A method, system, apparatus, and storage medium of vehicle control

Abstract

The application provides a vehicle control method, system, device and storage medium. The vehicle control method comprises: a master control module acquires configuration parameters of a vehicle and generates a first control signal; a bottom control module executes a first preset function corresponding to the first control signal; when the bottom control module executes the first preset function, a receiving module acquires working condition information of the vehicle and feeds back the working condition information to the master control module and an interactive module; the master control module detects whether the working condition information has abnormal data and judges whether the execution of the bottom control module has an abnormality; when the execution of the bottom control module is abnormal, the master control module generates a second control signal according to the abnormality and feeds back the abnormality to the interactive module; and the master control module sends the second control signal to the bottom control module, and the bottom control module executes a second preset function corresponding to the second control signal. The application can control multiple vehicle models in real time and intelligently control different abnormal conditions of the vehicle working condition.

Description

Technical Field

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

[0002] With the development of technology, mechanical automation has gradually replaced manual operation in transportation and logistics. For example, the handling of goods is completed by AGV forklifts. AGV forklifts are forklifts equipped with electromagnetic or optical automatic guidance devices that can travel along a prescribed guide path. AGV trolleys with automatic transfer devices can automatically complete the entire process of picking up, placing and horizontally moving goods under the command of the main control module.

[0003] Existing laser-guided forklift AGVs integrate laser radar positioning control, path control, and motor motion control into a single AGV main control system. This system offers advantages such as high integration and fewer components. However, since all control is handled by the main control module, it places high demands on the module's performance and requires complex algorithm programming. If the main control module malfunctions, the vehicle may experience dangerous abnormalities, and the system will also incur high replacement costs.

[0004] Currently, vehicle control systems on the market are often operated directly from the cloud. Because there are many controlled devices and data acquisition modules in a vehicle control system, the amount of processing required by the vehicle control system at any given moment is also extremely large. Different models require different compatible main control modules, which increases the cost of operation and maintenance. At the same time, because it is controlled remotely from the cloud, it is difficult to perform real-time obstacle avoidance operations in the event of an accident, and it is impossible to avoid the impact of abnormal situations. Summary of the Invention

[0005] The main objective of this invention is to solve the technical problem of how to achieve real-time remote control of multiple vehicle models, while also addressing the inability to intelligently handle abnormal situations under different circumstances.

[0006] To achieve the above objectives, the present invention proposes a method, system, device, and storage medium for vehicle control.

[0007] This invention provides a vehicle control method, the vehicle control method comprising:

[0008] The main control module acquires the vehicle's configuration parameters and generates the first control signal;

[0009] The main control module sends the first control signal to the underlying control module, and the underlying control module executes the first preset function corresponding to the first control signal;

[0010] When the underlying control module executes the first preset function, the receiving module obtains the vehicle's operating condition information and feeds the operating condition information back to the main control module and the interaction module;

[0011] After receiving the operating condition information, the main control module checks whether there is any abnormal data in the operating condition information and determines whether there is any abnormality in the execution of the underlying control module.

[0012] When the underlying control module malfunctions, the main control module generates a second control signal based on the malfunction and feeds back the malfunction to the interaction module.

[0013] The main control module sends the second control signal to the underlying control module, and the underlying control module executes the second preset function corresponding to the second control signal.

[0014] Optionally, in one specific embodiment of the present invention, the step of the main control module acquiring the vehicle's configuration parameters and generating a first control signal includes:

[0015] The interaction module configures the vehicle's first configuration parameters according to user instructions and sends the first configuration parameters to the main control module;

[0016] The main control module determines whether the first configuration parameter matches the vehicle model information, which includes the vehicle's drive model and actuator model.

[0017] If the vehicle model information is matched, the main control module generates a first control signal corresponding to the first configuration parameter;

[0018] If the vehicle model information does not match, the main control module will send the vehicle model information to the cloud, and the cloud will generate a matching second configuration parameter and send it to the main control module.

[0019] The main control module generates a first control signal corresponding to the second configuration parameter.

[0020] Optionally, in one specific embodiment of the present invention, after receiving the operating condition information, the main control module detects whether there is abnormal data in the operating condition information, and the step of determining whether there is an abnormality in the execution of the underlying control module includes:

[0021] The main control module checks whether there are error codes in the operating condition data;

[0022] If an error code exists, the main control module outputs the matching abnormal situation based on the error code and feeds back the operating condition information and abnormal situation to the interaction module;

[0023] If no error code is found, the main control module sends the execution log back to the interaction module.

[0024] Optionally, in one specific embodiment of the present invention, after the step of the main control module outputting a matching abnormal condition according to the error code and feeding back the operating condition information and abnormal condition to the interaction module, the method further includes:

[0025] The main control module sends the abnormal situation to the interaction module and outputs a prompt;

[0026] The interaction module sends a third control signal to the underlying control module according to the user's instructions, and the underlying control module executes the third preset function corresponding to the third control signal.

[0027] Optionally, in one specific embodiment of the present invention, before the step of the main control module obtaining the first configuration parameters configured by the user and generating the first control signal, the method further includes:

[0028] The interaction module outputs control commands to the underlying control module based on user instructions, and the underlying control module executes the preset function corresponding to the control commands.

[0029] Another aspect of the present invention provides a vehicle control system, comprising:

[0030] The receiving module is used to receive real-time operating condition information of the vehicle.

[0031] The main control module is used to receive configuration parameters configured by the interaction module according to user instructions and generate a first control signal. It is also used to receive vehicle operating condition information obtained by the receiving module and generate a second control signal.

[0032] The underlying control module is used to receive the first control signal and the second control signal from the main control module and to complete the corresponding first preset function and the second preset function.

[0033] The interaction module is used to receive vehicle configuration parameters and feedback from operating conditions and abnormal situations.

[0034] Optionally, the main control module includes an H7 controller, and the main control module transmits data with the cloud via socket communication in the IPC protocol.

[0035] Optionally, the receiving module includes a sensor and a monitoring unit, and data transmission between the receiving module and the main control module is carried out through CAN bus protocol, RS485 bus protocol and RS232 bus protocol.

[0036] The present invention also provides a vehicle control device, comprising: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a circuit; the at least one processor invokes the instructions in the memory to cause the vehicle control device to execute the vehicle control method described above.

[0037] The present invention also provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the vehicle control method described above.

[0038] The beneficial effects of this invention are as follows: the vehicle control system acquires the configuration parameters of each vehicle to be controlled in real time, and outputs control commands to the underlying control module according to the control firmware preset by the main control module to complete the preset functions in real time, realizes remote control of multiple vehicle models, and at the same time monitors the operating condition information in real time according to the receiving module, and can perform corresponding intelligent processing in a timely manner for abnormal vehicle operating conditions under different situations. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of an embodiment of the vehicle control method of the present invention;

[0040] Figure 2 This is a schematic diagram of a specific embodiment of the vehicle control method of the present invention;

[0041] Figure 3 This is a schematic diagram of another specific embodiment of the vehicle control method of the present invention;

[0042] Figure 4 This is a schematic diagram of an embodiment of the vehicle control system of the present invention;

[0043] Figure 5 This is a system block diagram of one embodiment of the vehicle control system of the present invention;

[0044] Figure 6 This is a schematic diagram of one embodiment of the vehicle control device of the present invention. Detailed Implementation

[0045] This invention provides a vehicle control method, system, device, and storage medium.

[0046] The terms "first," "second," "third," "fourth," etc., used 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 described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" or "having" and any variations thereof are intended to cover a non-exclusive inclusion; for example, a process, method, module, 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.

[0047] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 , Figure 4 One embodiment of the vehicle control method in this invention includes:

[0048] S100: The main control module acquires the vehicle's configuration parameters and generates the first control signal;

[0049] In this embodiment of the invention, the vehicle configuration parameters are pre-configured by the user on the interaction module and saved to the main control module. The main control module obtains the configuration parameters that need to be operated. At the same time, the main control module has a built-in control program, which is used to convert each configuration parameter into a first control signal that can be received by each vehicle model. The control signal is a control command signal for each vehicle. The configuration parameters include, but are not limited to, rated lifting capacity, minimum ground clearance, boom lifting height range, gantry tilt angle, lifting speed, maximum operating speed, maximum traction force under full load, engine power, minimum turning radius, and service braking type.

[0050] S200: The main control module sends the first control signal to the underlying control module, and the underlying control module executes the first preset function corresponding to the first control signal;

[0051] In this embodiment of the invention, the underlying control module receives control signals from the main control module based on the IPC protocol. The first preset function includes, but is not limited to, the vehicle's driving, rotation, braking, and the forklift's loading, unloading, stacking, and short-distance transportation.

[0052] S300: When the underlying control module executes the first preset function, the receiving module obtains the vehicle's operating condition information and feeds the operating condition information back to the main control module and the interaction module.

[0053] In this embodiment of the invention, the receiving module acquires vehicle operating condition information in real time based on sensors, cameras and other devices. After receiving the operating condition information, the user can monitor and statistically analyze the various operating condition information in real time through the interaction module. The operating condition information includes, but is not limited to, driving speed, vehicle trajectory, fork arm position, sensor status and other driving conditions, as well as load and fuel level and other load conditions.

[0054] S400. After receiving the operating condition information, the main control module determines whether there is an abnormality in the execution of the underlying control module based on the data detected by the operating condition information.

[0055] In this embodiment of the invention, after the main control module obtains the operating condition information, it integrates and digitizes various data from the operating condition information to obtain the necessary information. The digitization of the operating condition information by the main control module facilitates subsequent detection of abnormal conditions. The main control module has a built-in universal abnormality handling firmware. By detecting the integrated and processed operating condition information data, it can determine in real time whether there are any abnormalities in the execution of the underlying control system and intelligently output the corresponding abnormal situation based on the operating condition information data. At the same time, the vehicle control system obtains various operating condition information in real time from the receiving module. Users can use the interactive module to detect the indicator information and working images in the operating condition information in real time.

[0056] S500: If the main control module determines that there is an abnormality in the execution, the main control module generates a second control signal according to the abnormality and feeds back the abnormality to the interaction module.

[0057] In this embodiment of the invention, when an abnormal state occurs, such as when the underlying control module is performing loading work on the forklift, the abnormal handling firmware receives working condition information data from the receiving system and detects that the load data of the extension arm is less than the preset normal value range, and at the same time, the infrared reflection detection data in front is abnormal. Based on the abnormal working condition information data, the abnormal situation at this time can be determined to be: the loading of the target forklift is abnormal and the goods fall in front of the target forklift. Therefore, a second control signal is generated in a timely manner.

[0058] S600, the main control module sends the second control signal to the underlying control module, and the underlying control module executes the second preset function corresponding to the second control signal;

[0059] In this embodiment of the invention, after receiving the second control signal, the underlying control module controls each vehicle to avoid the area where goods fall during operation, and the target forklift stops running. The main control module's anomaly handling control determines the abnormal situation based on detected abnormal operating conditions and promptly issues obstacle avoidance commands to vehicles experiencing accidents based on their configuration parameters. When an abnormal situation occurs during vehicle operation, the main control module promptly stops the first preset function executed by the underlying control module and generates a corresponding second control signal based on the abnormal situation, causing the underlying control module to execute preset preventative functions. This effectively avoids accidents during vehicle operation or further aggravation of accidents, controls the loss of goods and damage to the shelving, effectively controls operating costs, and also reduces forklift maintenance costs.

[0060] Please see Figure 2 In a specific embodiment of the vehicle control method of the present invention, step S100 includes the following steps:

[0061] S110. The interaction module configures the first configuration parameters of the vehicle according to the user's instructions and sends the first configuration parameters to the main control module.

[0062] S120. The main control module determines whether the first configuration parameter matches the vehicle model information, wherein the vehicle model information includes the vehicle's drive model and actuator model;

[0063] S130. If the vehicle model information is matched, the main control module generates a first control signal corresponding to the first configuration parameter.

[0064] The method embodiments described in this invention are similar to the first embodiment, and the corresponding processes in the foregoing method embodiments can be referred to, and will not be repeated here.

[0065] S140. If the vehicle model information does not match, the main control module sends the vehicle model information to the cloud, and the cloud generates a matching second configuration parameter and sends it to the main control module.

[0066] In this embodiment of the invention, the main control module has a built-in universal vehicle device firmware. This firmware can remotely connect to a server in the cloud to obtain the configuration parameters of the corresponding vehicle model. If the configuration parameters of the corresponding vehicle model cannot be found in the cloud, the vehicle data can be collected and analyzed in the cloud through remote debugging to form configuration parameters adapted to the vehicle model for use by the main control module controlling the vehicle model.

[0067] S150, The main control module generates a first control signal corresponding to the second configuration parameter;

[0068] In this embodiment of the invention, the main control module has a built-in control program, which is used to convert the second configuration parameters into a first control signal that can be received by each type of vehicle. The control signal is a control command signal for each vehicle.

[0069] Please see Figure 3 In a specific embodiment of the vehicle control method of the present invention, step S400 includes the following steps:

[0070] S410, the main control module checks whether there are error codes in the operating condition information data;

[0071] S420. If an error code exists, the main control module outputs the corresponding abnormal situation according to the error code and feeds back the operating condition information and abnormal situation to the interaction module.

[0072] S430. If no error code is found, the main control module sends the execution log back to the interactive module.

[0073] In this embodiment of the invention, the main control module has a built-in general-purpose error handling firmware. It detects and integrates the integrated and digitized working condition information data to determine whether there are any abnormal situations. The error codes are preset by the error handling firmware. Different abnormal situations correspond to unique error codes. The abnormal situations include, but are not limited to, abnormal position data, abnormal thermal imaging data, abnormal driving condition data, and abnormal load data. For example, when the underlying control module is performing loading work on the forklift, the error handling firmware receives working condition information data from the receiving system and detects that the load of the target vehicle exceeds the preset range of 1kg and the driving speed is lower than the set value. Therefore, the error handling firmware outputs the error code overload-1.

[0074] Please see Figure 3 In a specific embodiment of the vehicle control method of the present invention, step S420 includes the following steps:

[0075] S440. The main control module sends the abnormal situation to the interaction module and outputs a prompt.

[0076] In this embodiment of the invention, the main control module captures the error code output by the abnormal handling firmware, such as overload-1, and matches the corresponding abnormal situation according to the error code: the target vehicle is overloaded and affects normal driving. The main control module sends the abnormal situation to the interaction module for the user to view.

[0077] S450: The interaction module sends a third control signal to the underlying control module according to the user instruction, and the underlying control module executes the third preset function corresponding to the third control signal;

[0078] In this embodiment of the invention, when a user receives an error message from the interaction module, based on the received images and data of the working condition information and the abnormal situation, the user sets corresponding user instructions to promptly perform secondary processing on the abnormal situation. By prompting the user to promptly perform secondary processing on the abnormal situation, the system's effective management is strengthened, unnecessary waste is saved, and production efficiency is improved.

[0079] In another embodiment of the vehicle control method of the present invention, the method further includes the following step before step S100:

[0080] The interaction module outputs control commands to the underlying control module based on user instructions, and the underlying control module executes the preset function corresponding to the control commands.

[0081] In this embodiment of the invention, the user can directly issue control commands to the underlying control module according to the interaction module, so that the vehicle can be controlled in a timely manner to perform corresponding functions in certain specific situations.

[0082] In this embodiment of the invention, the interaction module obtains user commands by having the user send user commands online via a local area network using their own electronic device.

[0083] The vehicle control method in the embodiments of the present invention has been described above. The vehicle control system in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 5 One embodiment of the vehicle control system in this invention includes:

[0084] The receiving module 11 is used to receive real-time operating condition information of the vehicle;

[0085] The main control module 12 is used to receive configuration parameters configured by the interaction module according to user instructions and generate a first control signal, and is also used to receive vehicle operating condition information obtained by the receiving module and generate a second control signal.

[0086] The underlying control module 13 is used to receive the first control signal and the second control signal from the main control module and perform the corresponding first preset function and the second preset function.

[0087] The interaction module 14 is used to receive vehicle configuration parameters and feedback from operating conditions and abnormal situations.

[0088] Optionally, the main control module includes an H7 controller, which transmits data to the cloud via socket communication in the IPC protocol; wherein, the H7 controller is selected as an STM32H7 series microcontroller. The STM32H7 series is a dual-core MCU with a Cortex-M7 480MHz main frequency, which has powerful computing capabilities, is suitable for the harsh environment of industrial applications, and meets the application requirements of various displays.

[0089] Optionally, the receiving module includes a sensor and a monitoring unit, and data transmission between the receiving module and the main control module is carried out through CAN bus protocol, RS485 bus protocol, and RS232 bus protocol to ensure that different data types and reliability requirements used for multi-vehicle communication are met.

[0090] In this embodiment of the invention, the sensor is an infrared ranging sensor, which has the characteristics of low interference, easy assembly, and convenient use. It can receive infrared light reflected from obstacles in a timely manner and measure distance. The monitoring unit consists of a camera on the vehicle and monitoring firmware for various vehicle parameters, which can acquire images of the vehicle in operation and various parameters of the vehicle's driving conditions in real time.

[0091] above Figure 5 The vehicle control system in this embodiment of the invention will be described in detail from the perspective of modular functional entities. The vehicle control device in this embodiment of the invention will be described in detail from the perspective of hardware processing.

[0092] Figure 6 This is a schematic diagram of a vehicle control device provided in an embodiment of the present invention. The vehicle control device 20 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 21 (e.g., one or more processors) and a memory 22, and one or more storage media 23 (e.g., one or more mass storage devices) for storing application programs 231 or data RS232. The memory 22 and storage media 23 can be temporary or persistent storage. The program stored in the storage media 23 may include one or more modules (not shown in the diagram), each module including a series of instruction operations on the vehicle-mounted device 20. Furthermore, the processor 21 may be configured to communicate with the storage media 23 and execute the series of instruction operations stored in the storage media 23 on the vehicle control device 20.

[0093] The vehicle control device 20 may also include one or more power supplies 24, one or more wired or wireless network interfaces 25, one or more input / output interfaces 26, and / or one or more operating modules 231, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 6 The structure of the vehicle control device shown does not constitute a limitation on vehicle control devices. It may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0094] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the steps of the vehicle control method.

[0095] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the modules, devices, or units described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0096] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0097] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle control method, characterized in that, The vehicle control method is based on a vehicle control system, which includes a receiving module, a main control module, a low-level control module, and an interaction module. The vehicle control method includes: The main control module acquires the vehicle's configuration parameters and generates a first control signal; wherein, the step of the main control module acquiring the vehicle's configuration parameters and generating the first control signal includes: The interaction module configures the vehicle's first configuration parameters according to user instructions and sends the first configuration parameters to the main control module; The main control module determines whether the first configuration parameter matches the vehicle model information, which includes the vehicle's drive model and actuator model. If the vehicle model information is matched, the main control module generates a first control signal corresponding to the first configuration parameter; If the vehicle model information does not match, the main control module will send the vehicle model information to the cloud, and the cloud will generate a matching second configuration parameter and send it to the main control module. The main control module generates a first control signal corresponding to the second configuration parameter; The main control module sends the first control signal to the underlying control module, and the underlying control module executes the first preset function corresponding to the first control signal; When the underlying control module executes the first preset function, the receiving module obtains the vehicle's operating condition information and feeds the operating condition information back to the main control module and the interaction module; After receiving the operating condition information, the main control module detects whether there is any abnormal data in the operating condition information and determines whether there is any abnormality in the execution of the underlying control module. The detection steps include: the main control module detects the load data of the extension arm and the forward infrared reflection detection data contained in the operating condition information to determine whether there is any abnormal situation of cargo falling. When the underlying control module malfunctions, the main control module generates a second control signal based on the malfunction and feeds back the malfunction to the interaction module. The main control module sends the second control signal to the underlying control module, and the underlying control module executes the second preset function corresponding to the second control signal.

2. The vehicle control method according to claim 1, characterized in that, After receiving the operating condition information, the main control module checks whether there is abnormal data in the operating condition information, and the steps to determine whether the underlying control module is performing an abnormality include: The main control module checks whether there are error codes in the operating condition data; If an error code exists, the main control module outputs the matching abnormal situation based on the error code and feeds back the operating condition information and abnormal situation to the interaction module; If no error code is found, the main control module sends the execution log back to the interaction module.

3. The vehicle control method according to claim 2, characterized in that, After the step of the main control module outputting the matching abnormal situation based on the error code and feeding back the operating condition information and abnormal situation to the interaction module, the following is also included: The main control module sends the abnormal situation to the interaction module and outputs a prompt; The interaction module sends a third control signal to the underlying control module according to the user's instructions, and the underlying control module executes the third preset function corresponding to the third control signal.

4. The vehicle control method according to claim 1, characterized in that, Before the step of the main control module acquiring the first configuration parameter configured by the user and generating the first control signal, the following steps are also included: The interaction module outputs control commands to the underlying control module based on user instructions, and the underlying control module executes the preset function corresponding to the control commands.

5. A vehicle control system, characterized in that, The vehicle control system includes: The receiving module is used to receive real-time operating condition information of the vehicle. The main control module is used to receive configuration parameters configured by the interaction module according to user instructions and generate a first control signal. It is also used to receive vehicle operating condition information obtained by the receiving module and generate a second control signal. The underlying control module is used to receive the first control signal and the second control signal from the main control module and to complete the corresponding first preset function and the second preset function. The interaction module is used to receive vehicle configuration parameters and feedback from operating conditions and abnormal situations; The step of generating the first control signal includes: The interaction module configures the vehicle's first configuration parameters according to user instructions and sends the first configuration parameters to the main control module; The main control module determines whether the first configuration parameter matches the vehicle model information, which includes the vehicle's drive model and actuator model. If the vehicle model information is matched, the main control module generates a first control signal corresponding to the first configuration parameter; If the vehicle model information does not match, the main control module will send the vehicle model information to the cloud, and the cloud will generate a matching second configuration parameter and send it to the main control module. The main control module generates a first control signal corresponding to the second configuration parameter; The steps for generating the second control signal include: The load data of the extension arm and the infrared reflection detection data in front, which are included in the working condition information, are detected to determine whether there is an abnormal situation of cargo falling, thereby generating a second control signal.

6. The vehicle control system according to claim 5, characterized in that, The main control module includes an H7 controller, and the main control module transmits data with the cloud through socket communication in the IPC protocol.

7. The vehicle control system according to claim 5, characterized in that, The receiving module includes a sensor and a monitoring unit, and transmits data between the receiving module and the main control module through the CAN bus protocol, RS485 bus protocol and RS232 bus protocol.

8. A vehicle control device, characterized in that, The vehicle control device includes: a memory and at least one processor, wherein the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor invokes the instructions in the memory to cause the vehicle control device to perform the vehicle control method as described in any one of claims 1-4.

9. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle control method as described in any one of claims 1-4.

Images