A vehicle-mounted device control method, device, apparatus, and storage medium

Abstract

The application discloses a vehicle-mounted equipment control method, device, equipment and storage medium, and the method comprises the following steps: in response to a preset instruction, first state information for judging whether to enter an ice-breaking mode is acquired; wherein the first state information comprises a self-checking result of a target vehicle-mounted equipment, the target vehicle-mounted equipment has a first state of being hidden in a first position in a vehicle body and a second state of being exposed to a second position outside the vehicle body; whether the ice-breaking mode entering condition is met is judged according to the first state information; when the ice-breaking mode entering condition is met, the target vehicle-mounted equipment is controlled to be converted from the first state to the second state in a first preset driving mode; whether the target vehicle-mounted equipment reaches the second position is detected within a first preset time length; and if the target vehicle-mounted equipment does not reach the second position, first fault prompt information is output. The application is beneficial to improving the stability and robustness of a driving assistance system based on a hidden vehicle-mounted equipment during use.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, in particular to a vehicle-mounted device control method and device, equipment and storage medium. BACKGROUND

[0002] Using a vehicle-mounted laser radar can improve the perception ability of a high-level intelligent auxiliary driving system to the surrounding environment. The laser radar has the characteristics of large volume, high cost and easy damage of the mirror surface, so some manufacturers will use a hidden mechanism. In this way, in the closed state, the laser radar is hidden inside the vehicle body, and in the open state, the laser radar is unfolded through a mechanical group to reach the specified working position.

[0003] Figure 1 is a schematic diagram of the position of a laser radar hidden mechanism on a vehicle in the prior art, Figure 2 is a schematic diagram of the structure of a laser radar hidden mechanism in the prior art, please refer to Figure 1 and Figure 2 The laser radar hidden mechanism comprises a cover plate 10, a fixed support 20, a lifting structure 30, a cleaning structure 40, a pop-up structure 50, a laser radar 60 and a controller 70. The cover plate 10 is located on the wing panel 80 of the vehicle body and is matched in size with the opening on the wing panel 80. The fixed support 20, the lifting structure 30, the cleaning structure 40, the pop-up structure 50, the laser radar 60 and the controller 70 are all located inside the wing panel 80. The lifting structure 30 is arranged on the fixed support 20 and connected with the cover plate 10, and can drive the cover plate 10 to move up and down under the control of the controller 70. The laser radar 60 is arranged on the pop-up structure 50. The pop-up structure 50 is arranged on the fixed support 20 and can move outward relative to the fixed support 20 under the control of the controller 70, so as to push the laser radar 60 out of the inside of the wing panel 80. The cleaning structure 40 is arranged on the pop-up structure 50 together with the laser radar 60. The controller 70 is located above the laser radar 60 and connected with an automatic driving or high-level auxiliary driving domain controller through a first wire harness.

[0004] In cold regions, condensation may form near the cover plate, and frost / ice may fall at the junction of the cover plate 10 and the wing panel of the vehicle body or at the junction of the laser radar 60 and the support device 20. In severe cases, the cover plate movement mechanism may be stuck, and when the high-level auxiliary driving function needs to be unfolded, the laser radar may not be normally unfolded, thereby causing the high-level auxiliary driving system to fail, and in severe cases, the motor 30 / 50 may be damaged after overloading operation.

[0005] Figure 3 is a schematic diagram of the position of another laser radar hidden mechanism on a vehicle in the prior art, Figure 4is a structural schematic diagram of another laser radar hiding mechanism in the prior art, please refer to Figure 3 and Figure 4 The laser radar hiding mechanism is located at two places 10 in front and back of the vehicle roof, the laser radar 40, the lifting device 20 and the controller 50 are located between the outer shell 10 and the lower cover plate 60, the laser radar 40 is located above the lifting device 20, the lifting device 20 can be elongated or shortened under the control of the controller 50, driving the laser radar 40 to extend to the outside of the car or retract to the inside of the car, and the controller 50 is connected with the automatic driving domain controller or the advanced auxiliary driving domain controller through the first wire harness.

[0006] In cold regions, due to the formation of condensation of water vapor near the cover plate, the above-mentioned cover plate 11 and the roof of the vehicle body may be covered with frost / iced at the joint, which may cause the cover plate movement mechanism to be stuck, and when the advanced level auxiliary driving function needs to be expanded, the laser radar cannot be normally expanded, thereby causing the advanced level auxiliary driving system to fail, and in severe cases, the motor 21 may be damaged after overload operation.

[0007] Therefore, it is necessary to provide a solution for the phenomenon of icing of the hiding mechanism caused by low temperature environment to ensure that the hidden laser radar mechanism can meet the needs of advanced level auxiliary driving in low temperature. SUMMARY

[0008] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the first aspect of the present application proposes a vehicle-mounted equipment control method, comprising:

[0009] In response to a preset instruction, first state information for determining whether to enter an ice breaking mode is obtained; wherein the first state information includes a self-checking result of a target vehicle-mounted equipment, and the target vehicle-mounted equipment has a first state of being hidden in a first position inside the vehicle body and a second state of being exposed in a second position outside the vehicle body;

[0010] According to the first state information, it is determined whether the entering condition of the ice breaking mode is met;

[0011] When the entering condition of the ice breaking mode is met, the target vehicle-mounted equipment is controlled to be converted from the first state to the second state in a first preset driving mode;

[0012] The target vehicle-mounted equipment is detected whether it reaches the second position within a first preset time period;

[0013] If the second position is not reached, a first fault prompt information is output.

[0014] Further, after the target vehicle-mounted equipment is detected whether it reaches the second position within a first preset time period, it further comprises:

[0015] if the target vehicle-mounted device does not reach the second position, controlling the target vehicle-mounted device to switch from the first state to the second state in a second preset driving mode; wherein the second preset driving mode has greater driving force and / or driving frequency than the first preset driving mode;

[0016] detecting whether the target vehicle-mounted device reaches the second position within a second preset time period.

[0017] Further, the controlling the target vehicle-mounted device to switch from the first state to the second state in the first preset driving mode comprises:

[0018] controlling the motor of the target vehicle-mounted device to act in a first duty cycle parameter; wherein the motor is used to drive the target vehicle-mounted device to switch from the first state to the second state, and the first duty cycle parameter comprises a first duty cycle and / or a first duty cycle change rate.

[0019] Further, the controlling the target vehicle-mounted device to switch from the first state to the second state in the second preset driving mode comprises:

[0020] controlling the motor of the target vehicle-mounted device to act in a second duty cycle parameter; wherein the motor is used to drive the target vehicle-mounted device to switch from the first state to the second state, and the second duty cycle parameter comprises a second duty cycle and / or a second duty cycle change rate, the second duty cycle is greater than the first duty cycle, and the second duty cycle change rate is greater than the first duty cycle change rate.

[0021] Further, the judging whether the entering condition of the ice-breaking mode is met according to the first state information comprises:

[0022] judging whether the self-checking result of the target vehicle-mounted device is self-checking no fault;

[0023] when the self-checking result is self-checking no obstacle, switching to the step of controlling the target vehicle-mounted device to switch from the first state to the second state in the first preset driving mode;

[0024] when the self-checking result is self-checking obstacle, outputting a second fault prompt information.

[0025] Further, the first state information further comprises a first environmental temperature and a first environmental humidity corresponding to the current position of the vehicle, and a second environmental temperature and a second environmental humidity collected by a self-vehicle sensing device; after judging whether the self-checking result of the target vehicle-mounted device is self-checking no fault, the method further comprises:

[0026] when the self-checking result is self-checking without obstacles, calculating a temperature difference between the first ambient temperature and the second ambient temperature, and calculating a humidity difference between the first ambient humidity and the second ambient humidity;

[0027] determining whether the temperature difference and the humidity difference satisfy a first preset condition; wherein the first preset condition comprises that the temperature difference is within a first preset range and the humidity difference is within a second preset range;

[0028] when the first preset condition is satisfied, determining whether the second ambient temperature and the second ambient humidity satisfy a second preset condition; wherein the second preset condition comprises that the second ambient temperature is lower than a preset temperature threshold and the second ambient humidity is higher than a preset humidity threshold;

[0029] when the second preset condition is satisfied, turning to the step of controlling the target vehicle-mounted device to transition from the first state to the second state in a first preset driving mode.

[0030] Further, before the step of determining whether the entering condition of the ice-breaking mode is met according to the first state information, the method further comprises:

[0031] obtaining an interval duration between a time when the preset instruction is received and a time when the target vehicle-mounted device last arrived at the second position;

[0032] determining whether the interval duration is greater than a second preset duration;

[0033] if yes, turning to the step of determining whether the entering condition of the ice-breaking mode is met according to the first state information or turning to the step of obtaining the first state information for determining whether to enter the ice-breaking mode;

[0034] if no, ending the process.

[0035] The second aspect of the application provides a vehicle-mounted device control device, comprising:

[0036] a state obtaining module configured to obtain first state information for determining whether to enter an ice-breaking mode in response to a preset instruction; wherein the first state information comprises a self-checking result of a target vehicle-mounted device, and the target vehicle-mounted device has a first state hidden in a first position in a vehicle body and a second state exposed to a second position outside the vehicle body;

[0037] a first determining module configured to determine whether an entering condition of the ice-breaking mode is met according to the first state information; if yes, turning to a first ice-breaking module;

[0038] the first ice-breaking module is configured to control the target vehicle-mounted device to transition from the first state to the second state in a first preset driving mode.

[0039] a first position determining module, configured to detect whether the target vehicle-mounted device reaches the second position within a first preset time length; if the target vehicle-mounted device does not reach the second position, the steering information output module is turned on;

[0040] The information output module is configured to output fault prompt information.

[0041] A third aspect of the present application provides an electronic device, the electronic device comprising a processor and a memory, the memory storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by the processor to implement the vehicle-mounted device control method as proposed in the first aspect of the present application.

[0042] A fourth aspect of the present application provides a computer-readable storage medium, the storage medium storing at least one instruction or at least one program, the at least one instruction or the at least one program being loaded and executed by a processor to implement the vehicle-mounted device control method as proposed in the first aspect of the present application.

[0043] The embodiments of the present application have the following beneficial effects:

[0044] The vehicle-mounted device control method, device, equipment and storage medium provided by the embodiments of the present application are used for controlling a vehicle-mounted device with a hidden mechanism, specifically, when the driving mechanism is stuck, it is identified whether the current state has the condition to deploy the hidden vehicle-mounted device, and when the deployment condition is met, the ice is broken in real time and effectively, so that the hidden vehicle-mounted device can be normally deployed, the high-level auxiliary driving function is normally activated and started, and the potential damage risk of the driving mechanism is also avoided. Even if the ice cannot be broken successfully, it can also play a role in warning the driver in advance, avoiding the driver from discovering the function failure during the vehicle driving process, and improving the stability and robustness of the whole auxiliary driving system based on the hidden vehicle-mounted device during the use process.

[0045] Additional aspects and advantages of the present application will be described in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following description or will be learned from the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without any creative effort.

[0047] Figure 1 is a schematic diagram of the position of a laser radar hidden mechanism on a vehicle in the prior art;

[0048] Figure 2 is a structural schematic diagram of a laser radar hiding mechanism in the prior art;

[0049] Figure 3 is a position schematic diagram of another laser radar hiding mechanism in the prior art on a vehicle;

[0050] Figure 4 is a structural schematic diagram of another laser radar hiding mechanism in the prior art;

[0051] Figure 5 is a flow chart of a vehicle-mounted device control method provided by an embodiment of the present application;

[0052] Figure 6 is an interface schematic diagram of second fault prompt information provided by an embodiment of the present application;

[0053] Figure 7 is a flow chart of judging whether to enter an ice-breaking mode provided by an embodiment of the present application;

[0054] Figure 8 is a driving circuit schematic diagram of a hiding mechanism provided by an embodiment of the present application;

[0055] Figure 9 is an interface schematic diagram of first fault prompt information provided by an embodiment of the present application;

[0056] Figure 10 is a flow chart of another vehicle-mounted device control method provided by an embodiment of the present application;

[0057] Figure 11 is a flow chart of another judging whether to meet ice-breaking entering conditions provided by an embodiment of the present application;

[0058] Figure 12 is a structural block diagram of a vehicle-mounted device control apparatus provided by an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in connection with the drawings in the embodiments of the present application. Obviously, the described embodiments are some but not all of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application. The examples of the described embodiments are shown in the drawings, in which the same or similar reference signs represent the same or similar elements or elements with the same or similar functions throughout.

[0060] It should be noted that the terms "first", "second" and the like in the description and in the claims of the present application and the above-described accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular sequential or chronological order. It should be understood that the data thus used can be interchanged, where appropriate, so that the embodiments of the present application described herein can be implemented in other sequences than those illustrated or described herein. In addition, the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or server comprising a list of steps or units does not necessarily limit those steps or units to the clearly listed ones, but can include other steps or units not clearly listed or inherent to such processes, methods, products or devices.

[0061] Embodiments

[0062] Figure 5 is a flowchart of a vehicle-mounted device control method provided by an embodiment of the present application. The present specification provides method operation steps as described in the embodiments or flowcharts, but can include more or fewer operation steps based on conventional or non-inventive labor. The order of steps listed in the embodiments is only one of the many execution orders of the steps, and does not represent the only execution order. In actual system or server product execution, the method order shown in the embodiments or the accompanying drawings can be executed in sequence or in parallel (for example, in a parallel processor or multi-thread processing environment). Specifically as shown in Figure 5 The method can include the following steps:

[0063] S110: In response to a preset instruction, acquiring first state information for judging whether to enter an ice-breaking mode;

[0064] Specifically, the preset instruction includes a vehicle body control system wake-up signal or a driving assistance system wake-up signal, wherein the vehicle body control system wake-up signal or the driving assistance system wake-up signal can be a vehicle unlocking signal, a vehicle ignition signal, a driving assistance function activation signal, etc. The present embodiment is not limited thereto.

[0065] When the preset instruction is the vehicle unlocking signal, the central control module of the vehicle body control system can be awakened in response to the vehicle unlocking signal, and send a wake-up signal to the driving assistance system domain controller. The central control module controls the microcontroller (MCU) of the hidden mechanism of the target vehicle-mounted device to perform self-checking according to the received wake-up signal. The MCU specifically performs self-checking by controlling the motor to execute the unfolding process of the cover plate and the hidden mechanism. The self-checking result includes, but is not limited to, whether the communication, current, voltage, etc. of the MCU chip are normal.

[0066] It should be noted that the domain controller is a controller that integrates all functions of the same domain, such as the cockpit domain controller, which integrates all controllers of the driver's cabin.

[0067] Specifically, the first state information includes a self-checking result of the target vehicle-mounted device, the target vehicle-mounted device has a first state of being hidden in a first position inside a vehicle body and a second state of being exposed to a second position outside the vehicle body;

[0068] In some embodiments, after the MCU self-checking is problem-free, a shutdown process is performed to return the target vehicle-mounted device to the first state of being hidden in the first position inside the vehicle body.

[0069] In some embodiments, after the MCU self-checking is problem-free, the target vehicle-mounted device is kept unchanged in the second state of being exposed to the second position outside the vehicle body.

[0070] The laser radar is a sensor applied to an auxiliary driving system, and has more advantages in detection accuracy, range and stability, and can reach centimeter level. In the following, the embodiments of the present application are exemplarily described by taking the target vehicle-mounted device as a laser radar. It should be noted that the target vehicle-mounted device can be a laser radar, and can also be a movable mechanism of an automobile exterior trim, including but not limited to a windshield wiper, a variable tail wing, an active air intake grid, an electric folding rearview mirror, etc.

[0071] It should be noted that the target vehicle-mounted device also has a driving mechanism for driving the target vehicle-mounted device to switch between the first state and the second state. The embodiments of the present application are applicable to the situation that the driving mechanism is stuck in the initial position due to any reason, including but not limited to the situation that the driving mechanism is stuck in the initial position due to ice on the cover plate, ice on the moving mechanism, fallen leaves, and foreign matters such as sand.

[0072] S120: judging whether an entering condition of the ice-breaking mode is met according to the first state information; when the entering condition of the ice-breaking mode is met, proceeding to step S130;

[0073] In order to exclude the situation that the target vehicle-mounted device fails, in some embodiments, judging whether the entering condition of the ice-breaking mode is met according to the first state information includes:

[0074] judging whether the self-checking result of the target vehicle-mounted device is self-checking without failure; wherein the target vehicle-mounted device includes a hidden system of the target vehicle-mounted device, and the hidden system includes a driving mechanism for driving the target vehicle-mounted device to switch between the first state and the second state.

[0075] when the self-checking result is self-checking without obstacle, proceeding to the next step; that is, when the self-checking result is self-checking without obstacle, proceeding to step S130;

[0076] when the self-checking result is self-checking with obstacle, outputting second failure prompt information.

[0077] In this way, even if the ice breaking is not successful, the driver can be warned in advance, so as to avoid the driver discovering that the target vehicle-mounted device fails or the driving assistance function based on the target vehicle-mounted device fails during the driving of the vehicle.

[0078] The form of the second fault prompt information includes, but is not limited to, any one or a combination of multiple of voice, text, picture, animation, light, etc. For example, outputting the second fault prompt information can be to issue a fault reminder through a vehicle-mounted speaker / loudspeaker. For example, the first fault information prompt interface can be displayed on a central control screen, Figure 6 is a schematic diagram of the second fault prompt information interface provided by the embodiment of the present application, as shown in Figure 6 The first fault information prompt interface is provided with a message prompt box and a self-check information list. The message prompt box displays "self-check fault, please contact after-sales for consultation and solution". The self-check information list includes the communication, current and voltage detection results of the MCU chip.

[0079] In some embodiments, for the case that the driving mechanism is stuck at the initial position due to the icing of the cover plate and the motion mechanism, the environmental temperature and humidity information need to be combined to determine whether the entering condition of the ice breaking mode is met. Correspondingly, the first state information further includes the first environmental temperature and humidity corresponding to the current position of the vehicle, and the second environmental temperature and humidity collected by the self-vehicle sensing device.

[0080] Figure 7 is a flowchart for determining whether to enter the ice breaking mode, please refer to Figure 7 In some embodiments, determining whether the entering condition of the ice breaking mode is met according to the first state information includes:

[0081] S210: determining whether the self-check result of the target vehicle-mounted device is self-check no fault; when the self-check result is self-check no fault, turning to step S230; when the self-check result is self-check fault, turning to step S220;

[0082] S220: outputting the second fault prompt information;

[0083] S230: calculating the temperature difference between the first environmental temperature and the second environmental temperature, and calculating the humidity difference between the first environmental humidity and the second environmental humidity;

[0084] The first environmental temperature refers to the real-time atmospheric temperature obtained through the Internet, and the second environmental temperature refers to the outdoor temperature sensed by the vehicle temperature sensor in real time. The first environmental humidity refers to the real-time atmospheric humidity obtained through the Internet, and the second environmental humidity refers to the outdoor humidity sensed by the vehicle humidity sensor in real time.

[0085] S240: determining whether the temperature difference and the humidity difference meet a first preset condition; when the first preset condition is met, turning to step S250;

[0086] Steps S230 and S240 are performed to exclude the case of abnormality of the vehicle-mounted temperature and humidity sensing device. When the temperature difference and the humidity difference meet the first preset condition, the vehicle-mounted temperature and humidity sensing device is normal, and the next step is turned to; when the temperature difference and the humidity difference do not meet the first preset condition, the vehicle-mounted temperature and humidity sensing device is abnormal, and prompt information of abnormality of the vehicle-mounted temperature and humidity sensing device is output.

[0087] The first preset condition includes that the temperature difference is within a first preset range and the humidity difference is within a second preset range; the first preset range is within ±3 degrees, and the second preset range is within ±5%. For example, when the temperature difference is 2 degrees and the humidity difference is 3%, the temperature difference and the humidity difference meet the first preset condition; when the temperature difference is -4 degrees and the humidity difference is 3%, the temperature difference and the humidity difference do not meet the first preset condition. That is, when the temperature difference is within the first preset range and the humidity difference is within the second preset range, the temperature difference and the humidity difference meet the first preset condition; when either of the temperature difference and the humidity difference is not within the preset range, the temperature difference and the humidity difference do not meet the first preset condition.

[0088] S250: determining whether the second environment temperature and the second environment humidity meet a second preset condition; when the second preset condition is met, performing the next step, i.e., when the second preset condition is met, turning to step S130; when the second preset condition is not met, ending the process;

[0089] The second preset condition includes that the second environment temperature is lower than a preset temperature threshold and the second environment humidity is higher than a preset humidity threshold; the preset temperature threshold is less than or equal to -10 degrees, and the preset humidity threshold is greater than or equal to 60%. For example, the second preset condition is that the second environment temperature is lower than -10 degrees and the second environment humidity is higher than 60%; for example, the second preset condition is that the second environment temperature is lower than -12 degrees and the second environment humidity is higher than 65%.

[0090] S130: controlling the target vehicle-mounted device to convert from the first state to the second state in a first preset driving mode;

[0091] Controlling the target vehicle-mounted device to convert from the first state to the second state in the first preset driving mode is to attempt to drive the motion mechanism to break ice with small driving force and frequency, which specifically includes:

[0092] Controlling the motor of the target vehicle-mounted device to act in the first duty cycle parameter; the motor is used to drive the target vehicle-mounted device to convert from the first state to the second state, and the first duty cycle parameter includes a first duty cycle and / or a first duty cycle change rate. For example, Figure 8is the driving circuit schematic diagram of the hiding mechanism provided by the embodiment of the application, please refer to Figure 8 , the M is used for representing the motor (Motor, M), the hiding mechanism MCU drives the cover plate motor with a duty cycle signal of 100%, a duty cycle change rate of 200% / s, and reads the cover plate position in real time, if the cover plate can reach the maximum opening position, the ice breaking is successful, and the normal opening time of the cover plate is 500ms, if the cover plate cannot reach the opening position after 800ms, the ice breaking mode is entered.

[0093] S140: detecting whether the target vehicle-mounted device reaches the second position within a first preset time length; if the target vehicle-mounted device does not reach the second position, turning to step S150;

[0094] The first preset time length is determined according to the time required for the target vehicle-mounted device to normally deploy, for example, the normal deployment time of the laser radar is 500ms. In this way, when the ice breaking of the motor of the target vehicle-mounted device fails with a small driving force and frequency, the motor of the target vehicle-mounted device can be prevented from running for a long time.

[0095] S150: outputting first fault prompt information.

[0096] The forms of the first fault prompt information include, but are not limited to, any one or a combination of multiple of voice, text, picture, animation, light and the like.

[0097] The first fault information prompt interface can be displayed on the central control screen, Figure 9 is the interface schematic diagram of the first fault prompt information provided by the embodiment of the application, as Figure 9 shown, the first fault information prompt interface is provided with a message prompt box, and the message prompt box displays “XX device cannot break ice, please contact after-sales consultation for solution”. In this way, even if the ice breaking is not successful, the driver can be warned in advance, and the driver can be prevented from discovering that the target vehicle-mounted device fails or the driving assistance function based on the target vehicle-mounted device fails during the driving of the vehicle.

[0098] Figure 10 is a flowchart of another vehicle-mounted device control method provided by the embodiment of the application, please refer to Figure 10 In some embodiments, after detecting whether the target vehicle-mounted device reaches the second position within the first preset time length, the method further includes:

[0099] S160: if the target vehicle-mounted device does not reach the second position, controlling the target vehicle-mounted device to change from the first state to the second state in a second preset driving mode;

[0100] The motor protection device is set to two gears in the embodiment of the application, which correspond to the first preset driving mode and the second preset driving mode respectively, wherein the second preset driving mode has greater driving force and / or driving frequency than the first preset driving mode; in this way, when the ice breaking of the motion mechanism is failed by trying to drive the motion mechanism with smaller driving force and frequency, the ice breaking of the motion mechanism can be tried with greater driving force and frequency.

[0101] Specifically, the target vehicle-mounted device is controlled to be converted from the first state to the second state in the second preset driving mode, which includes:

[0102] The motor of the target vehicle-mounted device is controlled to act in the second duty cycle parameter; wherein the motor is used to drive the target vehicle-mounted device to be converted from the first state to the second state, the second duty cycle parameter includes a second duty cycle and / or a second duty cycle change rate, the second duty cycle is greater than the first duty cycle, and the second duty cycle change rate is greater than the first duty cycle change rate. For example, the MCU of the hidden mechanism drives the cover plate motor with a duty cycle signal of 100% of the rated value, the duty cycle change rate is 200% / s, the cover plate position is read in real time, if the cover plate can reach the maximum opening position, the ice breaking is successful, and the normal opening time of the cover plate is 500 ms, if the cover plate cannot reach the opening position after 1200 ms, the ice breaking mode is entered.

[0103] Specifically, the second preset time length is determined according to the second duty cycle change rate and the normal opening time of the cover plate, and the second preset time length is set to avoid the overloading and damage of the cover plate motor or the unfolding motor due to long-time overloading operation, and thus the corresponding function is invalid.

[0104] S170: whether the target vehicle-mounted device reaches the second position is detected within the second preset time length.

[0105] When the target vehicle-mounted device does not reach the second position within the second preset time length, the ice breaking is failed, and the first fault prompt information is output, which has been described above and will not be repeated here; when the target vehicle-mounted device reaches the second position within the second preset time length, the ice breaking is successful, and the current process is ended.

[0106] In some embodiments, the preset instruction is a vehicle unlocking signal, and in the scene where the vehicle supports automatic unlocking, the vehicle is automatically unlocked when the driver approaches the vehicle, so that the driver walking back and forth near the vehicle will frequently trigger the ice breaking, causing poor experience. Since water vapor condensation to ice also needs time, a judgment logic of judging whether to enter the ice breaking mode according to the interval time length can be added to avoid the driver walking back and forth frequently triggering the ice breaking process.

[0107] Figure 11 is another flowchart for judging whether the ice breaking entering condition is met provided by the embodiment of the application, please refer to Figure 11In some embodiments, before determining whether the entering condition of the ice-breaking mode is met according to the first state information, the following steps are included:

[0108] S310: obtaining an interval duration between a time when the preset instruction is received and a time when the target vehicle-mounted device last arrived at the second position;

[0109] S320: determining whether the interval duration is greater than a second preset duration; if yes, performing the next step S120; if no, ending the flow.

[0110] Specifically, the second preset duration can be set according to actual needs, for example, the value range of the second preset duration can be greater than 3 hours and less than 6 hours, and the value of the second preset duration can be 3 hours, 6 hours or 5 hours, etc., which is not limited by the embodiments of the present application.

[0111] Specifically, the next step can be a step of determining whether the entering condition of the ice-breaking mode is met according to the first state information, or a step of obtaining the first state information for determining whether the ice-breaking mode is entered.

[0112] It should be noted that the present application is not limited by the described action sequence, because according to the present application, some steps can be performed in other sequences or simultaneously.

[0113] Figure 12 is a structural block diagram of a vehicle-mounted device control device provided by the embodiments of the present application, please refer to Figure 12 The vehicle-mounted device control device provided by the embodiments of the present application can include the following modules:

[0114] The state acquisition module 410 is configured to obtain first state information for determining whether to enter the ice-breaking mode in response to a preset instruction; wherein the first state information includes a self-checking result of the target vehicle-mounted device, and the target vehicle-mounted device has a first state hidden in a first position of the vehicle body and a second state exposed to a second position outside the vehicle body;

[0115] The first determination module 420 is configured to determine whether the entering condition of the ice-breaking mode is met according to the first state information; if yes, turn to the first ice-breaking module;

[0116] The first ice-breaking module 430 is configured to control the target vehicle-mounted device to convert from the first state to the second state in a first preset driving mode;

[0117] The first position determination module 440 is configured to detect whether the target vehicle-mounted device arrives at the second position within a first preset duration; if not, turn to the information output module;

[0118] The information output module 450 is configured to output a fault prompt information.

[0119] In the above embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0120] Embodiments of the present application also provide a vehicle comprising the vehicle-mounted device control apparatus described in the above device embodiments.

[0121] It should be noted that the vehicle of the present application can be a truck, a sport utility vehicle, a van, a recreational vehicle or any other type of vehicle without departing from the scope of the present disclosure.

[0122] Embodiments of the present application also provide an electronic device comprising a processor and a memory, wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted device control method according to the first aspect of the present application.

[0123] Embodiments of the present application also provide a computer-readable storage medium, wherein the storage medium stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the vehicle-mounted device control method according to the first aspect of the present application.

[0124] Optionally, in the present embodiment, the storage medium can be located in at least one of the network servers of a computer network. Optionally, in the present embodiment, the storage medium can include, but is not limited to, a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0125] As can be seen from the above embodiments of the vehicle-mounted device control method, device, electronic device or storage medium provided by the present application, the embodiments of the present application are used to control a vehicle-mounted device with a hidden mechanism, specifically to identify whether the current state has the condition to deploy the hidden vehicle-mounted device when the driving mechanism is stuck, to effectively break the ice in real time when the deployment condition is met, to ensure that the hidden vehicle-mounted device can be normally deployed, to ensure that the high-level auxiliary driving function is normally activated and started, and to avoid the potential damage risk of the driving mechanism. Even if the ice cannot be broken successfully, it can also play a role in warning the driver in advance, avoiding the driver from discovering the function failure during the vehicle driving process, and improving the stability and robustness of the entire auxiliary driving system based on the hidden vehicle-mounted device during use.

[0126] It should be noted that the above-mentioned embodiments of the present application are merely intended to describe the present application and are not intended to limit the present application. The above-mentioned embodiments of the present application are described in a progressive manner, and the same or similar parts among the embodiments can be mutually referred to. Each embodiment focuses on the difference from other embodiments. In particular, the device embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments.

[0127] The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments can be mutually referred to. Each embodiment focuses on the difference from other embodiments. In particular, the device embodiments are described simply because they are basically similar to the method embodiments, and the relevant parts can be referred to the description of the method embodiments.

[0128] A person of ordinary skill in the art can understand that all or part of the above-mentioned embodiments can be completed by hardware, or a program instructing relevant hardware, and the program can be stored in a computer readable storage medium, such as a read-only memory, a magnetic disk or an optical disk.

[0129] The above-mentioned embodiments are merely preferred embodiments of the present application, and are not intended to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle-mounted device control method characterized by comprising: The target vehicle-mounted device comprises a hiding system; the hiding system comprises a driving mechanism for driving the target vehicle-mounted device to switch between a first state and a second state; The first state is a state of being hidden in a vehicle body, and the second state is a state of being exposed outside the vehicle body; the method comprises: In response to a preset instruction, obtaining first state information for judging whether to enter an ice-breaking mode, and judging whether the ice-breaking mode entering condition is met according to the first state information; the first state information comprises a self-checking result of the target vehicle-mounted device, a first environmental temperature and a first environmental humidity corresponding to a current position of the vehicle, a second environmental temperature and a second environmental humidity collected by a self-vehicle sensing device; When the self-checking result is a self-checking obstacle, outputting second fault prompt information; When the self-checking result is a self-checking non-obstacle, calculating a temperature difference between the first environmental temperature and the second environmental temperature, and a humidity difference between the first environmental humidity and the second environmental humidity; When the temperature difference and the humidity difference meet a first preset condition, judging whether the second environmental temperature and the second environmental humidity meet a second preset condition; the first preset condition comprises that the temperature difference is within a first preset range, and the humidity difference is within a second preset range; the second preset condition comprises that the second environmental temperature is lower than a preset temperature threshold, and the second environmental humidity is higher than a preset humidity threshold; When the second preset condition is met, controlling the target vehicle-mounted device to switch from the first state to the second state in a first preset driving mode; Detecting whether the target vehicle-mounted device reaches a second position within a first preset time length; If the second position is not reached, outputting first fault prompt information and controlling the target vehicle-mounted device to switch from the first state to the second state in a second preset driving mode; the duty cycle parameter of the second preset driving mode is greater than that of the first preset driving mode.

2. The method of claim 1, wherein, After detecting whether the target vehicle-mounted device reaches the second position within the first preset time length, the method further comprises: If the second position is not reached, controlling the target vehicle-mounted device to switch from the first state to the second state in a second preset driving mode; compared with the first preset driving mode, the second preset driving mode has greater driving force and / or driving frequency; Detecting whether the target vehicle-mounted device reaches the second position within a second preset time length.

3. The method of claim 2, wherein, Controlling the target vehicle-mounted device to switch from the first state to the second state in a first preset driving mode comprises: Controlling a motor of the target vehicle-mounted device to act with a first duty cycle parameter; the motor is used to drive the target vehicle-mounted device to switch from the first state to the second state, and the first duty cycle parameter comprises a first duty cycle and / or a first duty cycle change rate.

4. The method of claim 3, wherein, Controlling the target vehicle-mounted device to switch from the first state to the second state in a second preset driving mode comprises: Control a motor of the target vehicle-mounted device according to a second duty cycle parameter, wherein the motor is used to drive the target vehicle-mounted device to switch from the first state to the second state, the second duty cycle parameter comprises a second duty cycle and / or a second duty cycle change rate, the second duty cycle is greater than the first duty cycle, and the second duty cycle change rate is greater than the first duty cycle change rate.

5. The method of claim 1, wherein, Before the step of determining whether the first state information meets the entering condition of the ice-breaking mode, the method further comprises: obtaining an interval duration between a time when the preset instruction is received and a time when the target vehicle-mounted device last arrived at the second position; determining whether the interval duration is greater than a second preset duration; if yes, proceeding to the step of determining whether the first state information meets the entering condition of the ice-breaking mode or proceeding to the step of obtaining the first state information for determining whether to enter the ice-breaking mode; if no, ending the process.

6. An in-vehicle equipment control device characterized by comprising: The method further comprises: a state obtaining module configured to, in response to a preset instruction, obtain first state information for determining whether to enter an ice-breaking mode, and determine whether the first state information meets an entering condition of the ice-breaking mode; the first state information comprises a self-checking result of a target vehicle-mounted device, a first ambient temperature and a first ambient humidity corresponding to a current position of the vehicle, a second ambient temperature and a second ambient humidity collected by a self-sensing device of the vehicle; a first determining module configured to, when the self-checking result is a self-checking obstacle, output a second fault prompt information; a first ice-breaking module configured to, when the self-checking result is a self-checking non-obstacle, calculate a temperature difference between the first ambient temperature and the second ambient temperature, and a humidity difference between the first ambient humidity and the second ambient humidity; when the temperature difference and the humidity difference meet a first preset condition, determine whether the second ambient temperature and the second ambient humidity meet a second preset condition; the first preset condition comprises that the temperature difference is within a first preset range and the humidity difference is within a second preset range; the second preset condition comprises that the second ambient temperature is lower than a preset temperature threshold and the second ambient humidity is higher than a preset humidity threshold; when the second preset condition is met, control the target vehicle-mounted device to switch from the first state to the second state in a first preset driving mode; a first position determining module configured to detect whether the target vehicle-mounted device arrives at a second position within a first preset duration; an information output module configured to, when the target vehicle-mounted device does not arrive at the second position, output a first fault prompt information; when the self-checking result is a self-checking obstacle, output a second fault prompt information and control the target vehicle-mounted device to switch from the first state to the second state in a second preset driving mode; a duty cycle parameter of the second preset driving mode is greater than a duty cycle parameter of the first preset driving mode.

7. An electronic device, comprising: The electronic device comprises a processor and a memory, the memory stores at least one instruction or at least one program, the at least one instruction or the at least one program is loaded and executed by the processor to implement the vehicle-mounted device control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The storage medium stores at least one instruction or at least one program, which is loaded and executed by the processor to implement the vehicle-mounted device control method according to any one of claims 1 to 5.

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