal to the current power motor actual speed and actual torque respectively.

[0070] Step 208, adjusting the working state of the vehicle motor according to the response sequence, the target speed value and the target torque value.

[0071] The working mode of the vehicle motor is determined to be the torque mode according to the torque value and the speed value, and the current torque value of the vehicle motor is adjusted according to the torque value. The current torque value is the torque value of the vehicle motor before obtaining the control request signal.

[0072] The working mode of the vehicle motor is determined to be the speed mode according to the speed value, and the current speed value of the vehicle motor is adjusted according to the speed value. The current speed value is the speed value of the vehicle motor before obtaining the control request signal.

[0073] After determining the adjustment parameters of the motor corresponding to the control request signal and the response sequence of the control request signal, the control mode of the power motor is determined and output to the power motor. When the output is the power motor speed request, the motor is in speed control mode, when the output is the power motor torque request value, the motor is in torque control mode, when the control request signal is not detected or the control request flag is invalid, the motor is in follow-up control mode.

[0074] The above-mentioned vehicle installation control method obtains a control request signal, which is a signal for adjusting the working state of the vehicle motor triggered by the driver according to the installation control demand; when the control request signal meets the preset condition, the response order to the control request signal is determined according to the control request signal, and the preset condition is that the working state of the vehicle meets the preset working condition when the control request signal is obtained; according to the control request signal, the target speed value and target torque value of the vehicle motor are determined; according to the response order, the target speed value and the target torque value, the working state of the vehicle motor is adjusted. This application analyzes the installation control request signal to determine the motor response of each installation request, and determines different calculation methods of motor parameters through different interface types, which can match different installation interfaces and provide multiple installation functions to meet the improvement of vehicles by different modification factories and the installation requirements of different work scenes. In addition, the capture of the rising edge of the work request signal avoids the wrong response of the whole vehicle due to the driver's misoperation.

[0075] In one embodiment, see Figure 3 , according to the control request signal, determining a response sequence to the control request signal, including:

[0076] Step 302, obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation state is normal;

[0077] Step 304: when the number of control request signals obtained at the same time is one, setting the response order of the one control request signal obtained to the first priority;

[0078] Step 306: When a plurality of control request signals are acquired simultaneously, determine a response order for each control request signal according to an output level of an interface type corresponding to each control request signal.

[0079] Among them, the whole vehicle working identification is determined by real-time detection of multiple working indicators of the whole vehicle, which is used to indicate the safety status of the vehicle and whether it can normally respond to the control request signal to adjust the working status of the motor. When the whole vehicle working identification indicates that there is no abnormality in the whole vehicle working status, the response order to the control request signal is determined according to the output level of the interface type. The output level of the interface type is determined according to the priority of the interface and is configured in advance in the server. In one embodiment, it is determined in a CAN bus signal interface priority manner: when the CAN bus signal interface does not recognize the control request signal, the control request signal recognized by the CAN bus signal interface is responded to first; secondly, the hard-wired interface work request is responded to.

[0080] In the method provided in the above embodiment, when there are two or more control request signals, only one control request signal is responded to at a time by determining the priority of the interface type, and the more important control request signals are responded to first to prevent two or more control request signals from being caused by driver's misoperation. The priority response order can be determined according to the needs of the chassis manufacturer, and there is no absolute order requirement.

[0081] In one embodiment, the process of determining the vehicle work identification includes:

[0082] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0083] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0084] In the vehicle terminal, there will be multiple indicators of vehicle safe operation, including whether each indicator is normal or not and whether all indicators are normal or not. When responding to the requirements of the installation, the safe operation of the vehicle itself must be ensured first.

[0085] High-voltage insulation failure is a common fault in the power system. The power system is indispensable in the automotive system, especially the high-voltage insulation failure of the system where the motor is located. Therefore, when considering the vehicle's safe operation indicators, it is necessary to obtain high-voltage insulation failure indicators. High-voltage insulation indicators can be determined based on a fault diagnosis instrument or based on real-time monitoring of the power system. The power battery is the power source for the car, supporting the entire vehicle power system and mechanical structure adjustment. Power batteries often have various problems. When responding to control request signals, the safety and response accuracy of the vehicle must be guaranteed. In addition, the upper installation function is mainly driven by the power motor, so it is necessary to introduce a power motor failure indicator.

[0086] Specifically, multiple safety operation indicator identifications can be directly obtained from the vehicle terminal, and the vehicle's whole vehicle working identification can be determined by judging whether the identification of each indicator is normal. The safety operation indicator refers to a fault that may affect the vehicle's whole vehicle power output. When the whole vehicle working identification indicates that the whole vehicle working state is abnormal, the whole vehicle's no-power output is adjusted, that is, if the whole vehicle working identification indicates that the whole vehicle working state is abnormal, the power system does not respond to any control request signal.

[0087] The method provided in the above embodiment obtains all the safe operation indicators of the vehicle. If each of the safe operation indicators is normal, the vehicle operation indicator is set to indicate that the vehicle operation status is normal; all safe operation indicators include at least one of the following three indicators, which are high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator. By real-time monitoring of the working status of the vehicle, the output of the vehicle power system is guaranteed to be safe and normal, and the requirements of the upper installation can be responded to safely and effectively.

[0088] In one embodiment, the method further comprises:

[0089] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0090] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0091] The entire process of vehicle installation control is visualized, from the acquisition of the control request signal to the torque value and speed value of the motor, which are transmitted to the display module in real time for display, ensuring that the driver can view the response to the installation requirements in real time and obtain the implementation of the vehicle installation work in real time, making it easier for the driver to control the vehicle through the installation control method of this embodiment. When the vehicle's whole vehicle work mark indicates an abnormality, the driver can be informed in time through the display module, which is convenient for re-triggering the control request signal according to the vehicle installation.

[0092] In one embodiment, the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0093] By integrating multiple upper installation interface forms, when there is a new upper installation control requirement, the interface type can be directly added to achieve modular development, which is easy to integrate and optimize.

[0094] In one embodiment, see Figure 4 , determining a target speed value and a target torque value of a vehicle motor according to a first control request signal, including:

[0095] Step 402, obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0096] Step 404, when the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined according to the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0097] When the push-button interface recognizes the control request signal, if it is parking power take-off, the motor is controlled to operate at a specific speed. When the driver steps on the accelerator, the motor torque is calculated based on the accelerator opening, and the motor is controlled to operate at the torque point required by the driver; if it is driving power take-off, the entire vehicle is controlled to operate at a specific speed. When the driver steps on the accelerator, the motor torque is calculated based on the accelerator opening, and the motor is controlled to operate at the torque point required by the driver.

[0098] In the method provided in the above embodiment, the control request type of the first control request signal is obtained. When the control request type of the first control request signal is parking power take-off, the throttle opening value of the vehicle and the preset speed of the motor are obtained, and the target torque value is determined according to the throttle opening value and the preset speed, and the preset speed is used as the target speed value; when the control request type corresponding to the first control request signal is driving power take-off, the throttle opening value of the vehicle, the preset speed of the vehicle and the current speed of the vehicle motor are obtained, and the target torque value is determined according to the throttle opening value and the preset speed, and the current speed is used as the target speed value. By judging the control request type corresponding to the control request signal, different calculation methods are selected to determine the speed and torque of the motor, which is not limited to one method, and various mounting requirements can be flexibly responded to, and various mounting functions can be realized by changing the different operating parameters of the motor.

[0099] It should be understood that, although the steps in the flowcharts involved in the above embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0100] Based on the same inventive concept, the embodiment of the present application also provides a vehicle mounted control device for implementing the vehicle mounted control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more vehicle mounted control device embodiments provided below can refer to the limitations of the vehicle mounted control method above, and will not be repeated here.

[0101] In one embodiment, Figure 5 As shown, a vehicle body control device is provided, including: a trigger module 501, an arbitration module 502, a calculation module 503 and an execution module 504, wherein:

[0102] A trigger module 501 is used to obtain a control request signal, where the control request signal is a signal triggered by the driver according to the upper control requirement and used to adjust the working state of the vehicle motor;

[0103] The arbitration module 502 is used to determine the response order of the control request signal according to the control request signal when the control request signal satisfies a preset condition, and the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0104] A calculation module 503, used to determine a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0105] The execution module 504 is used to adjust the working state of the vehicle motor according to the response sequence, the target speed value and the target torque value.

[0106] In one embodiment, the arbitration module 502 is further configured to:

[0107] Obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation status is normal;

[0108] When the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority;

[0109] In the case that a plurality of control request signals are acquired simultaneously, a response order of each control request signal is determined according to an output level of an interface type corresponding to each control request signal.

[0110] In one embodiment, the arbitration module 502 is further configured to:

[0111] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0112] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0113] In one embodiment, the device further comprises a display module, and the display module is used to:

[0114] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0115] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0116] In one embodiment, the arbitration module is further used to determine that the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0117] In one embodiment, the calculation module 503 is further configured to:

[0118] Obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0119] When the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined based on the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0120] Each module in the above vehicle mounted control device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0121] For ease of understanding, in one embodiment, a vehicle body control method is implemented by a vehicle body control device including the following six modules: a trigger module, an arbitration module, a calculation module, an execution module, a human-computer interaction and a state monitoring module. The vehicle body control process is described by taking parking power take-off as an example:

[0122] The parking power take-off working scenario is that the vehicle is stationary. When the driver needs parking power take-off (for example, lifting the car body to unload cargo), he presses the parking power take-off switch, and the vehicle outputs power to control the lifting of the car body to complete the unloading process.

[0123] When the vehicle is in N gear, the handbrake is effective, and the driver does not step on the foot brake. When the driver presses the parking power take-off switch, the trigger module recognizes the driver's parking power take-off demand and determines whether the vehicle meets the parking power take-off conditions: the vehicle is in N gear, the speed is equal to 0, the handbrake is effective, the brake pedal is not stepped on, the power battery SOC is greater than 20%, and the parking power take-off switch has a rising edge, the parking power take-off conditions are met, and the parking power take-off activation flag is output.

[0124] After receiving the parking power take-off activation flag, the arbitration module simultaneously determines other upper control request flags, determines whether the parking power take-off is valid according to the priority order, and outputs the upper control request type as parking power take-off.

[0125] After receiving the parking power take-off request, the calculation module calculates the motor target torque according to the throttle opening, and at the same time limits the motor target torque within the allowable range of the vehicle according to the working capacity of the power battery and the power motor.

[0126] After receiving the parking power take-off request and the motor target torque, the execution module controls the motor to work in the torque mode.

[0127] The human-machine interface module displays the parking power take-off working mode, the actual torque and actual speed of the motor.

[0128] The status monitoring module monitors the operating status of the vehicle in real time. When the vehicle has a high-voltage insulation fault, a power battery fault, a power motor fault or other faults that affect the power output of the vehicle, the status monitoring module outputs the vehicle's abnormal operation sign and the abnormality type.

[0129] In the above embodiment, the trigger module integrates the interface form of the upper installation control. When there is a new upper installation control requirement, the interface type is directly added to the trigger module. The modular development is convenient for integration and optimization. The trigger module captures the rising edge of the work request signal to avoid the vehicle's wrong response due to the driver's misoperation. The status monitoring module actively identifies the vehicle's faults and vehicle safety. When a fault that affects the operation of the vehicle occurs, it actively cuts off the vehicle's power and displays it on the instrument at the same time, which not only ensures the safety of the vehicle, but also reminds the driver of the corresponding problem. The six functional modules perform their respective duties and match different upper installation interfaces and functional requirements. When there is a change in requirements, only the corresponding interface module needs to be changed, which can meet the needs of different modification factories and work scenarios to the greatest extent.

[0130] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store motor torque and speed data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a vehicle mounting control method is implemented.

[0131] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0132] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the following steps are implemented:

[0133] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0134] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0135] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0136] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0137] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0138] Obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation status is normal;

[0139] When the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority;

[0140] In the case that a plurality of control request signals are acquired simultaneously, a response order of each control request signal is determined according to an output level of an interface type corresponding to each control request signal.

[0141] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0142] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0143] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0144] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0145] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0146] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0147] In one embodiment, when the processor executes the computer program, the following steps are also implemented: the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0148] In one embodiment, when the processor executes the computer program, the processor further implements the following steps:

[0149] Obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0150] When the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined based on the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0151] In one embodiment, a computer readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

[0152] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0153] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0154] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0155] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0156] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0157] Obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation status is normal;

[0158] When the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority;

[0159] In the case that a plurality of control request signals are acquired simultaneously, a response order of each control request signal is determined according to an output level of an interface type corresponding to each control request signal.

[0160] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0161] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0162] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0163] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0164] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0165] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0166] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0167] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0168] obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0169] When the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined based on the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0170] In one embodiment, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the following steps:

[0171] Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor;

[0172] In the case where the control request signal satisfies a preset condition, a response sequence to the control request signal is determined according to the control request signal, wherein the preset condition is that the working state of the vehicle satisfies the preset working condition when the control request signal is obtained;

[0173] determining a target speed value and a target torque value of a vehicle motor according to a control request signal;

[0174] The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

[0175] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0176] Obtaining a vehicle operation identification, and determining the number of control request signals obtained at the same time when the vehicle operation identification indicates that the vehicle operation status is normal;

[0177] When the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority;

[0178] In the case that a plurality of control request signals are acquired simultaneously, a response order of each control request signal is determined according to an output level of an interface type corresponding to each control request signal.

[0179] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0180] Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal;

[0181] All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

[0182] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0183] Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification;

[0184] When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

[0185] In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: the interface type includes at least one of the following three types, which are a CAN bus signal interface, a button interface, and a hand throttle interface.

[0186] In one embodiment, when the computer program is executed by a processor, the following steps are also implemented:

[0187] obtaining a control request type of the first control request signal, and when the control request type of the first control request signal is parking power take-off, obtaining a throttle opening value of the vehicle and a preset speed of the motor, determining a target torque value according to the throttle opening value and the preset speed, and using the preset speed as the target speed value;

[0188] When the control request type corresponding to the first control request signal is driving power take-off, the vehicle's throttle opening value, the vehicle's preset speed and the current speed of the vehicle's motor are obtained, the target torque value is determined based on the throttle opening value and the preset speed, and the current speed is used as the target speed value.

[0189] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties.

[0190] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0191] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0192] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A vehicle mounting control method, It is characterized in that The method comprises: Acquire a control request signal, where the control request signal is a signal triggered by the driver according to the control requirements of the vehicle and used to adjust the working state of the vehicle motor; When the control request signal meets the preset conditions, the response order to the control request signal is determined according to the control request signal, including obtaining the whole vehicle working identification, and when the whole vehicle working identification indicates that there is no abnormality in the whole vehicle working state, determining the number of control request signals obtained at the same time; when the number of control request signals obtained at the same time is one, setting the response order of the obtained control request signal to the first priority; when the number of control request signals obtained at the same time is multiple, determining the response order of each control request signal according to the output level of the interface type corresponding to each control request signal; the interface types are CAN bus signal interface, push-button interface and hand throttle interface; the preset condition is that the working state of the vehicle meets the preset working condition when the control request signal is obtained; According to the control request signal, the target speed value and target torque value of the vehicle motor are determined, including when the control request signal recognized by the key interface is valid, if the control request signal is parking power take-off, the vehicle motor is controlled to operate at a specific speed, and when the driver steps on the accelerator, the motor torque is calculated according to the throttle opening, and the motor is controlled to operate at the torque point required by the driver; if the control request signal is driving power take-off, the whole vehicle is controlled to operate at a specific speed, and when the driver steps on the accelerator, the motor torque is calculated according to the throttle opening, and the motor is controlled to operate at the torque point required by the driver; when the control request signal recognized by the CAN bus signal interface is valid, if the control request signal is chassis power take-off, the vehicle motor is controlled to output the requested target value according to the CAN request speed or torque value; if the control request signal is upper body power take-off, when it is determined that the available power and available discharge power of the power battery meet the working conditions, the upper body power take-off enable signal is output; when the control request signal recognized by the hand throttle interface is valid, the vehicle motor torque value is calculated according to the hand throttle opening; The working state of the vehicle motor is adjusted according to the response sequence, the target speed value and the target torque value.

2. The method according to claim 1, It is characterized in that The process of determining the vehicle work identification includes: Obtain all safety operation indicators of the vehicle, and if each of the safety operation indicators is normal, set the whole vehicle working indicator to indicate that the whole vehicle working state is normal; All safety operation indicators include at least one of the following three indicators, namely, high-voltage insulation fault indicator, power battery fault indicator and power motor fault indicator.

3. The method according to claim 2, It is characterized in that The method further comprises: Display control request signals, response sequence to control request signals, target speed value, target torque value and vehicle operation identification; When the vehicle working identification indicates that the vehicle working state is abnormal, the abnormal indicators among all the safety operation indicators are determined and the abnormal indicators are displayed.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, It is characterized in that When the processor executes the computer program, the steps of the method according to any one of claims 1 to 3 are implemented.

5. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

6. A computer program product comprising a computer program, It is characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 3 are implemented.

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