A vehicle control method, a terminal device, and a storage medium

Abstract

The present application relates to a kind of vehicle control method, terminal equipment and storage medium, the method includes: when receiving limit torque or limit start type vehicle control instruction, only simultaneously by whether the vehicle is off, the load of the vehicle is in controllable load range, whether there is instruction prohibition execution information item corresponding to vehicle control instruction and whether the vehicle exists power system failure four judgment conditions, limit torque or limit start control is carried out, and feedback control result.The present application proposes a kind of vehicle control system method fused with vehicle position information, traffic information and load state, can be reasonably, low-risk control to vehicle, avoid unnecessary dispute.

Description

Technical Field

[0001] This invention relates to the field of vehicle control, and more particularly to a vehicle control method, terminal device, and storage medium. Background Technology

[0002] Vehicle dealers sometimes need to control vehicles at the start of the next driving cycle using strategies such as torque limiting and start-up restrictions. Many current control schemes often focus only on the safety of the control actions, neglecting their rationality. Indiscriminate control without considering the vehicle's current state can have adverse effects and even cause economic losses. For example, implementing torque limiting control on heavy-duty vehicles on uphill sections may lead to operational risks; implementing speed limits or start-up restrictions on congested roads or temporary parking (no-stopping) zones may cause vehicle violations, delayed delivery of goods, and other adverse effects. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes a vehicle control method, a terminal device, and a storage medium.

[0004] The specific plan is as follows:

[0005] A vehicle control method, comprising:

[0006] When the received vehicle control command is of one of the following types: torque limit, start limit, forced torque limit, and forced start limit, the first control enable flag enable1 is set to valid; when the received vehicle control command is of other types, the first control enable flag enable1 is set to invalid.

[0007] When the first control enable flag enable1 is valid, determine whether the type of the received vehicle control command is a mandatory control command. If it is, set the mandatory enable flag enable0 to be valid; otherwise, set the mandatory enable flag enable0 to be invalid.

[0008] When the first control enable flag enable1 is valid, the system detects in real time whether the vehicle is turned off. If it is, the second control enable flag enable2 is enabled; otherwise, the second control enable flag enable2 is disabled.

[0009] When all three flags—the first control enable flag enable1, the forced enable flag enable0, and the second control enable flag enable2—are valid, the vehicle is subjected to forced torque limiting or forced start limiting control according to the received forced control command, and the control result is fed back.

[0010] When the first control enable flag `enable1` is valid and the forced enable flag `enable0` is invalid, the following three judgments are performed. Only when all four control enable flags—the second control enable flag `enable2`, the third control enable flag `enable3`, the fourth control enable flag `enable4`, and the fifth control enable flag `enable5`—are simultaneously valid, will the vehicle be controlled to limit torque or limit start-up according to the received vehicle control command, and the control result will be fed back. The three judgments are as follows:

[0011] (1) Determine whether the vehicle's load is within the controllable load range. If so, enable the third control flag enable3; otherwise, disable the third control flag enable3.

[0012] (2) Based on the type of vehicle control command, and according to the road attribute information and traffic information of the road where the vehicle is currently located, determine whether there is a command prohibition information item corresponding to the vehicle control command. If there is no such item, set the fourth control enable flag enable4 to be valid; otherwise, set the fourth control enable flag enable4 to be invalid.

[0013] (3) Based on the vehicle's fault code, determine whether the vehicle has a power system fault. If there is no power system fault, enable the fifth control enable flag (enable5) to be valid; otherwise, enable the fifth control enable flag (enable5) to be invalid.

[0014] Furthermore, whether the vehicle is turned off is determined by the vehicle's start / stop signal.

[0015] Furthermore, the process of calculating the vehicle's load includes the following steps:

[0016] S101: Based on the vehicle model, construct a load mapping table to characterize the speed change value within a unit time period T under different pedal depths and different loads.

[0017] S102: Real-time data collection of vehicle speed, pedal depth, mileage, and altitude during vehicle operation; and continuous calculation of vehicle speed change Δv, altitude change Δh, mileage change Δm, and the ratio θ of altitude change Δh to mileage change Δm within each time period T.

[0018] S103: Record the time when the vehicle is turned off as time t, and extract the data sets within N time periods before time t, so that the data in each extracted time period satisfies the following conditions: speed is greater than the speed threshold, pedal depth is greater than 0, and ratio θ is less than or equal to the ratio threshold.

[0019] S104: Based on N data groups, find the load corresponding to each data group from the load mapping table, and take the average value of the loads corresponding to the N data groups as the load of the vehicle.

[0020] Furthermore, the time period is 1 second, the speed threshold is 10 km / h, and the ratio threshold is 0.0871.

[0021] A vehicle control terminal device includes a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the method described above in the embodiments of the present invention.

[0022] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the method described above in the embodiments of the present invention.

[0023] The present invention adopts the above technical solution and proposes a vehicle control system method that integrates vehicle location information, traffic intelligence information and load status, which can control the vehicle in a reasonable and low-risk manner and avoid unnecessary disputes. Attached Figure Description

[0024] Figure 1 The diagram shown is a flowchart of the method in Embodiment 1 of the present invention.

[0025] Figure 2 The flowchart shown is a process for calculating the vehicle's load in this embodiment.

[0026] Figure 3 The diagram shown illustrates the ratio of altitude change to mileage change in this embodiment. Detailed Implementation

[0027] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments, and can be used in conjunction with the relevant descriptions in the specification to explain the operating principles of the embodiments. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention.

[0028] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0029] Example 1:

[0030] This invention provides a vehicle control method, such as... Figure 1 As shown, the method includes:

[0031] When the received vehicle control command is one of the following types: torque limit, start limit, forced torque limit, and forced start limit, the first control enable flag enable1 is set to valid, i.e., enable1 = TRUE; when the received vehicle control command is of other types, the first control enable flag enable1 is set to invalid, i.e., enable1 = FALSE.

[0032] When the first control enable flag enable1 is valid, it is determined whether the type of the received vehicle control command belongs to a forced control command (i.e., forced torque limit and forced start limit command). If so, the forced enable flag enable0 is set to valid, i.e. enable0 = TRUE; otherwise, the forced enable flag enable0 is set to invalid, i.e. enable0 = FALSE.

[0033] When the first control enable flag enable1 is valid, the system continuously monitors whether the vehicle is off. If it is, the second control enable flag enable2 is enabled (enable2 = TRUE); otherwise, enable2 is disabled (enable2 = FALSE). In this embodiment, whether the vehicle is off is determined by the vehicle's start / stop signal.

[0034] When all three flags—enable1 (first control enable flag), enable0 (forced enable flag), and enable2 (second control enable flag)—are valid, the vehicle is subjected to forced torque limiting or forced start limiting control according to the received forced control command, and the control result is fed back.

[0035] When the first control enable flag `enable1` is valid and the forced enable flag `enable0` is invalid, the following three judgments are performed. Only when all four control enable flags—the second control enable flag `enable2`, the third control enable flag `enable3`, the fourth control enable flag `enable4`, and the fifth control enable flag `enable5`—are simultaneously valid, will the vehicle be controlled to limit torque or limit start-up according to the received vehicle control command, and the control result will be fed back. The three judgments are as follows:

[0036] (1) Determine whether the vehicle's load is within the controllable load range. If so, enable the third control enable flag enable3 to be valid, i.e. enable3 = TRUE; otherwise, enable the third control enable flag enable3 to be invalid, i.e. enable3 = FALSE.

[0037] (2) Based on the type of vehicle control command, and according to the road attribute information and traffic information of the road where the vehicle is currently located, determine whether there is a command prohibition information item corresponding to the vehicle control command. If there is no such item, set the fourth control enable flag enable4 to be valid, i.e. enable4 = TRUE; otherwise, set the fourth control enable flag enable4 to be invalid, i.e. enable4 = FALSE.

[0038] (3) Based on the vehicle's fault code, determine whether the vehicle has a power system fault. If there is no power system fault, enable the fifth control enable flag enable5 to be enabled, i.e. enable5 = TRUE; otherwise, enable the fifth control enable flag enable5 to be disabled, i.e. enable5 = FALSE.

[0039] Vehicle control commands are typically transmitted wirelessly from a remote server to the vehicle's microprocessor unit. Control of the vehicle via these commands is then performed through the vehicle's ECU (Electronic Control Unit). The control results are then fed back to the remote server.

[0040] like Figure 2 As shown, the specific calculation process for the vehicle's load in this embodiment includes the following steps:

[0041] S101: Based on the vehicle model, construct a load mapping table to characterize the speed change value within a unit time period T under different pedal depths and different load conditions.

[0042] S102: Real-time data collection of vehicle speed, pedal depth, mileage, and altitude during vehicle operation; and continuous calculation of the vehicle speed change Δv, altitude change Δh, mileage change Δm, and the ratio θ of altitude change Δh to mileage change Δm within each time period T.

[0043] S103: Record the time when the vehicle is turned off as time t, and extract the data sets within N time periods before time t, so that the data in each extracted time period satisfies the following conditions: speed is greater than the speed threshold, pedal depth is greater than 0, and ratio θ is less than or equal to the ratio threshold.

[0044] S104: Based on N data groups, find the load corresponding to each data group from the load mapping table, and take the average load of the N data groups as the vehicle load. N represents the number of data groups, and its size can be set by the user.

[0045] The load mapping table is shown in Table 1. Each vehicle model has its own specific load mapping table, which can be downloaded directly from the server as a pre-calibrated table, or it can be generated automatically based on the historical driving data of that vehicle model. There is no limitation on this.

[0046] Table 1

[0047]

[0048] The data in each data set should include the pedal depth and the speed change over the time period.

[0049] In this embodiment, the preferred time period is T = 1s, the speed threshold is 10km / h, and the ratio threshold is 0.0871. The ratio θ of the altitude change value Δh to the mileage change value Δm is related to the road gradient. Figure 3 Let the ratio θ be represented as shown. Then we have: AB = Δm, BC = Δh, θ = Δh / Δm = sinα. Since the ratio threshold is 0.0871, when sinα = 0.871, α = 5°, which means the road slope threshold is 5 degrees.

[0050] In this embodiment, road attribute information includes road grade, lane information, speed limit information, etc.; traffic intelligence information includes traffic control information, road condition information, etc. Road attribute information and traffic intelligence information can be obtained through satellite positioning data, electronic map data, etc. The command prohibition information items corresponding to vehicle control commands need to be pre-built. In this embodiment, command prohibition information items corresponding to non-mandatory start-limit commands (as shown in Table 2) and command prohibition information items corresponding to non-mandatory torque-limit commands (as shown in Table 3) are built. In other embodiments, those skilled in the art can set them according to their needs, and no limitation is made here.

[0051] Table 2

[0052]

[0053]

[0054] Table 3

[0055] Attribute information Uphill and downhill sections Attribute information Expressway Traffic Information Located in a restricted and prohibited section of road ...

[0056] In this embodiment of the invention, the road attributes and traffic information of the current vehicle location are used to determine whether the vehicle is in a controllable area. Combined with the vehicle load and power system failure status, the timing of reasonable control is determined to perform reasonable and low-risk control of the vehicle and avoid unnecessary disputes.

[0057] Example 2:

[0058] The present invention also provides a vehicle control terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps in the method embodiment described above in Embodiment 1 of the present invention.

[0059] Furthermore, as an executable solution, the vehicle control terminal device can be a computing device such as an on-board computer. The vehicle control terminal device may include, but is not limited to, a processor and a memory. Those skilled in the art will understand that the above-described composition of the vehicle control terminal device is merely an example and does not constitute a limitation on the vehicle control terminal device. It may include more or fewer components than described above, or combine certain components, or different components. For example, the vehicle control terminal device may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0060] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the vehicle control terminal equipment, connecting all parts of the vehicle control terminal equipment via various interfaces and lines.

[0061] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the vehicle control terminal device by running or executing the computer programs and / or modules stored in the memory and calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0062] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0063] If the modules / units integrated into the vehicle control terminal device are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), and a software distribution medium, etc.

[0064] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A vehicle control method, characterized in that, include: When the received vehicle control command is of one of the following types: torque limit, start limit, forced torque limit, and forced start limit, the first control enable flag enable1 is set to valid; when the received vehicle control command is of other types, the first control enable flag enable1 is set to invalid. When the first control enable flag enable1 is valid, determine whether the type of the received vehicle control command is a mandatory control command. If it is, set the mandatory enable flag enable0 to be valid; otherwise, set the mandatory enable flag enable0 to be invalid. When the first control enable flag enable1 is valid, the system detects in real time whether the vehicle is turned off. If it is, the second control enable flag enable2 is enabled; otherwise, the second control enable flag enable2 is disabled. When all three flags—the first control enable flag enable1, the forced enable flag enable0, and the second control enable flag enable2—are valid, the vehicle is subjected to forced torque limiting or forced start limiting control according to the received forced control command, and the control result is fed back. When the first control enable flag `enable1` is valid and the forced enable flag `enable0` is invalid, the following three judgments are performed. Only when all four control enable flags—the second control enable flag `enable2`, the third control enable flag `enable3`, the fourth control enable flag `enable4`, and the fifth control enable flag `enable5`—are simultaneously valid, will the vehicle be controlled to limit torque or limit start-up according to the received vehicle control command, and the control result will be fed back. The three judgments are as follows: (1) Determine whether the vehicle's load is within the controllable load range. If so, enable the third control flag enable3; otherwise, disable the third control flag enable3. (2) Based on the type of vehicle control command, and according to the road attribute information and traffic information of the road where the vehicle is currently located, determine whether there is a command prohibition information item corresponding to the vehicle control command. If there is no such item, set the fourth control enable flag enable4 to be valid; otherwise, set the fourth control enable flag enable4 to be invalid. (3) Based on the vehicle's fault code, determine whether the vehicle has a power system fault. If there is no power system fault, enable the fifth control enable flag (enable5) to be valid; otherwise, enable the fifth control enable flag (enable5) to be invalid.

2. The vehicle control method according to claim 1, characterized in that: Whether a vehicle is off is determined by the vehicle's start / stop signal.

3. The vehicle control method according to claim 1, characterized in that: The process of calculating the vehicle's load includes the following steps: S101: Based on the vehicle model, construct a load mapping table to characterize the speed change value within a unit time period T under different pedal depths and different loads. S102: Real-time data collection of vehicle speed, pedal depth, mileage, and altitude during vehicle operation; and continuous calculation of vehicle speed change Δv, altitude change Δh, mileage change Δm, and the ratio θ of altitude change Δh to mileage change Δm within each time period T. S103: Record the time when the vehicle is turned off as time t, and extract the data sets within N time periods before time t, so that the data in each extracted time period satisfies the following conditions: speed is greater than the speed threshold, pedal depth is greater than 0, and ratio θ is less than or equal to the ratio threshold. S104: Based on N data groups, find the load corresponding to each data group from the load mapping table, and take the average value of the loads corresponding to the N data groups as the load of the vehicle.

4. The vehicle control method according to claim 3, characterized in that: The time period is 1 second, the speed threshold is 10 km / h, and the ratio threshold is 0.0871.

5. A vehicle control terminal device, characterized in that: It includes a processor, a memory, and a computer program stored in the memory and running on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any one of claims 1 to 4.

6. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 4.

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