Vehicle and static detection method, device and storage medium thereof

Abstract

A vehicle and a static detection method, device and storage medium thereof, the vehicle static detection method comprising: acquiring a longitudinal acceleration value of the vehicle in real time; determining at least three continuous longitudinal acceleration values obtained at a preset period as first accelerations; judging whether each first acceleration is less than a first preset error value; if yes, controlling a brake actuator of the vehicle to brake the vehicle in a preset braking mode; during braking the vehicle in the preset braking mode, determining at least three continuous longitudinal accelerations obtained at the preset period as second accelerations; and determining a state of the vehicle according to each first acceleration and each second acceleration; the state of the vehicle comprising a static state and a dynamic state. The technical scheme of the present application determines the dynamic and static state of the vehicle by the longitudinal acceleration value of the vehicle and the brake actuator, can accurately judge whether the vehicle is truly in the static state, and does not need to increase the cost of the vehicle and is very easy to implement.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and more particularly to a vehicle and its static detection method, apparatus, and storage medium. Background Technology

[0002] In the context of energy conservation and emission reduction, new energy electric vehicle technology has become a key research direction for major automakers. Compared to traditional gasoline vehicles, electric vehicles offer advantages such as high efficiency, zero carbon emissions, and low vibration and noise. However, because electric vehicles are driven by electric motors, they eliminate the Parking Lock (P) gear locking device found in gasoline vehicles, posing new challenges to the parking safety and stability of the vehicle's electronic parking system. Since the vehicle must maintain basic parking capability in the event of any failure in the parking system other than power supply, accurately determining whether the vehicle is in a static state is crucial.

[0003] Current electric vehicle technology cannot meet parking requirements by using only vehicle speed information to determine whether a vehicle is static. Currently, the common approach is to use the magnitude of the resultant acceleration value from a three-axis accelerometer, or the magnitude of the component acceleration values ​​on the three axes, to eliminate errors and obtain the true acceleration, thereby determining whether the vehicle is static. However, this algorithm is computationally complex and difficult to implement, and real-time error elimination calculation of three-axis acceleration would impose a significant computational load. Summary of the Invention

[0004] This invention provides a vehicle and its static detection method, device and storage medium to overcome the deficiencies in the prior art, so as to accurately determine whether the vehicle is truly stationary by only the vehicle's longitudinal acceleration value and the brake actuator, while without increasing the overall vehicle cost and being very easy to implement.

[0005] In a first aspect, the present invention provides a static inspection method for a vehicle, comprising:

[0006] Real-time acquisition of the vehicle's longitudinal acceleration value;

[0007] The first acceleration is determined by at least three consecutive longitudinal acceleration values ​​obtained at a preset period.

[0008] Determine whether each of the first accelerations is less than a first preset error value;

[0009] If so, then control the vehicle's brake actuator to brake the vehicle in a preset braking mode;

[0010] During the braking of the vehicle in a preset braking mode, at least three consecutive longitudinal accelerations obtained at the preset period are determined as the second acceleration.

[0011] The state of the vehicle is determined based on each of the first accelerations and each of the second accelerations; the state of the vehicle includes a stationary state and a moving state.

[0012] Optionally, determining the state of the vehicle based on each of the first accelerations and each of the second accelerations includes:

[0013] The maximum value among the first accelerations is determined as the first acceleration detection value, and the maximum value among the second accelerations is determined as the second acceleration detection value;

[0014] Determine whether the sum of the first acceleration detection value and the second acceleration detection value is less than a second preset error value;

[0015] If so, then the vehicle is determined to be in the stationary state.

[0016] Optionally, determining the state of the vehicle based on each of the first accelerations and each of the second accelerations further includes:

[0017] If the sum of the first acceleration detection value and the second acceleration detection value is greater than or equal to the second preset error value, then the vehicle is determined to be in the motion state.

[0018] Optionally, the second preset error value is twice the first preset error value.

[0019] Optionally, the vehicle static inspection method further includes:

[0020] If any one of the first accelerations is greater than or equal to the first preset error value, then the vehicle is determined to be in the motion state.

[0021] Optionally, controlling the vehicle's brake actuator to brake the vehicle in a preset braking mode includes:

[0022] Control the vehicle's brake actuator to clamp the vehicle's brake disc with a first braking force;

[0023] When the brake disc of the vehicle is clamped with the first braking force, the braking time of the vehicle is acquired in real time.

[0024] Determine whether the braking time has reached the first preset time;

[0025] If so, then stop clamping the brake disc of the vehicle with the first braking force.

[0026] Optionally, the vehicle static inspection method further includes:

[0027] After determining the vehicle's status, the vehicle's status is sent to the vehicle's vehicle network.

[0028] In a second aspect, the present invention provides a vehicle static detection device, comprising:

[0029] The longitudinal acceleration value acquisition module is used to acquire the longitudinal acceleration value of the vehicle in real time.

[0030] An acceleration determination module is configured to determine at least three consecutive longitudinal acceleration values ​​obtained at a preset period as a first acceleration; and, during the braking of the vehicle in a preset braking mode, to determine at least three consecutive longitudinal acceleration values ​​obtained at the preset period as a second acceleration.

[0031] An acceleration determination module is used to determine whether each of the first accelerations is less than a first preset error value;

[0032] A braking control module is used to control the vehicle's brake actuators to brake the vehicle in a preset braking mode;

[0033] The vehicle state determination module is used to determine the state of the vehicle based on each of the first accelerations and each of the second accelerations; the state of the vehicle includes a stationary state and a moving state.

[0034] Thirdly, the present invention provides a vehicle, comprising: a control system; the control system being configured to execute any of the vehicle static detection methods provided by the present invention.

[0035] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement any of the vehicle static detection methods provided by the present invention.

[0036] The technical solution of this invention acquires the longitudinal acceleration value of a vehicle in real time, determines at least three consecutive longitudinal acceleration values ​​obtained at a preset period as the first acceleration, and controls the vehicle's brake actuator to brake the vehicle in a preset braking mode when each of the first accelerations is less than a first preset error value. During the braking process, at least three consecutive longitudinal acceleration values ​​obtained at a preset period are determined as the second acceleration. Thus, based on each of the first accelerations and each of the second accelerations, it is determined whether the vehicle is stationary or in motion. This achieves accurate determination of whether the vehicle is stationary using only the vehicle's longitudinal acceleration value and the brake actuator, without increasing the overall vehicle cost and is very easy to implement, thereby improving the vehicle's safety performance.

[0037] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a flowchart of a vehicle static inspection method provided in Embodiment 1 of the present invention;

[0040] Figure 2 This is a flowchart of a vehicle static detection method provided in Embodiment 2 of the present invention;

[0041] Figure 3 This is a flowchart of a vehicle static detection method provided in Embodiment 3 of the present invention;

[0042] Figure 4 This is a schematic diagram of the vehicle static detection device provided in Embodiment 4 of the present invention;

[0043] Figure 5 This is a structural block diagram of a vehicle provided in Embodiment 5 of the present invention. Detailed Implementation

[0044] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0045] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0046] Example 1

[0047] This invention provides a vehicle static detection method applicable to detecting whether a vehicle is in a stationary state. This static detection method can be executed by a detection device provided in this invention. The detection device is implemented in hardware and / or software and can be integrated into the vehicle's control system. Figure 1 This is a flowchart of a vehicle static inspection method provided in Embodiment 1 of the present invention. (See reference...) Figure 1 As shown, the static inspection method for this vehicle includes:

[0048] S110: Real-time acquisition of the vehicle's longitudinal acceleration value.

[0049] The longitudinal acceleration value of the vehicle can be the absolute value of the acceleration in the vehicle's traveling direction or reversing direction, and it can be obtained, but is not limited to, by an inertial measurement unit (IMU) or a global positioning system (GPS). It should be noted that this invention does not limit the method of obtaining the vehicle's longitudinal acceleration value; any longitudinal acceleration value obtained in any way is included within the scope of this invention.

[0050] S120. Determine at least three consecutive longitudinal acceleration values ​​obtained with a preset period as the first acceleration.

[0051] The preset period can be the period during which the IMU or GPS acquires the longitudinal acceleration of the vehicle. For example, if the longitudinal acceleration value of the vehicle is acquired by the IMU, and the IMU acquires the longitudinal acceleration of the vehicle every 1 second, then the preset period can be 1 second.

[0052] It should be noted that the first acceleration can be three consecutive longitudinal acceleration values ​​obtained with a preset period, or four consecutive longitudinal acceleration values ​​obtained with a preset period. The first acceleration can be at least three consecutive longitudinal acceleration values ​​obtained with a preset period. Unless otherwise specified, the embodiments of the present invention take three consecutive longitudinal acceleration values ​​obtained with a preset period as the first acceleration.

[0053] Specifically, when a static determination instruction is received, at least three consecutive longitudinal acceleration values are obtained at a preset period, and the at least three longitudinal acceleration values are determined as the first acceleration. Exemplarily, each first acceleration is denoted as A11, A12, and A13 respectively. Among them, the static determination instruction is an instruction sent when other vehicle systems need to determine whether the vehicle is in a static state. Exemplarily, when the vehicle receives a parking instruction from the driver and needs to park, only when the vehicle is in a stationary state or the vehicle speed is less than a certain threshold can parking braking be performed to ensure the driving safety of the vehicle. At this time, it is necessary to determine whether the vehicle is in a static state, and at least three consecutive first accelerations obtained at a preset period can be used.

[0054] S130. Determine whether each first acceleration is less than a first preset error value; if so, execute S140; if not, execute S170.

[0055] Among them, the first preset error value can be the maximum acceleration measurement error value of the longitudinal acceleration sensor element of the vehicle. Exemplarily, the first preset error value can be denoted as error_X.

[0056] Specifically, after each first acceleration is obtained, it is determined whether each first acceleration is less than the first preset error value, that is, it is determined whether each first acceleration A11, A12, and A13 satisfies A11 < error_X & A12 < error_X & A13 < error_X. If each first acceleration is less than the first preset error value, it can be determined that the vehicle is in a待测状态 (to-be-detected state). Among them, the to-be-detected state includes a stationary state and a moving state, and it is necessary to further determine the state of the vehicle.

[0057] S140. Control the braking actuator of the vehicle to brake the vehicle in a preset braking mode.

[0058] Among them, the preset braking mode can be that, on the premise of not affecting the driving stability of the vehicle, the braking actuator of the vehicle lightly clamps the brake disc with a balanced braking force for a certain time. At this time, if the vehicle is in a stationary state, when controlling the braking actuator of the vehicle to brake the vehicle in the preset braking mode, the vehicle remains in a stationary state and its acceleration does not change, that is, the obtained longitudinal acceleration values are equal or similar; on the contrary, if the vehicle is in a moving state, when controlling the braking actuator of the vehicle to brake the vehicle in the preset braking mode, the vehicle will decelerate at a certain acceleration.

[0059] Specifically, when it is determined that each first acceleration is less than the first preset error value, that is, when the vehicle is in the to-be-detected state, control the braking actuator of the vehicle to brake the vehicle in the preset braking mode to further determine the state of the vehicle.

[0060] S150. During the braking of the vehicle in a preset braking mode, at least three consecutive longitudinal accelerations obtained at a preset period are determined as the second acceleration.

[0061] It should be noted that the second acceleration can be three consecutive longitudinal acceleration values ​​obtained at a preset period during the braking process of the vehicle in the preset braking mode, or four consecutive longitudinal acceleration values ​​obtained at a preset period during the braking process of the vehicle in the preset braking mode. The second acceleration can be at least three consecutive longitudinal acceleration values ​​obtained at a preset period during the braking process of the vehicle in the preset braking mode. Unless otherwise specified, the embodiments of the present invention take the determination of three consecutive longitudinal acceleration values ​​obtained at a preset period during the braking process of the vehicle in the preset braking mode as the second acceleration.

[0062] S160. Determine the state of the vehicle based on each first acceleration and each second acceleration.

[0063] The vehicle's state includes both stationary and moving states.

[0064] In an exemplary embodiment, if the vehicle is static, during braking in a preset braking mode, each second acceleration is less than a first preset error value; if the vehicle is moving, during braking in the preset braking mode, the vehicle will decelerate with a certain acceleration, and therefore each second acceleration is greater than the first preset error value. Thus, if both the first and second accelerations are less than the first preset error value, the vehicle is stationary; if both the first accelerations are less than the first preset error value, and both second accelerations are greater than the first preset error value, the vehicle is moving.

[0065] Specifically, if each first acceleration is less than the first preset error value, the vehicle's brakes are controlled to brake the vehicle in a preset braking mode. During the braking process, at least three consecutive longitudinal acceleration values ​​obtained at a preset period are determined as second accelerations, thereby determining whether the vehicle is in a stationary or moving state based on each first acceleration and each second acceleration.

[0066] S170, Determine that the vehicle is in motion.

[0067] Specifically, if any one of the first accelerations is greater than or equal to the first preset error value, that is, each of the first accelerations A11, A12, and A13 satisfies A11≥error_X|A12≥error_X|A13≥error_X, then the vehicle is determined to be in motion.

[0068] S180. After determining the vehicle's status, the vehicle's status is sent to the vehicle's vehicle network.

[0069] The vehicle network can include, but is not limited to, the vehicle's CAN network or the vehicle's Ethernet network. This embodiment of the invention does not impose any restrictions on the type of vehicle network, as long as it ensures that after the vehicle's status is sent to the vehicle network, other systems of the vehicle can obtain the vehicle's status from the vehicle network.

[0070] Specifically, the longitudinal acceleration value of the vehicle is acquired in real time. Upon receiving a static judgment command, at least three longitudinal acceleration values ​​obtained at a preset period are determined as the first acceleration. It is then determined whether each of the first accelerations is less than a first preset error value. If any one of the first accelerations is greater than or equal to the first preset error value, the vehicle is determined to be in motion, and the vehicle's motion status is sent to the vehicle network for use by other vehicle systems. If each of the first accelerations is less than the first preset error value, further judgment of the vehicle's state is required. At this time, the vehicle's brake actuator is controlled to brake the vehicle in a preset braking mode. During the braking process, at least three consecutive longitudinal acceleration values ​​obtained at a preset period are determined as the second acceleration. Based on each of the first and second accelerations, the vehicle's state is determined to be either stationary or in motion, and the determined vehicle state is sent to the vehicle network for use by other vehicle systems.

[0071] In this embodiment, by acquiring the longitudinal acceleration value of the vehicle in real time, at least three consecutive longitudinal acceleration values ​​obtained at a preset period are determined as the first acceleration. When each of the first accelerations is less than a first preset error value, the vehicle's brake actuator is controlled to brake the vehicle in a preset braking mode. During the braking process, at least three consecutive longitudinal acceleration values ​​obtained at a preset period are determined as the second acceleration. Thus, based on each of the first accelerations and each of the second accelerations, it is determined whether the vehicle is stationary or in motion. This achieves accurate determination of whether the vehicle is stationary using only the vehicle's longitudinal acceleration value and the brake actuator, without increasing the overall vehicle cost and is very easy to implement, thereby improving the vehicle's safety performance.

[0072] Example 2

[0073] Figure 2 This is a flowchart of a vehicle static detection method provided in Embodiment 2 of the present invention. Based on the above embodiments, this embodiment further adds a step of determining the vehicle's state based on each first acceleration and each second acceleration. Specifically, it includes a step of determining whether the vehicle is in a stationary or moving state based on the first acceleration detection value and the second acceleration detection value. (Refer to...) Figure 2 As shown, the static inspection method for this vehicle specifically includes:

[0074] S210: Real-time acquisition of the vehicle's longitudinal acceleration value.

[0075] S220, Determine at least three consecutive longitudinal acceleration values ​​obtained with a preset period as the first acceleration.

[0076] S230. Determine whether each first acceleration is less than the first preset error value; if yes, execute S240; if no, execute S290.

[0077] S240, Control the vehicle's brake actuator to brake the vehicle in a preset braking mode.

[0078] S250. During the braking of the vehicle in a preset braking mode, at least three consecutive longitudinal accelerations obtained at a preset period are determined as the second acceleration.

[0079] S260. The maximum value among the first accelerations is determined as the first acceleration detection value, and the maximum value among the second accelerations is determined as the second acceleration detection value.

[0080] In an exemplary embodiment, each first acceleration is denoted as A11, A12, and A13, and each second acceleration is denoted as A21, A22, and A23, respectively. The first acceleration detection value is max{A11, A12, A13}, and the second acceleration detection value is max{A21, A22, A23}.

[0081] S270. Determine whether the sum of the first acceleration detection value and the second acceleration detection value is less than the second preset error value; if yes, execute S280; if no, execute S290.

[0082] The second preset error is twice the first preset error. For example, the second preset error value can be denoted as tolerance_X, where tolerance_X = 2error_X.

[0083] Specifically, after determining each first acceleration and each second acceleration, the maximum value among each first acceleration is determined as the first acceleration detection value, and the maximum value among each second acceleration is determined as the second acceleration detection value. This allows it to be determined whether the sum of the first acceleration detection value and the second acceleration detection value is less than a second preset error value, thereby determining the state of the vehicle.

[0084] S280, Determine that the vehicle is stationary.

[0085] S290, Determine that the vehicle is in motion.

[0086] Specifically, the longitudinal acceleration value of the vehicle is obtained in real time. When a static judgment instruction is received, at least three longitudinal acceleration values obtained at a preset period are determined as the first acceleration, so as to judge whether each first acceleration is less than the first preset error value. If each first acceleration is less than the first preset error value, it is necessary to further judge the state of the vehicle. At this time, the braking actuator of the vehicle is controlled to brake the vehicle in a preset braking mode, and during the process of braking the vehicle, at least three consecutive longitudinal acceleration values obtained at a preset period are determined as the second acceleration, the maximum value of each first acceleration is determined as the first acceleration detection value, and the maximum value of each second acceleration is determined as the second acceleration detection value. If the sum of the first acceleration detection value and the second acceleration detection value is less than the second preset error value, it can be determined that the vehicle is in a stationary state, and the fact that the vehicle is in a stationary state is sent to the vehicle networking for other systems of the vehicle to use; otherwise, if the sum of the first acceleration detection value and the second acceleration detection value is greater than or equal to the second preset error value, it can be determined that the vehicle is in a moving state, and the fact that the vehicle is in a moving state is sent to the vehicle networking for other systems of the vehicle to use.

[0087] S2100. After determining the state of the vehicle, send the state of the vehicle to the vehicle networking of the vehicle.

[0088] In an exemplary embodiment, when a static judgment instruction is received, three longitudinal acceleration values obtained at a preset period are determined as the first accelerations A11, A12, and A13. If A11 < error_X & A12 < error_X & A13 < error_X, the braking actuator of the vehicle is controlled to brake the vehicle in a preset braking mode, and during the process of braking the vehicle, at least three consecutive longitudinal acceleration values obtained at a preset period are determined as the second accelerations A21, A22, and A23. Furthermore, the maximum value of each first acceleration is determined as the first acceleration detection value max{A11, A12, A13}, and the maximum value of each second acceleration is determined as the second acceleration detection value max{A21, A22, A23}. When max{A11, A12, A13} + max{A21, A22, A23} < tolerance_X, it can be determined that the vehicle is in a stationary state and the fact that the vehicle is in a stationary state is sent to the vehicle networking for other systems of the vehicle to use; otherwise, when max{A11, A12, A13} + max{A21, A22, A23} ≥ tolerance_X, it is determined that the vehicle is in a moving state, and the fact that the vehicle is in a moving state is sent to the vehicle networking for other systems of the vehicle to use.

[0089] In this embodiment, by determining the maximum value among the first accelerations as the first acceleration detection value and the maximum value among the second accelerations as the second acceleration detection value, it is determined whether the sum of the first acceleration detection value and the second acceleration detection value is less than a second preset error value. If the sum of the first acceleration detection value and the second acceleration detection value is less than the second preset error value, it is determined that the vehicle is stationary. If the sum of the first acceleration detection value and the second acceleration detection value is greater than or equal to the second preset error value, it is determined that the vehicle is in motion. In this way, the accuracy of determining whether the vehicle is stationary can be further improved.

[0090] Example 3

[0091] Figure 3 This is a flowchart of a vehicle static detection method provided in Embodiment 3 of the present invention. Based on the above embodiments, this embodiment further adds a step of controlling the vehicle's brake actuator to brake the vehicle in a preset braking mode, specifically including controlling the vehicle's brake actuator to clamp the vehicle's brake disc with a first braking force. (See reference...) Figure 3 As shown, the static inspection method for this vehicle specifically includes:

[0092] S310: Real-time acquisition of the vehicle's longitudinal acceleration value.

[0093] S320. Determine at least three consecutive longitudinal acceleration values ​​obtained at a preset period as the first acceleration.

[0094] S330. Determine whether each first acceleration is less than the first preset error value; if yes, execute S340; if no, execute S3120.

[0095] S340, Control the vehicle's brake actuator to clamp the vehicle's brake disc with a first braking force.

[0096] The first braking force can be a braking force that does not affect the vehicle's driving stability. For example, if the vehicle's brake actuator clamps the vehicle's brake disc with the first braking force while the vehicle is in motion, the vehicle will decelerate with a small acceleration, and this process will not pose a danger to the vehicle's driving, nor will it cause discomfort to the driver and passengers.

[0097] S350: When clamping the vehicle's brake disc with the first braking force, the braking time of the vehicle is acquired in real time.

[0098] S360. Determine whether the braking time has reached the first preset time; if so, execute S370.

[0099] The first preset time is a pre-set time for braking the vehicle. For example, the first preset time can be a time greater than or equal to the time for obtaining at least three consecutive longitudinal acceleration values ​​at a preset period.

[0100] S370, Stop clamping the vehicle's brake disc with the first braking force.

[0101] Specifically, when each of the first accelerations is less than the first preset error value, the vehicle's brake actuator clamps the vehicle's brake disc with the first braking force for a certain period of time. When the time that the vehicle's brake actuator clamps the vehicle's brake disc with the first braking force reaches the first preset time, the clamping of the vehicle's brake disc with the first braking force is stopped to stop braking the vehicle, thereby not affecting the normal driving of the vehicle.

[0102] S380. During the braking of the vehicle in a preset braking mode, at least three consecutive longitudinal accelerations obtained at a preset period are determined as the second acceleration.

[0103] S390. The maximum value among the first accelerations is determined as the first acceleration detection value, and the maximum value among the second accelerations is determined as the second acceleration detection value.

[0104] S3100: Determine whether the sum of the first acceleration detection value and the second acceleration detection value is less than the second preset error value; if yes, execute S3110; if no, execute S3120.

[0105] The second preset error is twice the first preset error.

[0106] S3110. Confirm that the vehicle is stationary.

[0107] S3120, Determine that the vehicle is in motion.

[0108] S3130. After determining the vehicle's status, the vehicle's status is sent to the vehicle's vehicle network.

[0109] In this embodiment, when each of the first accelerations is less than the first preset error value, the vehicle's brake actuator is controlled to clamp the vehicle's brake disc with the first braking force. When the time for the vehicle's brake actuator to clamp the vehicle's brake disc with the first braking force reaches the first preset time, the clamping of the vehicle's brake disc with the first braking force is stopped. This allows the vehicle to be braked without affecting its driving stability in order to further determine the vehicle's state, thus ensuring the safety and driving comfort of the vehicle.

[0110] Example 4

[0111] This embodiment provides a vehicle static detection device, which can be implemented in hardware and / or software and can be integrated into the vehicle's control system.Figure 4 This is a schematic diagram of the vehicle static detection device provided in Embodiment 4 of the present invention, as shown below. Figure 4 As shown, the detection device includes:

[0112] The longitudinal acceleration value acquisition module 410 is used to acquire the longitudinal acceleration value of the vehicle in real time.

[0113] The acceleration determination module 420 is used to determine at least three consecutive longitudinal acceleration values ​​obtained at a preset period as a first acceleration; and, during the braking of the vehicle in a preset braking mode, to determine at least three consecutive longitudinal acceleration values ​​obtained at a preset period as a second acceleration.

[0114] The acceleration judgment module 430 is used to determine whether each first acceleration is less than the first preset error value.

[0115] Braking control module 440 is used to control the vehicle's brake actuators to brake the vehicle in a preset braking mode.

[0116] The vehicle state determination module 450 is used to determine the state of the vehicle based on each first acceleration and each second acceleration; the state of the vehicle includes a stationary state and a moving state.

[0117] The vehicle static detection device provided in this embodiment of the invention can execute the vehicle static detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method. The similarities can be referred to the above description.

[0118] Example 5

[0119] Figure 5 This is a structural block diagram of a vehicle provided in Embodiment 5 of the present invention, as shown below. Figure 5 As shown, the vehicle 1 includes a control system 2; the control system 2 is used in the vehicle static detection method provided in any embodiment of the present invention.

[0120] The vehicle has the corresponding structure and features for performing the vehicle static detection method provided in any embodiment of the present invention, and can achieve the beneficial effects of the vehicle static detection method provided in any embodiment of the present invention. The similarities can be referred to the above description.

[0121] Example 6

[0122] Based on the same concept, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions for causing a processor to execute and implement the detection method provided in any of the above embodiments.

[0123] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0124] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for static vehicle inspection, characterized in that, include: Real-time acquisition of the vehicle's longitudinal acceleration value; The first acceleration is determined by at least three consecutive longitudinal acceleration values ​​obtained at a preset period. Determine whether each of the first accelerations is less than a first preset error value; If so, then control the vehicle's brake actuator to brake the vehicle in a preset braking mode; During the braking of the vehicle in a preset braking mode, at least three consecutive longitudinal accelerations obtained at the preset period are determined as the second acceleration. The state of the vehicle is determined based on each of the first accelerations and each of the second accelerations; The state of the vehicle includes a stationary state and a moving state; Determining the state of the vehicle based on each of the first accelerations and each of the second accelerations includes: The maximum value among the first accelerations is determined as the first acceleration detection value, and the maximum value among the second accelerations is determined as the second acceleration detection value; Determine whether the sum of the first acceleration detection value and the second acceleration detection value is less than a second preset error value; If so, then the vehicle is determined to be in the stationary state; Controlling the vehicle's brake actuator to brake the vehicle in a preset braking mode includes: Control the vehicle's brake actuator to clamp the vehicle's brake disc with a first braking force; When the brake disc of the vehicle is clamped with the first braking force, the braking time of the vehicle is acquired in real time. Determine whether the braking time has reached the first preset time; If so, then stop clamping the brake disc of the vehicle with the first braking force.

2. The vehicle static inspection method according to claim 1, characterized in that, Determining the state of the vehicle based on each of the first accelerations and each of the second accelerations further includes: If the sum of the first acceleration detection value and the second acceleration detection value is greater than or equal to the second preset error value, then the vehicle is determined to be in the motion state.

3. The vehicle static inspection method according to claim 1, characterized in that, The second preset error value is twice the first preset error value.

4. The vehicle static inspection method according to claim 1, characterized in that, Also includes: If any one of the first accelerations is greater than or equal to the first preset error value, then the vehicle is determined to be in the motion state.

5. The vehicle static inspection method according to claim 1, characterized in that, Also includes: After determining the vehicle's status, the vehicle's status is sent to the vehicle's vehicle network.

6. A vehicle static inspection device, characterized in that, For performing the vehicle static inspection method according to any one of claims 1-5, the vehicle static inspection apparatus comprises: The longitudinal acceleration value acquisition module is used to acquire the longitudinal acceleration value of the vehicle in real time. An acceleration determination module is configured to determine at least three consecutive longitudinal acceleration values ​​obtained at a preset period as a first acceleration; and, during the braking of the vehicle in a preset braking mode, to determine at least three consecutive longitudinal acceleration values ​​obtained at the preset period as a second acceleration. An acceleration determination module is used to determine whether each of the first accelerations is less than a first preset error value; A braking control module is used to control the vehicle's brake actuators to brake the vehicle in a preset braking mode; The vehicle state determination module is used to determine the state of the vehicle based on each of the first accelerations and each of the second accelerations; the state of the vehicle includes a stationary state and a moving state.

7. A vehicle, characterized in that, include: A control system; the control system is used to perform the vehicle static detection method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the vehicle static detection method according to any one of claims 1-5.

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