Lift-by-wire method for vehicle

Abstract

The invention relates to the technical field of vehicle control, and provides a drive-by-wire lifting method of a vehicle, which is applied to a vehicle control unit, and comprises the following steps: controlling the vehicle to carry out drive-by-wire lifting on a container based on gradient information of the vehicle and an azimuth angle of the vehicle, and continuously carrying out fault detection on each step in the drive-by-wire lifting process to obtain a first detection result; under the condition that the lifting fault occurs in the first detection result, a lifting safety strategy corresponding to the lifting fault is determined based on the fault diagnosis table, and the lifting safety strategy is executed; and under the condition that the first detection result does not have the lifting fault, the container is controlled to be lifted to the first target angle from the current angle. According to the method, the defect that the execution efficiency and the safety of drive-by-wire lifting are affected due to the fact that faults occurring in the drive-by-wire lifting process are not considered is overcome, fault detection is carried out on the whole process of vehicle drive-by-wire lifting, safety strategies corresponding to the faults are executed under the condition that the faults occur, and the safety and the execution efficiency of drive-by-wire lifting are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and in particular to a vehicle wire-controlled lifting method. Background Art

[0002] With the continuous advancement of sensor technology, algorithms and software, hardware platforms, regulatory standards, and commercialization processes, autonomous driving technology achieves wire-controlled lifting of the cargo box by interacting with the vehicle's intelligent driving controller.

[0003] However, the existing cargo box wire-controlled lifting solution only considers the interaction with the intelligent driving controller to realize the cargo box lifting function, but does not consider the faults that may occur during the wire-controlled lifting process. As a result, when a fault occurs during the wire-controlled lifting process, it is impossible to safely handle it, affecting the execution efficiency and safety of the wire-controlled lifting. Summary of the invention

[0004] The present invention provides a method for wire-controlled lifting of a vehicle, which is used to solve the defect that the faults occurring during the wire-controlled lifting process are not taken into consideration in the prior art, which affects the execution efficiency and safety of the wire-controlled lifting. The method realizes fault detection in the whole process of the wire-controlled lifting of the vehicle, and in the event of a fault, executes a safety strategy corresponding to the fault, thereby ensuring the safety and execution efficiency of the wire-controlled lifting.

[0005] The present invention provides a vehicle wire-controlled lifting method, which is applied to a vehicle control unit, comprising: Based on the slope information of the vehicle and the azimuth angle of the vehicle, the vehicle is controlled to perform wire-controlled lifting of the cargo box, and fault detection is continuously performed on each step of the wire-controlled lifting process to obtain a first detection result; In the case where a lifting fault occurs in the first detection result, a lifting safety strategy corresponding to the lifting fault is determined based on a fault diagnosis table, and the lifting safety strategy is executed; the fault diagnosis table is used to characterize the corresponding relationship between the fault and the safety strategy; When no lifting failure is found in the first detection result, the cargo box is controlled to be lifted from the current angle to the first target angle; the first target angle is sent by the vehicle's intelligent driving controller.

[0006] According to a vehicle control-by-wire lifting method provided by the present invention, before controlling the vehicle to perform control-by-wire lifting of a cargo box based on the vehicle's slope information and the vehicle's azimuth angle, the method also includes: when the vehicle meets the control-by-wire lifting conditions, determining a first target angle of the cargo box in the control-by-wire lifting request sent by the vehicle's intelligent driving controller; determining the current angle of the cargo box; and when the first target angle is greater than the current angle, determining the vehicle's slope information and the vehicle's azimuth angle.

[0007] According to a vehicle wire-controlled lifting method provided by the present invention, the method also includes: obtaining the current vehicle speed and the current tarpaulin state of the vehicle; when the current tarpaulin state is the unfolded state, based on the tarpaulin folding request sent by the intelligent driving controller, sending a tarpaulin folding request to the vehicle's roof controller, and requesting the vehicle's motor to enter a speed mode, setting the motor speed to a first speed, and requesting the vehicle's gearbox to enter a power take-off gear; when the motor enters the speed mode, the motor speed is the first speed and the gearbox enters the power take-off gear, controlling the tarpaulin to be folded through the vehicle's roof controller; based on the vehicle's tarpaulin The tarpaulin folding status information fed back by the tarpaulin in place sensor is used to determine that the current tarpaulin status is a folded status. The tarpaulin folding status information is sent by the tarpaulin in place sensor when the tarpaulin folding time is less than or equal to the preset folding time. When the current vehicle speed meets the preset speed condition and the current tarpaulin status of the vehicle is a folded status, it is determined that the vehicle meets the wire-controlled lifting condition. When the tarpaulin folding time is greater than the preset folding time, it is determined that the vehicle has a tarpaulin opening abnormal fault. Based on the fault diagnosis table, the first safety strategy corresponding to the tarpaulin opening abnormal fault is determined, and the first safety strategy is executed.

[0008] According to a vehicle-by-wire lifting method provided by the present invention, based on the slope information of the vehicle and the azimuth angle of the vehicle, the vehicle is controlled to perform a wire-controlled lifting of the cargo box, including: when the slope information and the azimuth angle both meet their respective corresponding preset conditions, demand information corresponding to the wire-controlled lifting request is sent to the vehicle's transmission control unit, the demand information including: a requirement for the vehicle's motor to enter a speed mode, a requirement for the vehicle's transmission to enter a power take-off gear, a requirement for a given motor second speed, and a requirement for opening the vehicle's lifting valve; when the transmission control unit controls the motor to enter a speed mode, the transmission to enter a power take-off gear, the motor to enter a second speed and the lifting valve to be opened, the vehicle is controlled to perform a wire-controlled lifting of the cargo box.

[0009] According to a vehicle control-by-wire lifting method provided by the present invention, fault detection is continuously performed on each step in the control-by-wire lifting process to obtain a first detection result, including: when it is detected that the slope information and / or the azimuth angle do not satisfy their respective corresponding preset conditions, determining that the first detection result is a vehicle posture abnormality fault; when it is detected that the current angle of the cargo box does not reach the first target angle within the preset lifting time and the lifting stop mode sent by the intelligent driving controller is not received, determining that the first detection result is a vehicle lifting timeout fault.

[0010] According to a vehicle wire-controlled lifting method provided by the present invention, the current angle of the cargo box is determined, including: respectively acquiring a first pitch angle of the cargo box, a first roll angle of the cargo box, a second pitch angle of the vehicle frame, and a second roll angle of the frame through a dual-axis sensor of the vehicle; determining a comprehensive angle of the cargo box based on the first angle and the second angle; determining the current angle of the cargo box based on the comprehensive angle, the second pitch angle, and the second roll angle.

[0011] According to a vehicle wire-controlled lifting method provided by the present invention, the slope information of the vehicle and the azimuth angle of the vehicle are determined, including: determining the slope information of the vehicle based on a second pitch angle, a second roll angle and the gravitational acceleration of the vehicle; determining the azimuth angle of the vehicle based on the ratio between the second pitch angle and the second roll angle.

[0012] According to a vehicle wire-controlled lifting method provided by the present invention, after controlling the vehicle to perform wire-controlled lifting of the cargo box based on the vehicle's slope information and the vehicle's azimuth angle, the method also includes: sending a stop request to the vehicle's transmission control unit when the current angle of the cargo box reaches the first target angle within a preset lifting time or receives a lifting stop mode sent by the intelligent driving controller; the stop request includes: a request for the vehicle's transmission to exit the power take-off gear, a request for the vehicle's motor to enter the torque mode, a request to disconnect the vehicle's lifting valve, and a request to set the speed of the motor to zero; when the transmission controls the transmission to exit the power take-off gear, the motor to enter the torque mode, the vehicle's lifting valve is disconnected, and the speed of the motor is zero, the lifting operation is stopped.

[0013] According to a vehicle wire-controlled lifting method provided by the present invention, after stopping the lifting operation, the method also includes: when the current angle of the cargo box is the first target angle, feeding back to the intelligent driving controller that the cargo box is lifted to the first target angle; detecting whether the difference between the current angle of the cargo box and the angle of the cargo box at the previous moment satisfies a preset difference; when the difference satisfies the preset difference, determining that the vehicle has an abnormal cargo box stop fault; based on the fault diagnosis table, determining a second safety strategy corresponding to the abnormal cargo box stop fault, and executing the second safety strategy; when the difference does not meet the preset difference, judging whether the cargo box of the vehicle needs to be lowered; when the cargo box does not need to be lowered, judging whether the vehicle is in gear for driving; when the vehicle is in gear for driving, determining that the vehicle has a cargo box not lowered fault; based on the fault diagnosis table, determining a third safety strategy corresponding to the cargo box not lowered fault, and executing the third safety strategy.

[0014] According to a vehicle wire-controlled lifting method provided by the present invention, the method also includes: when the cargo box needs to fall back, judging whether the cargo box meets the falling back conditions based on the second target angle in the falling back request sent by the intelligent driving controller and the current angle of the cargo box; when the cargo box meets the falling back conditions, controlling the vehicle to perform a falling back operation on the cargo box, and performing fault detection on each step in the falling back process to obtain a second detection result; when a falling back failure occurs in the second detection result, determining the falling back safety strategy corresponding to the falling back failure based on the fault diagnosis table, and executing the falling back safety strategy; when no fault occurs in the second detection result, controlling the cargo box to fall back to the second target angle; when the cargo box falls back to the second target angle, controlling the tarpaulin of the vehicle to unfold, and performing a fault check on the tarpaulin unfolding process to obtain a third detection result; when a tarpaulin unfolding failure occurs in the third detection result, determining the fourth safety strategy corresponding to the tarpaulin unfolding failure based on the fault diagnosis table, and executing the fourth safety strategy; when no tarpaulin failure occurs in the third detection result, fully unfolding the tarpaulin.

[0015] The present invention also provides a vehicle wire-controlled lifting device, comprising the following modules: A detection module, for controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, and continuously performing fault detection on each step in the process of wire-controlled lifting to obtain a first detection result; A first determination module is used to determine a lifting safety strategy corresponding to the lifting fault based on a fault diagnosis table and execute the lifting safety strategy when a lifting fault occurs in the first detection result; the fault diagnosis table is used to characterize the corresponding relationship between the fault and the safety strategy; The control module is used to control the cargo box to lift from the current angle to the first target angle when no lifting failure occurs in the first detection result; the first target angle is sent by the vehicle's intelligent driving controller.

[0016] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a method for lifting a vehicle by wire as described in any one of the above-described methods is implemented.

[0017] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for lifting a vehicle by wire as described in any one of the above is implemented.

[0018] The present invention also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the method for lifting a vehicle by wire as described in any one of the above is implemented.

[0019] The vehicle wire-controlled lifting method provided by the present invention is applied to a vehicle control unit, and controls the vehicle to perform wire-controlled lifting of a cargo box according to the slope information of the vehicle and the azimuth angle of the vehicle. During the wire-controlled lifting process, fault detection is continuously performed on each step of the wire-controlled lifting process to obtain a first detection structure. When there is no lifting fault in the first detection result, the cargo box is controlled to be lifted from the current angle to the first target angle; when there is a lifting fault in the first detection result, the lifting safety strategy corresponding to the lifting fault is determined according to the fault diagnosis table, and the lifting safety strategy is executed. In this way, the slope information of the vehicle and the azimuth angle of the vehicle are taken into account during the wire-controlled lifting process, so as to prevent the vehicle from tilting or rolling over during the lifting process. At the same time, real-time fault detection is performed on each step during the wire-controlled lifting process, and safety processing can be performed in time when a fault occurs, thereby ensuring the safety and efficiency of the wire-controlled lifting. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 This is one of the flow charts of the vehicle wire-controlled lifting method provided by the present invention.

[0022] Figure 2 It is a schematic diagram of the current angle calculation of the cargo box provided by the present invention.

[0023] Figure 3A The present invention provides a schematic diagram of the vehicle azimuth calculation Figure 1 .

[0024] Figure 3B The present invention provides a schematic diagram of the vehicle azimuth calculation Figure 2

[0025] Figure 4 This is the second flow chart of the wire-controlled lifting method provided by the present invention

[0026] Figure 5 It is a schematic diagram of the flow of the wire-controlled fallback method provided by the present invention.

[0027] Figure 6 It is a schematic structural diagram of a wire-controlled lifting device for a vehicle provided by the present invention.

[0028] Figure 7 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Traditional dump truck cargo boxes generally use manually operated pneumatic handles to control the lifting and lowering, relying on the driver's vision and experience to judge whether the cargo box is in place; with the continuous advancement of sensor technology, algorithms and software, hardware platforms, regulatory standards and commercialization processes, autonomous driving technology will gradually mature and be widely used.

[0031] In the related art, the method of the dump truck wire-controlled cargo box lifting control system mainly includes: after the main vehicle controller receives the request signal from the host computer, it outputs an electrical signal to control the electromagnetic reversing valve, and controls the lifting valve through the electromagnetic reversing valve to achieve lifting, falling and hovering; the main vehicle controller obtains the cargo box's arrival information and the angle detection module through the gas-electric converter to determine the cargo box's posture; the main vehicle controller calculates the cargo box's action time and controls the size of the cargo box's action time to ensure the safety of the cargo box. This method realizes the lifting / falling of the cargo box through the control request of the intelligent driving controller, meeting the requirements of unmanned driving cargo box control.

[0032] However, the above method does not consider the faults that may occur during the wire-controlled lifting process, resulting in the inability to safely handle the faults during the wire-controlled lifting process, affecting the efficiency and safety of the wire-controlled lifting. In addition, the above method does not involve the tarpaulin control and lacks a safety redundancy solution.

[0033] Combine the following Figure 1-Figure 5 The vehicle-by-wire lifting method of the present invention is described. The vehicle-by-wire lifting method provided by the present invention can be applicable to any vehicle model. The execution subject of the method can be an electronic device or a vehicle-by-wire lifting device arranged in the electronic device. The vehicle-by-wire lifting device can be implemented by software, hardware or a combination of the two.

[0034] It should be noted that the vehicle wire-controlled lifting method provided by the present invention can be compatible with both unmanned driving mode and manual mode. Different driving modes correspond to different control logics. The vehicle control unit determines the current driving mode of the vehicle based on the information obtained and selects to enter the control logic corresponding to the current driving mode.

[0035] Figure 1 It is one of the flow charts of the vehicle wire lifting method provided by the present invention, which is applied to the vehicle control unit, such as Figure 1 As shown, the method includes the following: Step 101: Based on the slope information of the vehicle and the azimuth angle of the vehicle, control the vehicle to perform wire-controlled lifting of the cargo box, and continuously perform fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result.

[0036] Here, the slope information of the vehicle can be understood as the angle between the vehicle and the slope when the vehicle is parked on the slope, and the azimuth of the vehicle can be understood as the angle between the central axis of the vehicle and the north direction. Among them, the slope information of the vehicle and the azimuth of the vehicle can be regarded as the vehicle posture.

[0037] Here, the method for determining the slope information and the azimuth angle may be any appropriate method, such as directly collecting the slope information and the azimuth angle using an angle sensor; for example, calculating the slope information and the azimuth angle using an angle formula.

[0038] Here, lift-by-wire can increase the current angle of the cargo box.

[0039] It should be noted that the wire-controlled lifting process includes multiple steps. For example, determining whether the vehicle posture meets the conditions for wire-controlled lifting, whether the lifting angle of the cargo box reaches the maximum limit, etc. A test is required after each step to determine whether the vehicle and the cargo box meet the requirements for wire-controlled lifting at the current moment.

[0040] Here, the first detection result may be a result including a fault, or may not include a result including a fault. A result including a fault indicates that a fault occurs during the lifting process, and a result not including a fault indicates that the lifting process is normal.

[0041] Step 102: When a lifting fault occurs in the first detection result, a lifting safety strategy corresponding to the lifting fault is determined based on a fault diagnosis table, and the lifting safety strategy is executed; the fault diagnosis table is used to characterize the correspondence between the fault and the safety strategy.

[0042] Here, the fault diagnosis table may be pre-set by a staff member based on experience or experimental results, and the pre-set fault diagnosis table may be stored in a memory in the vehicle.

[0043] Here, the lifting failure refers to a failure that may occur during the lifting process of the cargo box, wherein the lifting failure may include one failure or multiple failures.

[0044] It should be noted that, in addition to lifting faults, the fault diagnosis table may also include falling back (i.e. resetting) faults, stopping faults, vehicle tarpaulin faults, level faults, communication faults, etc. The fault diagnosis table may include faults in manual mode and / or faults in automatic mode.

[0045] Exemplarily, Table 1 is a fault diagnosis table provided by the present invention.

[0046] Each fault type in Table 1 has a corresponding fault code and a corresponding safety strategy. When a vehicle fault occurs, the corresponding safety strategy is executed to ensure the safety of the vehicle and the operability of the wire-controlled lifting. Different faults in the fault diagnosis table can correspond to the same safety strategy. For example, the safety strategy corresponding to the three faults in Table 1, namely, abnormal lifting fault in automatic mode, abnormal stopping fault in automatic mode and abnormal descending fault in automatic mode, is to exit the power take-off gear.

[0047] In another embodiment of the present invention, each fault has a corresponding fault code. When a fault occurs, the corresponding fault code can be displayed on the dashboard of the vehicle to remind the staff that a fault has occurred when the vehicle controls the lifting of the cargo box, making it easier for the staff to troubleshoot or resolve the fault.

[0048] Step 103: When the lifting failure does not occur in the first detection result, control the cargo box to be lifted from the current angle to a first target angle; the first target angle is sent by the intelligent driving controller of the vehicle.

[0049] In an embodiment of the present invention, the vehicle is controlled to perform wire-controlled lifting of the cargo box according to the slope information of the vehicle and the azimuth angle of the vehicle. During the wire-controlled lifting process, each step in the wire-controlled lifting process is continuously detected for faults to obtain a first detection structure. When there is no lifting fault in the first detection result, the cargo box is controlled to be lifted from the current angle to the first target angle. When there is a lifting fault in the first detection result, the lifting safety strategy corresponding to the lifting fault is determined according to the fault diagnosis table, and the lifting safety strategy is executed. In this way, the slope information of the vehicle and the azimuth angle of the vehicle are taken into account during the wire-controlled lifting process to prevent the vehicle from tilting or rolling over during the lifting process. At the same time, real-time fault checks are performed on each step in the wire-controlled lifting process, and safety processing can be carried out in a timely manner when a fault occurs, thereby ensuring the safety and efficiency of the wire-controlled lifting.

[0050] Further, before controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, the method further includes: When the vehicle satisfies a lift-by-wire condition, determining a first target angle of the cargo box in a lift-by-wire request sent by an intelligent driving controller of the vehicle; determining a current angle of the cargo box; In a case where the first target angle is greater than the current angle, the slope information of the vehicle and the azimuth angle of the vehicle are determined.

[0051] Here, the wire control lifting request can be understood as a cargo box lifting operation request, and the first target angle can be understood as a cargo box angle request. The cargo box lifting operation request and the cargo box angle request can be obtained through the CAN network or the IO port.

[0052] It should be noted that when the vehicle is to be lifted by wire, the vehicle's intelligent driving controller sends a lift-by-wire request and a first target angle to the vehicle control unit. However, only after the vehicle meets the conditions for lifting by wire, the vehicle control unit will execute the lift request sent by the intelligent driving controller and determine the first target angle sent by the intelligent driving controller.

[0053] Here, the vehicle meeting the wire-controlled lift conditions may include the vehicle speed meeting a preset speed condition, the vehicle tarpaulin state meeting a preset tarpaulin condition, the vehicle posture meeting a preset vehicle posture condition, etc.

[0054] Here, the current angle of the cargo box can be acquired through an angle sensor; it can also be calculated based on vehicle information and cargo box information; it can also be obtained in other ways, and the present invention is not limited to this.

[0055] It should be noted that the lifting mode request sent by the intelligent driving controller corresponds to the first target angle, wherein the first target angle must be greater than the current angle of the cargo box before the cargo box can be lifted; similarly, the falling mode request sent by the intelligent driving controller also corresponds to the target angle, wherein the current angle of the cargo box must be greater than the target angle before the cargo box can be lowered.

[0056] Specifically, when the vehicle meets the conditions for wire-controlled lifting, the vehicle control unit determines the first target angle of the cargo box sent by the intelligent driving controller. When the first target angle of the cargo box is greater than the current angle of the cargo box, the vehicle slope information and the vehicle azimuth are determined. Then, the vehicle control unit controls the vehicle to perform wire-controlled lifting of the cargo box according to the vehicle slope information and the vehicle azimuth.

[0057] In an embodiment of the present invention, the cargo box is lifted by wire only after verifying the first target angle of the cargo box in the wire-controlled lift request sent by the intelligent driving controller and determining that the first target angle corresponds to the wire-controlled lift mode, thereby ensuring the accuracy and reliability of the wire-controlled lift request sent by the intelligent driving controller and avoiding erroneous requests that may result in lifting failure.

[0058] Furthermore, the method further comprises: Obtaining the current speed of the vehicle and the current tarpaulin status of the vehicle; Here, the vehicle control unit can obtain the current speed and current tarpaulin status of the vehicle through the Controller Area Network (CAN) bus and the input / output interface (IO).

[0059] In addition, the vehicle control unit can also obtain the following raw signals through the Controller Area Network (CAN) bus and the input / output interface (IO): (1) Tarpaulin in place state: tarpaulin folded in place state (boolean signal) and tarpaulin unfolded in place state; (2) Original signals of dual-axis sensors: the cargo box angle on the x-axis (X_Angle_Cargo), the cargo box angle on the y-axis (Y_Angle_Cargo), the vehicle angle on the x-axis (X_Angle_Frame), and the vehicle angle on the y-axis (Y_Angle_Frame) of the two dual-axis sensors; (3) Power take-off switch signal: whether the rocker switch of the "power take-off switch" next to the vehicle instrument is pressed; (4) Cargo box angle request: the target angle of the cargo box sent by the intelligent driving controller; (5) Cargo box operation request: The cargo box lifting operation sent by the intelligent driving controller, including cargo box lifting, cargo box stopping, and cargo box returning status; (6) Tarpaulin operation request: Tarpaulin operation sent by the intelligent driving controller, including tarpaulin folding request and tarpaulin unfolding request; (7) Vehicle speed: the current speed of the vehicle, and the state jump condition in the model; (8) Accelerator pedal opening: the percentage of the vehicle's current accelerator pedal being depressed, and the state jump condition in the model; (9) Driving mode: Determine whether the vehicle is currently in unmanned driving mode or manual mode; (10) Current gear position: The current gear position of the vehicle, which determines whether the vehicle is currently in power-taking state, neutral state, or driving state; (11) Power take-off engagement status: Whether the vehicle's power take-off is engaged, and whether the vehicle is currently in the power take-off gear.

[0060] The above original signal can be used as a judgment condition for subsequent fault detection.

[0061] When the current tarpaulin state is the unfolded state, based on the tarpaulin folding request sent by the intelligent driving controller, a tarpaulin folding request is sent to the roof controller of the vehicle, and a motor of the vehicle is requested to enter a speed mode, a speed of the motor is set to a first speed, and a gearbox of the vehicle is requested to enter a power take-off gear; Here, the vehicle tarpaulin refers to the cloth used to cover the top, rear or specific area of ​​the vehicle to provide protection, sun protection, rain protection, dust protection and other functions.

[0062] The current tarpaulin state includes a folded state or an unfolded state. Before the vehicle control unit linearly lifts or lowers the cargo box, it is necessary to ensure that the vehicle's tarpaulin is in a folded state to prevent the tarpaulin from blocking the lifting or lowering process of the cargo box.

[0063] When the motor enters the speed mode, the speed of the motor is the first speed, and the gearbox enters the power take-off gear, controlling the tarpaulin to be folded by the top cover controller of the vehicle; Here, the power take-off gear is used to activate the power take-off, providing a power source for the hydraulic pump or other required equipment in the vehicle, thereby realizing automatic unloading of the cargo box.

[0064] It should be noted that the gear status of the vehicle includes the power gear status, the neutral gear status and the driving gear status. Among them, the power gear status is used to lift and lower the cargo box, the driving gear status is used for the movement of the vehicle, and in the neutral gear status, the cargo box is not lifted or lowered, nor does it move.

[0065] It should be noted that after the tarpaulin is folded, the vehicle exits the power take-off gear. When the vehicle control unit receives a lifting request or a lowering request sent by the intelligent driving control, the vehicle re-enters the power take-off gear.

[0066] Here, the first rotation speed refers to the rotation speed that can fold the tarpaulin. Generally, this rotation speed is relatively low to avoid collision during the folding process of the tarpaulin.

[0067] It should be noted that when the tarpaulin is folded, the vehicle needs to be in the power take-off gear to fold the tarpaulin, and folding the tarpaulin does not require a lot of power. Therefore, the folding of the tarpaulin can be achieved by giving the motor a first speed.

[0068] Based on the folding state information of the tarpaulin fed back by the tarpaulin in-place sensor of the vehicle, determining that the current tarpaulin state is a folding state; the tarpaulin folding state information is sent by the tarpaulin in-place sensor when the folding time of the tarpaulin is less than or equal to a preset folding time; Here, the preset folding time may be preset by a staff member based on experience; or may be preset based on multiple experiments.

[0069] It should be noted that when the tarpaulin in place sensor detects that the tarpaulin has reached the state requested by the intelligent driving controller, it will feedback the tarpaulin folding state information to the vehicle control unit and request the roof controller to exit the tarpaulin folding state (i.e. exit the power take-off gear, send zero speed, enter the torque mode, and disconnect the lifting valve).

[0070] When the current speed of the vehicle satisfies a preset speed condition and the current tarpaulin state of the vehicle is a folded state, determining that the vehicle satisfies the wire-controlled lift condition; Here, the preset vehicle speed condition may be that the current vehicle speed is less than or equal to a certain vehicle speed value or a certain threshold value. Generally, the certain vehicle speed value is 0, and the certain threshold value is a threshold value including 0 and close to 0.

[0071] When the folding time of the tarpaulin is longer than the preset folding time, determining that the vehicle has a tarpaulin opening abnormality failure; Based on the fault diagnosis table, a first safety strategy corresponding to the abnormal tarpaulin opening fault is determined, and the first safety strategy is executed.

[0072] Here, the first safety strategy refers to the safety handling action corresponding to the abnormal failure of the tarpaulin opening, for example, the first safety strategy is to exit the power take-off gear.

[0073] Specifically, the current speed of the vehicle and the current state of the tarpaulin of the vehicle are obtained. When the current state of the tarpaulin is the unfolded state, after receiving the tarpaulin folding request sent by the intelligent driving controller, the vehicle control unit sends a request for the vehicle's motor to enter the speed mode, the vehicle's gearbox to enter the power take-off gear, and a given vehicle's motor first speed request to the vehicle's gearbox control unit. After the gearbox meets the request sent by the vehicle control unit, the vehicle control unit uses the top cover controller to control the folding of the tarpaulin; if the tarpaulin folding time is less than or equal to the preset folding time, it is determined that the current state of the tarpaulin is the folded state. At this time, if the current speed of the vehicle is 0 and the current state of the tarpaulin is the folded state, it is determined that the vehicle meets the wire-controlled lifting conditions, and then, the first target angle of the cargo box in the lifting request sent by the intelligent driving controller is determined. When the first target angle is greater than the current angle of the cargo box, the slope information of the vehicle and the azimuth of the vehicle are determined; according to the slope information of the vehicle and the azimuth of the vehicle, the vehicle is controlled to perform wire-controlled lifting of the cargo box.

[0074] In the embodiment of the present invention, the cargo box is lifted by wire control only after the tarpaulin is folded, so as to realize the time-series linkage control of the cargo box and the tarpaulin and avoid the influence of the tarpaulin on the wire-controlled lifting of the cargo box.

[0075] Further, the controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle includes: When the slope information and the azimuth angle both meet the corresponding preset conditions, sending demand information corresponding to the wire control lift request to the gearbox control unit of the vehicle, the demand information including: a demand for the motor of the vehicle to enter a speed mode, a demand for the gearbox of the vehicle to enter a power take-off gear, a demand for setting a second speed of the motor, and a demand for opening a lift valve of the vehicle; When the transmission control unit controls the motor to enter a speed mode, the transmission enters a power take-off gear, the motor enters a second speed and opens the lifting valve, the vehicle is controlled to perform a wire-controlled lifting of the cargo box.

[0076] In the embodiment of the present invention, the lifting valve may also be replaced by a solenoid valve, and the lifting of the cargo box is achieved by sucking in the lifting valve or returning the solenoid valve.

[0077] Here, the second rotational speed refers to the rotational speed that can start the cargo box. Generally, the rotational speed that can start the cargo box is relatively high.

[0078] Here, the preset condition may be a threshold of the slope information and a threshold of the azimuth angle, or may be a range of the slope information or a range of the azimuth angle.

[0079] Here, the vehicle's lifting valve is responsible for controlling the flow direction and pressure of the hydraulic oil, thereby realizing the lifting and lowering functions of the cargo box.

[0080] It should be noted that after the vehicle has completed folding the tarpaulin, it will exit the power take-off gear and enter the standby state.

[0081] It should be noted that when the cargo box is lifted, a maximum angle protection function will be turned on. The maximum angle protection means that the actual vehicle will test the maximum angle of the cargo box, and a maximum angle will be set in the software as a protection; for example, the actual maximum angle that the cargo box can be lifted is 45°. When the intelligent driving controller sends a request angle of 60°, the cargo box reaches the set maximum angle and will stop; without this maximum angle protection, the actual angle will never reach the angle requested by the intelligent driving (60°); the power take-off will always be in working condition.

[0082] In the embodiment of the present invention, the safety of the lifting operation is improved by judging the vehicle posture such as the slope information and the azimuth angle of the vehicle.

[0083] Furthermore, the method of continuously performing fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result includes: When it is detected that the slope information and / or the azimuth angle do not satisfy respective corresponding preset conditions, determining that the first detection result is a fault of abnormal vehicle posture of the vehicle; When it is detected that the current angle of the cargo box has not reached the first target angle within the preset lifting time and the lifting stop mode sent by the intelligent driving controller is not received, it is determined that the first detection result is that the vehicle has a lifting timeout failure.

[0084] In the embodiment of the present invention, by performing fault diagnosis on each step of the lifting process, providing real-time feedback on the fault status, and promptly performing safety processing on the fault status, the safety and efficiency of the lifting operation are ensured.

[0085] Further, determining the current angle of the cargo box includes: Respectively acquiring a first pitch angle of the cargo box, a first roll angle of the cargo box, a second pitch angle of the frame of the vehicle, and a second roll angle of the frame through a dual-axis sensor of the vehicle; Here, the first pitch angle refers to the angle of rotation of the cargo box around its transverse axis (usually the axis perpendicular to the ground); the first roll angle refers to the angle of rotation of the cargo box around its longitudinal axis (usually the axis parallel to the direction of movement of the cargo box). The second pitch angle refers to the angle of rotation of the frame around its transverse axis (usually the axis perpendicular to the ground); the second roll angle refers to the angle of rotation of the frame around its longitudinal axis (usually the axis parallel to the direction of movement of the vehicle).

[0086] Determining a comprehensive angle of the cargo box based on the first pitch angle and the first roll angle; Here, the comprehensive angle of the cargo box may be the angle between the cargo box and the horizontal plane, and the current angle of the cargo box is the relative angle between the cargo box and the vehicle frame.

[0087] Here, the comprehensive angle of the cargo box can be a first ratio, the first ratio can be the ratio between the first sum and the acceleration in the third dimension, or the ratio between the weighted first sum and the weighted acceleration in the third dimension, the first sum can be the sum of the power of the acceleration in the first dimension and the power of the acceleration in the second dimension, the first sum can also be the sum of the weighted power of the acceleration in the first dimension and the weighted power of the acceleration in the second dimension, the acceleration in the first dimension can be calculated according to the first angle in the first dimension and the gravity acceleration g, and the acceleration in the second dimension can be calculated according to the second angle in the second dimension and the gravity acceleration g.

[0088] It should be noted that the dual-axis sensor collects the pitch angle and roll angle of the cargo box, and the pitch angle and roll angle of the frame respectively. Therefore, the calculation formula for the comprehensive angle of the cargo box (that is, the angle of the cargo box relative to the slope) and the angle of the vehicle relative to the slope are the same.

[0089] For example, the calculation formula of the comprehensive angle of the cargo box is as follows (1): (1)

[0090] in, Indicates the comprehensive angle of the cargo box, a x represents the acceleration on the X axis, a y represents the acceleration on the Y axis, a zrepresents the acceleration on the Z axis, The inverse function of the tangent function.

[0091] a in formula (1) x It can be calculated by the following formula (2): (2)

[0092] in, Indicates the pitch angle of the cargo box, which can be directly obtained through the dual-axis sensor.

[0093] a in formula (1) y It can be calculated by the following formula (3): (3)

[0094] in, Indicates the rolling angle of the cargo box, which can be directly obtained through the dual-axis sensor.

[0095] a in formula (1) z It can be calculated by the following formula (4): (4)

[0096] Specifically, the acceleration a on the X-axis is calculated based on the first angle and formula (2): x , calculate the acceleration a according to the roll angle and formula (3) y , calculate the acceleration a according to formula (4) z , calculate the comprehensive angle of the cargo box according to formula (1).

[0097] Based on the comprehensive angle, the second pitch angle and the second roll angle, a current angle of the cargo box is determined.

[0098] Here, the current angle of the cargo box may be obtained through a mapping relationship table or calculated through a formula.

[0099] Here, the current angle of the cargo box may be the first difference, which may be the difference between the comprehensive angle and the slope information of the entire vehicle (slope angle), or the difference between the weighted comprehensive angle and the weighted slope information of the entire vehicle (slope angle). The slope angle may be calculated using the above formulas (1)-(4), the angle of the vehicle on the X-axis, and the angle of the vehicle on the Y-axis, which will not be described in detail here.

[0100] For example, the current angle of the truck is calculated as follows: (5)

[0101] in, Indicates the current angle of the cargo box. Indicates the comprehensive angle of the cargo box. Indicates the bank angle of the vehicle.

[0102] Figure 2 is a schematic diagram of the current angle calculation of the cargo box provided by the present invention, such as Figure 2 As shown, the three-dimensional coordinate system includes the x-axis, the y-axis and the z-axis. For X-Angle, is Y-Angle, g is the acceleration due to gravity.

[0103] Exemplarily, the judgment of the vehicle's slope angle and azimuth angle depends on the calculation of the dual-axis sensor input value. According to the dual-axis sensor input X_Angle_Cargo, Y_Angle_Cargo, X_Angle_Frame, and Y_Angle_Frame, the current angle of the cargo box, the slope angle of the entire vehicle, and the azimuth angle of the entire vehicle are obtained; when the actual slope and azimuth angle of the vehicle are less than the set slope angle and azimuth angle limits, the vehicle normally enters the power take-off mode to lift and reset the cargo box, otherwise it will not be able to enter the power take-off mode. Only when the vehicle is moved back to a safe place can the cargo box action be performed.

[0104] In the embodiment of the present invention, the output parameters of the dual-axis sensor are used to calculate the cargo box angle, thereby improving the accuracy of the cargo box angle and thus improving the accuracy of the lifting operation.

[0105] Further, the determining the slope information of the vehicle and the azimuth angle of the vehicle includes: determining the slope information of the vehicle based on the second pitch angle, the second roll angle, and the gravitational acceleration of the vehicle; Here, the slope information of the vehicle can be calculated according to formulas (1)-(4), which will not be described in detail here.

[0106] Based on a ratio between the second pitch angle and the second roll angle, an orientation angle of the vehicle is determined.

[0107] Here, the azimuth angle of the vehicle may be a ratio between the second pitch angle and the second roll angle, or a ratio between a weighted third angle and a weighted fourth angle.

[0108] It should be noted that when the vehicle is parked on an inclined plane, the component of the vehicle's gravity acceleration g on the inclined plane will always remain the same even if the vehicle's azimuth angle is different. The following formulas (6) and (7) can be obtained: (6)

[0109] (7)

[0110] in, is the component of the vehicle's gravity acceleration on the inclined plane's X axis, It is the component of the vehicle's gravity acceleration on the Y axis of the inclined plane.

[0111] Exemplarily, the azimuth angle of the vehicle is calculated as follows: (8)

[0112] in, represents the vehicle's azimuth, Represents the sine function.

[0113] Figure 3A The present invention provides a schematic diagram of the vehicle azimuth calculation Figure 1 ,like Figure 3A As shown, the vehicle azimuth is the angle between the vehicle's driving direction and the Y axis, the azimuth is 0, and g' is the component of gravity acceleration in the XY plane.

[0114] Figure 3B The present invention provides a schematic diagram of the vehicle azimuth calculation Figure 2 ,like Figure 3B As shown, the vehicle azimuth is the angle between the vehicle's driving direction and the Y axis, which is approximately 45 degrees, and g' is the component of gravity acceleration in the XY plane.

[0115] In the embodiment of the present invention, an angle sensor is used to obtain the slope angle and azimuth of the entire vehicle, and a more comprehensive vehicle posture state judgment is made to prevent vehicle nose-up and rollover accidents and improve the safety of lifting operations.

[0116] Further, after controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, the method further includes: When the current angle of the cargo box reaches the first target angle within the preset lifting time or the lifting stop mode sent by the intelligent driving controller is received, a stop request is sent to the transmission control unit of the vehicle; the stop request includes: a request for the transmission of the vehicle to exit the power take-off gear, a request for the motor of the vehicle to enter the torque mode, a request for disconnecting the lifting valve of the vehicle, and a request for setting the speed of the motor to zero; When the gearbox controls the gearbox to exit the power take-off gear, the motor enters the torque mode, the lift valve of the vehicle is disconnected and the rotation speed of the motor is zero, the lift operation is stopped.

[0117] It should be noted that when the cargo box reaches the first target angle within the preset lifting time or receives the lifting stop mode, it means that the vehicle needs to stop the lifting operation. Therefore, the vehicle control unit needs to request the gearbox to exit the power take-off gear, and after the gearbox exits the power take-off gear, the vehicle control unit stops the lifting operation.

[0118] In the embodiment of the present invention, after the lifting operation is completed, the power take-off gear is exited and the lifting mode is stopped to ensure the safety of the vehicle lifting operation.

[0119] Further, after stopping the lifting operation, the method further includes: When the current angle of the cargo box is the first target angle, feeding back to the intelligent driving controller that the cargo box is lifted to the first target angle; Detecting whether the difference between the current angle of the cargo box and the angle of the cargo box at the previous moment satisfies a preset difference; When the difference satisfies the preset difference, it is determined that the vehicle has an abnormal cargo box stop failure; Based on the fault diagnosis table, determining a second safety strategy corresponding to the abnormal stop failure of the cargo box, and executing the second safety strategy; If the difference does not meet the preset difference, determining whether the cargo box of the vehicle needs to be lowered; When the cargo box does not need to be lowered, determining whether the vehicle is in gear; When the vehicle is in gear and driving, determining that the vehicle has a cargo box failure; Based on the fault diagnosis table, a third safety policy corresponding to the cargo box failure to be lowered is determined, and the third safety policy is executed.

[0120] Here, the preset difference value may be any appropriate difference value, for example, the difference value is zero or close to zero.

[0121] It should be noted that when the vehicle stops the lifting operation, under normal circumstances, the current angle of the cargo box should be the first target angle. If the difference between the current angle of the cargo box and the angle at the previous moment is greater than the preset difference, it means that the angle of the cargo box decreases instantly and the vehicle has an abnormal cargo box stop failure.

[0122] Here, the third safety strategy is speed limit. When the cargo box is not lowered, the vehicle can be driven at a limited speed. At the same time, the model monitors the actual angle of the vehicle cargo box in real time. When the cargo box angle is greater than the set minimum risk judgment value, the speed of the entire vehicle will be limited. The larger the cargo box angle, the smaller the driving speed will be.

[0123] In addition, the vehicle control unit will exit the power take-off gear mode after completing the wire-controlled lifting function of the cargo box as requested by the intelligent driving controller. At this time, the vehicle can be shifted into the driving gear and driven. At the same time, the model monitors the actual angle of the cargo box of the vehicle in real time. When the cargo box angle is greater than the set minimum risk judgment value, the vehicle will be speed-limited. The larger the cargo box angle, the smaller the driving speed will be to prevent safety risks.

[0124] In an embodiment of the present invention, the state of the cargo box is detected. When the cargo box is not lowered and the vehicle is in gear, the speed of the vehicle is limited to improve the safety of the cargo box and the vehicle and prevent the cargo box from falling and causing safety risks.

[0125] Furthermore, the method further comprises: In the case where the cargo box needs to fall back, judging whether the cargo box meets the fall back condition based on the second target angle in the fall back request sent by the intelligent driving controller and the current angle of the cargo box; When the cargo box meets the fall-back condition, control the vehicle to perform a loop operation on the cargo box, and perform a fault detection on each step in the fall-back process to obtain a second detection result; In the case where a fallback fault occurs in the second detection result, determining a fallback safety strategy corresponding to the fallback fault based on a fault diagnosis table, and executing the fallback safety strategy; If the second detection result shows no fault, controlling the cargo box to fall back to a second target angle; When the cargo box falls back to the second target angle, controlling the tarpaulin of the vehicle to unfold, and performing a fault check on the unfolding process of the tarpaulin to obtain a third detection result; In the case that a tarpaulin deployment failure occurs in the third detection result, a fourth safety strategy corresponding to the tarpaulin deployment failure is determined based on a fault diagnosis table, and the fourth safety strategy is executed; When the third detection result shows no tarpaulin failure, the tarpaulin is fully unfolded.

[0126] Here, falling back may be reducing the cargo box from a current angle to a second target angle, wherein the second target angle is smaller than the current angle.

[0127] It should be noted that the circuit can be understood as the reset after the cargo box is lifted. Here, the lifting and resetting solenoid valve control relay IO adopts a mutually exclusive design, that is, the lifting solenoid valve and the reset (fallback) solenoid valve cannot be opened at the same time, and the vehicle controller can only close the device after reading the power gear of the transmission control unit, enter the speed mode and give the speed.

[0128] It should be noted that when the cargo box is lowered or reset, a zero return protection function will be activated. The zero return protection means that when the cargo box approaches the target angle (such as the zero point), a timer will be started. When the timer ends, the stop mode will be entered to ensure that the cargo box can fully reach the target angle.

[0129] Here, the fallback condition may be that the second target angle sent by the intelligent driving controller is less than the current angle of the cargo box. When the second target angle is less than the current angle, the vehicle is controlled to fall back the cargo box.

[0130] During the lowering process, the vehicle control unit sends a lowering power take-off request and a second target angle to the transmission control unit. After the transmission controls the vehicle to enter the power take-off gear and the motor to enter the speed mode, and a high speed is given and the lifting valve is opened, the vehicle control unit controls the cargo box to gradually descend from the current angle. Among them, the fallback fault detection includes: judging whether the angle of the cargo box is close to the zero point, if it is not close to the zero point, judging whether the fallback stop mode is received, if the lifting stop mode is not received, it means that the fallback timeout has occurred and the vehicle has a fallback timeout fault; if the angle of the cargo box is close to the zero point, disconnect the power take-off, wherein the operation of the single power take-off includes: the motor enters the torque mode, the gearbox exits the power take-off gear, and disconnects the lifting valve; the vehicle control unit feedbacks to the intelligent driving controller that the power take-off is in place; when the cargo box is in a stopped state, judging whether the angle decreases instantaneously, if the angle decreases instantaneously, it means that the stopped state is abnormal and the vehicle has an abnormal cargo box stop fault; if the angle does not decrease instantaneously, judging whether the vehicle is in gear for driving; if the vehicle is not in gear for driving, continue to monitor whether the vehicle is in gear for driving; if the vehicle is in gear for driving, judging whether the cargo box returns to its position, if the cargo box does not return to its position, it means that the vehicle has a cargo box failure to be lowered, and the vehicle is speed limited; if the cargo box returns to its position, judging whether the tarpaulin is folded in place, if the tarpaulin is not folded after the timeout, it means that the vehicle has a tarpaulin timeout failure to open; if the tarpaulin is not folded after the timeout, the wire-controlled lifting is completed.

[0131] In the embodiment of the present invention, when the cargo box is reset, a series of fault detections are performed on the reset operation of the cargo box and the deployment of the tarpaulin, and when a fault occurs, safe processing can be performed in a timely manner to ensure the safety and efficiency of the cargo box reset.

[0132] Figure 4 This is the second flow chart of the wire-controlled lifting method provided by the present invention, such as Figure 4 As shown, it is applied to a vehicle control unit and includes the following steps: Step 401: Determine whether the current speed of the vehicle is 0. If it is 0, execute step 402; otherwise, execute step 401: Step S402: Determine whether the current tarpaulin of the vehicle is in a folded state. If the current tarpaulin is not in a folded state, execute step S403; otherwise, execute step 405: Step S403: The intelligent driving controller sends a tarpaulin folding request to the vehicle control unit.

[0133] Step S404: the vehicle control unit requests the roof controller to take off power to fold the tarpaulin; It should be noted that if the tarpaulin is not folded within the time limit, it is determined that the vehicle has a tarpaulin timeout failure to open fault.

[0134] Step S405: receiving a lifting request and a first target angle sent by the intelligent driving controller; Step S406: Determine whether the lifting request is consistent with the first target angle. If so, execute step S407; otherwise, execute step S405.

[0135] Step S407: Determine whether the vehicle posture condition meets the preset condition. If the preset condition is met, execute step S408; otherwise, determine that the vehicle posture is abnormal.

[0136] Step S408: The vehicle control unit sends a lifting request and a first target angle to the transmission control unit.

[0137] Step S409: Determine whether the cargo box angle has reached the maximum limit. If not, execute step S410; if reached, execute step S411.

[0138] Here, the maximum limit may be the first target angle, or an angle smaller than the first target angle.

[0139] Step S410: Determine whether the cargo box has reached the requested angle / received the lifting stop mode. If it has reached the requested angle / received the lifting stop mode, execute step S411; otherwise, determine that the vehicle has a lifting timeout fault.

[0140] Step S411: Stop lifting and disconnect the power take-off.

[0141] Disconnecting the power take-off includes the motor entering the torque mode, the gearbox exiting the power take-off gear, and disconnecting the solenoid valve.

[0142] Step S412: The vehicle control unit feeds back to the intelligent driving controller that the lifting is in place.

[0143] Step S413: Determine whether the angle decreases instantaneously when the cargo box is stopped. If not, execute step S414; otherwise, determine that the vehicle has an abnormal cargo box stop failure.

[0144] Step S414: Determine whether the intelligent driving controller requests the cargo box to fall back. If so, execute step S417; otherwise, execute step S415: Step S415: Determine whether the vehicle is in gear. If so, execute step S416; otherwise, determine that the cargo box lifting process is completed.

[0145] Step S416: Limit the speed of the vehicle and determine if the vehicle has a cargo box failure.

[0146] Here, the vehicle posture includes the slope information and azimuth of the vehicle.

[0147] Figure 5 : is a flow chart of the line-controlled fallback method provided by the present invention, such as Figure 5 As shown, the following steps are included: Step S417: Determine the landing request and the second target angle sent by the intelligent driving controller.

[0148] Step S418: Determine whether the fallback request is consistent with the second target angle. If so, execute step S419; otherwise, execute step S414.

[0149] Step S419: The vehicle control unit sends a fallback request and a second target angle to the transmission control unit.

[0150] Step S420: Determine whether the cargo box is close to the zero point. If not, execute step S421; otherwise, execute step S422.

[0151] Step S421: Determine whether the cargo box has reached the requested angle / received the fall-back stop mode. If so, execute step S422; otherwise, determine that the vehicle has a fall-back timeout failure.

[0152] Step S422: disconnect the power take-off.

[0153] Step S423: The vehicle control unit feeds back to the intelligent driving controller.

[0154] Step S424: Determine whether the angle decreases instantaneously when the cargo box is stopped. If not, execute step S425; otherwise, determine that the vehicle has an abnormal cargo box stop failure.

[0155] Step S425: Determine whether the vehicle is in gear. If so, execute step S426; otherwise, execute step S425.

[0156] Step S426: Determine whether the cargo box has returned to its original position. If not, execute step S427; otherwise, execute step S428.

[0157] Step S427: Limit the speed of the vehicle and determine if the vehicle has a cargo box failure.

[0158] Step S428: Determine whether the tarpaulin is fully deployed. If so, the process is completed. Otherwise, it is determined that the vehicle has a tarpaulin failure due to timeout.

[0159] The vehicle wire-controlled lifting method provided by the present invention includes: full-process fault diagnosis, real-time feedback of fault status, and safe handling of the fault status; compatibility with unmanned driving mode and manual mode, and realization of time-linked control of the cargo box and the tarpaulin; use of angle sensors to obtain the slope angle and azimuth of the entire vehicle, more comprehensive vehicle posture status judgment, and improved lifting operation safety; IO control mutually exclusive design, maximum angle, return to zero protection, driving speed limit and other safety redundancy and safety protection strategies.

[0160] The wire-controlled lifting device for a vehicle provided by the present invention is described below. The wire-controlled lifting device for a vehicle described below and the wire-controlled lifting method for a vehicle described above can be referred to each other.

[0161] Figure 6 Schematic diagram of the structure of the vehicle wire lifting device provided by the present invention, such as Figure 6 As shown, the vehicle's wire-controlled lifting device 600 includes: a detection module 601, a first determination module 602 and a control module 603, wherein: The detection module 601 is used to control the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, and continuously perform fault detection on each step of the wire-controlled lifting process to obtain a first detection result; A first determination module 602 is used to determine a lifting safety strategy corresponding to the lifting fault based on a fault diagnosis table and execute the lifting safety strategy when a lifting fault occurs in the first detection result; the fault diagnosis table is used to characterize the corresponding relationship between the fault and the safety strategy; The control module 603 is used to control the cargo box to be lifted from the current angle to the first target angle when no lifting failure occurs in the first detection result; the first target angle is sent by the vehicle's intelligent driving controller.

[0162] In an exemplary embodiment, the vehicle's wire-controlled lifting device 600 also includes a second determination module: specifically used to: determine a first target angle of the cargo box in the wire-controlled lifting request sent by the vehicle's intelligent driving controller when the vehicle meets the wire-controlled lifting conditions; determine the current angle of the cargo box; and when the first target angle is greater than the current angle, determine the slope information of the vehicle and the azimuth of the vehicle.

[0163] In an exemplary embodiment, the vehicle's wire-controlled lifting device 600 also includes a third determination module: obtaining the current vehicle speed and the current tarpaulin state of the vehicle; when the current tarpaulin state is the unfolded state, based on the tarpaulin folding request sent by the intelligent driving controller, sending a folding request to the vehicle's roof controller; and requesting the vehicle's motor to enter a speed mode, setting the motor speed to a first speed, and requesting the vehicle's gearbox to enter a power take-off gear; when the motor enters the speed mode, the motor speed is the first speed and the gearbox enters the power take-off gear, controlling the folding of the tarpaulin through the vehicle's roof controller; based on the The tarpaulin folding status information fed back by the tarpaulin in-place sensor of the vehicle determines that the current tarpaulin status is a folded status; the tarpaulin folding status information is sent by the tarpaulin in-place sensor when the tarpaulin folding time is less than or equal to the preset folding time; when the current vehicle speed meets the preset vehicle speed condition and the current tarpaulin status of the vehicle is a folded status, it is determined that the vehicle meets the wire-controlled lifting condition; when the tarpaulin folding time is greater than the preset folding time, it is determined that the vehicle has a tarpaulin opening abnormal fault; based on the fault diagnosis table, determine the first safety strategy corresponding to the tarpaulin opening abnormal fault, and execute the first safety strategy.

[0164] In an exemplary embodiment, the control module 603 is specifically used to send demand information corresponding to the wire-controlled lift request to the transmission control unit of the vehicle when the slope information and the azimuth angle both meet their respective corresponding preset conditions, the demand information including: a requirement for the vehicle's motor to enter a speed mode, a requirement for the vehicle's transmission to enter a power take-off gear, a requirement for giving the motor a second speed, and a requirement for opening the vehicle's lift valve; when the transmission control unit controls the motor to enter a speed mode, the transmission to enter a power take-off gear, the motor to enter a second speed and the lift valve to open, the vehicle is controlled to perform wire-controlled lift of the cargo box.

[0165] In an exemplary embodiment, the detection module 601 is specifically used to: when it is detected that the slope information and / or the azimuth angle do not satisfy the respective corresponding preset conditions, determine that the first detection result is a vehicle posture abnormality fault of the vehicle; when it is detected that the current angle of the cargo box does not reach the first target angle within the preset lifting time and the lifting stop mode sent by the intelligent driving controller is not received, determine that the first detection result is a lifting timeout fault of the vehicle.

[0166] In an exemplary embodiment, the second determination module is specifically used to: respectively obtain a first pitch angle of the cargo box, a first roll angle of the cargo box, a second pitch angle of the vehicle frame, and a second roll angle of the frame through a dual-axis sensor of the vehicle; determine a comprehensive angle of the cargo box based on the first pitch angle and the first roll angle; and determine a current angle of the cargo box based on the comprehensive angle, the second pitch angle, and the second roll angle.

[0167] In an exemplary embodiment, the first determination module is specifically used to: determine the slope information of the vehicle based on the second pitch angle, the second roll angle and the gravitational acceleration of the vehicle; and determine the azimuth angle of the vehicle based on the ratio between the second pitch angle and the second roll angle.

[0168] In an exemplary embodiment, the vehicle's wire-controlled lifting device 600 also includes a stop module, which is specifically used to: send a stop request to the vehicle's transmission control unit when the current angle of the cargo box reaches the first target angle within a preset lifting time or receives a lifting stop mode sent by the intelligent driving controller; the stop request includes: a request for the vehicle's transmission to exit the power take-off gear, a request for the vehicle's motor to enter the torque mode, a request to disconnect the vehicle's lifting valve, and a request to set the motor's speed to zero; the lifting operation is stopped when the transmission exits the power take-off gear, the motor enters the torque mode, the vehicle's lifting valve is disconnected, and the motor's speed is zero.

[0169] In an exemplary embodiment, the vehicle's wire-controlled lifting device 600 also includes a judgment module, which is specifically used to: when the current angle of the cargo box is the first target angle, feedback to the intelligent driving controller that the cargo box is lifted to the first target angle; detect whether the difference between the current angle of the cargo box and the angle of the cargo box at the previous moment meets a preset difference; when the difference meets the preset difference, determine that the vehicle has an abnormal cargo box stop fault; based on the fault diagnosis table, determine a second safety policy corresponding to the abnormal cargo box stop fault, and execute the second safety policy; when the difference does not meet the preset difference, determine whether the cargo box of the vehicle needs to be lowered; when the cargo box does not need to be lowered, determine whether the vehicle is in gear for driving; when the vehicle is in gear for driving, determine that the vehicle has a cargo box not lowered fault; based on the fault diagnosis table, determine a third safety policy corresponding to the cargo box not lowered fault, and execute the third safety policy.

[0170] In an exemplary embodiment, the vehicle's wire-controlled lifting device 600 also includes a fallback module, which is specifically used to: when the cargo box needs to fall back, determine whether the cargo box meets the fallback condition based on the second target angle in the fallback request sent by the intelligent driving controller and the current angle of the cargo box; when the cargo box meets the fallback condition, control the vehicle to perform a fallback operation on the cargo box, and perform fault detection on each step in the fallback process to obtain a second detection result; when a fallback failure occurs in the second detection result, determine the fallback safety strategy corresponding to the fallback failure based on the fault diagnosis table, and execute the fallback safety strategy; when no fault occurs in the second detection result, control the cargo box to fall back to the second target angle; when the cargo box falls back to the second target angle, control the tarpaulin to be unfolded, and perform a fault check on the tarpaulin unfolding process to obtain a third detection result; when a tarpaulin unfolding failure occurs in the third detection result, determine the fourth safety strategy corresponding to the tarpaulin unfolding failure based on the fault diagnosis table, and execute the fourth safety strategy; when no tarpaulin failure occurs in the third detection result, fully unfold the tarpaulin.

[0171] Figure 7 is a schematic diagram of the structure of the electronic device provided by the present invention, such as Figure 7 As shown, the electronic device may include: a processor 710, a communication interface 720, a memory 730 and a communication bus 740, wherein the processor 710, the communication interface 720 and the memory 730 communicate with each other through the communication bus 740. The processor 710 may call the logic instructions in the memory 730 to execute the vehicle's wire-controlled lifting method, the method comprising: based on the slope information of the vehicle and the azimuth of the vehicle, controlling the vehicle to perform wire-controlled lifting of the cargo box, and continuously performing fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result; in the case where a lifting fault occurs in the first detection result, determining the lifting safety strategy corresponding to the lifting fault based on the fault diagnosis table, and executing the lifting safety strategy; the fault diagnosis table is used to characterize the corresponding relationship between the fault and the safety strategy; in the case where the lifting fault does not occur in the first detection result, controlling the cargo box to be lifted from the current angle to the first target angle; the first target angle is sent by the intelligent driving controller of the vehicle.

[0172] In addition, the logic instructions in the above-mentioned memory 730 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0173] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle-by-wire lifting method provided by the above-mentioned methods, the method including: based on the slope information of the vehicle and the azimuth of the vehicle, controlling the vehicle to perform wire-controlled lifting of the cargo box, and continuously performing fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result; in the event that a lifting fault occurs in the first detection result, determining a lifting safety strategy corresponding to the lifting fault based on a fault diagnosis table, and executing the lifting safety strategy; the fault diagnosis table is used to characterize the correspondence between faults and safety strategies; in the event that the lifting fault does not occur in the first detection result, controlling the cargo box to be lifted from the current angle to a first target angle; the first target angle is sent by the intelligent driving controller of the vehicle.

[0174] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the vehicle-by-wire lifting method provided by the above-mentioned methods, the method comprising: based on the slope information of the vehicle and the azimuth angle of the vehicle, controlling the vehicle to perform a wire-controlled lifting of a cargo box, and continuously performing fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result; in the event that a lifting fault occurs in the first detection result, determining a lifting safety strategy corresponding to the lifting fault based on a fault diagnosis table, and executing the lifting safety strategy; the fault diagnosis table is used to characterize the correspondence between faults and safety strategies; in the event that the lifting fault does not occur in the first detection result, controlling the cargo box to be lifted from the current angle to a first target angle; the first target angle is sent by the intelligent driving controller of the vehicle.

[0175] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0176] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle wire-controlled lifting method, applied to a vehicle control unit, characterized in that: include: Based on the slope information of the vehicle and the azimuth angle of the vehicle, the vehicle is controlled to perform a wire-controlled lifting of the cargo box, and a fault detection is continuously performed on each step of the wire-controlled lifting process to obtain a first detection result; In the case that a lifting fault occurs in the first detection result, determining a lifting safety strategy corresponding to the lifting fault based on a fault diagnosis table, and executing the lifting safety strategy; The fault diagnosis table is used to characterize the corresponding relationship between faults and safety strategies; If the lifting failure does not occur in the first detection result, controlling the cargo box to be lifted from the current angle to a first target angle; The first target angle is sent by the intelligent driving controller of the vehicle.

2. The vehicle wire lifting method according to claim 1, characterized in that: Before controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, the method further includes: When the vehicle satisfies a lift-by-wire condition, determining a first target angle of the cargo box in a lift-by-wire request sent by an intelligent driving controller of the vehicle; determining a current angle of the cargo box; In a case where the first target angle is greater than the current angle, the slope information of the vehicle and the azimuth angle of the vehicle are determined.

3. The vehicle wire lifting method according to claim 2, characterized in that: The method further comprises: Obtaining the current speed of the vehicle and the current tarpaulin status of the vehicle; When the current tarpaulin state is the unfolded state, based on the tarpaulin folding request sent by the intelligent driving controller, a tarpaulin folding request is sent to the roof controller of the vehicle, and a motor of the vehicle is requested to enter a speed mode, a speed of the motor is set to a first speed, and a gearbox of the vehicle is requested to enter a power take-off gear; When the motor enters the speed mode, the speed of the motor is the first speed, and the gearbox enters the power take-off gear, controlling the tarpaulin to be folded by the top cover controller of the vehicle; Based on the folding state information of the tarpaulin fed back by the tarpaulin in-place sensor of the vehicle, determining that the current tarpaulin state is a folding state; the tarpaulin folding state information is sent by the tarpaulin in-place sensor when the folding time of the tarpaulin is less than or equal to a preset folding time; When the current speed of the vehicle satisfies a preset speed condition and the current tarpaulin state of the vehicle is a folded state, determining that the vehicle satisfies the wire-controlled lift condition; When the folding time of the tarpaulin is longer than the preset folding time, determining that the vehicle has a tarpaulin opening abnormality failure; Based on the fault diagnosis table, a first safety strategy corresponding to the abnormal tarpaulin opening fault is determined, and the first safety strategy is executed.

4. The vehicle wire lifting method according to claim 2, characterized in that: The step of controlling the vehicle to perform wire-controlled lifting of a cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle includes: When the slope information and the azimuth angle both meet the corresponding preset conditions, sending demand information corresponding to the wire control lift request to the gearbox control unit of the vehicle, the demand information including: a demand for the motor of the vehicle to enter a speed mode, a demand for the gearbox of the vehicle to enter a power take-off gear, a demand for setting a second speed of the motor, and a demand for opening a lift valve of the vehicle; When the transmission control unit controls the motor to enter a speed mode, the transmission enters a power take-off gear, the motor enters a second speed and opens the lifting valve, the vehicle is controlled to perform a wire-controlled lifting of the cargo box.

5. The vehicle wire-controlled lifting method according to claim 1, characterized in that: The method of continuously performing fault detection on each step in the process of the wire-controlled lifting to obtain a first detection result includes: When it is detected that the slope information and / or the azimuth angle do not satisfy respective corresponding preset conditions, determining that the first detection result is a fault of abnormal vehicle posture of the vehicle; When it is detected that the current angle of the cargo box has not reached the first target angle within the preset lifting time and the lifting stop mode sent by the intelligent driving controller is not received, it is determined that the first detection result is that the vehicle has a lifting timeout failure.

6. The vehicle wire lifting method according to claim 2, characterized in that: Determining the current angle of the cargo box includes: Respectively acquiring a first pitch angle of the cargo box, a first roll angle of the cargo box, a second pitch angle of the frame of the vehicle, and a second roll angle of the frame through a dual-axis sensor of the vehicle; Determining a comprehensive angle of the cargo box based on the first pitch angle and the first roll angle; Based on the comprehensive angle, the second pitch angle and the second roll angle, a current angle of the cargo box is determined.

7. The vehicle wire-controlled lifting method according to claim 6, characterized in that: The determining of the slope information of the vehicle and the azimuth angle of the vehicle comprises: determining the slope information of the vehicle based on the second pitch angle, the second roll angle, and the gravitational acceleration of the vehicle; Based on a ratio between the second pitch angle and the second roll angle, an orientation angle of the vehicle is determined.

8. The vehicle lift-by-wire method according to claim 1, characterized in that: After controlling the vehicle to perform wire-controlled lifting of the cargo box based on the slope information of the vehicle and the azimuth angle of the vehicle, the method further includes: When the current angle of the cargo box reaches the first target angle within the preset lifting time or the lifting stop mode sent by the intelligent driving controller is received, a stop request is sent to the transmission control unit of the vehicle; the stop request includes: a request for the transmission of the vehicle to exit the power take-off gear, a request for the motor of the vehicle to enter the torque mode, a request for disconnecting the lifting valve of the vehicle, and a request for setting the speed of the motor to zero; When the transmission exits the power take-off gear, the motor enters the torque mode, the lift valve of the vehicle is disconnected, and the rotation speed of the motor is zero, the lift operation is stopped.

9. The vehicle wire lifting method according to claim 8, characterized in that: After stopping the lifting operation, the method further includes: When the current angle of the cargo box is the first target angle, feeding back to the intelligent driving controller that the cargo box is lifted to the first target angle; Detecting whether the difference between the current angle of the cargo box and the angle of the cargo box at the previous moment satisfies a preset difference; When the difference satisfies the preset difference, it is determined that the vehicle has an abnormal cargo box stop failure; Based on the fault diagnosis table, determining a second safety strategy corresponding to the abnormal stop failure of the cargo box, and executing the second safety strategy; If the difference does not meet the preset difference, determining whether the cargo box of the vehicle needs to be lowered; When the cargo box does not need to be lowered, determining whether the vehicle is in gear; When the vehicle is in gear and driving, determining that the vehicle has a cargo box failure; Based on the fault diagnosis table, a third safety policy corresponding to the cargo box failure to be lowered is determined, and the third safety policy is executed.

10. The vehicle lift-by-wire method according to claim 9, characterized in that: The method further comprises: In the case where the cargo box needs to fall back, judging whether the cargo box meets the fall back condition based on the second target angle in the fall back request sent by the intelligent driving controller and the current angle of the cargo box; When the cargo box meets the fall-back condition, control the vehicle to perform a fall-back operation on the cargo box, and perform a fault detection on each step of the fall-back process to obtain a second detection result; In the case where a fallback fault occurs in the second detection result, determining a fallback safety strategy corresponding to the fallback fault based on the fault diagnosis table, and executing the fallback safety strategy; If the second detection result shows no fault, controlling the cargo box to fall back to a second target angle; When the cargo box falls back to the second target angle, controlling the tarpaulin of the vehicle to unfold, and performing a fault check on the unfolding process of the tarpaulin to obtain a third detection result; In the case that a tarpaulin deployment failure occurs in the third detection result, a fourth safety strategy corresponding to the tarpaulin deployment failure is determined based on the fault diagnosis table, and the fourth safety strategy is executed; When the third detection result shows no tarpaulin failure, the tarpaulin is fully unfolded.

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