Identification method and identification device for unexpected event of vehicle
By collecting data in the vehicle and setting judgment conditions criteria based on different scenarios, determining whether the vehicle is in an unexpected driving event, the problem of delayed identification results and inability to meet future vehicle safety standards in traditional methods is solved, and more timely and accurate Unexpected event identification.
Patent Information
- Application Number
- CN202411941223.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-26
- Publication Date
- 2025-02-18
AI Technical Summary
Traditional vehicle unanticipated event recognition methods have lag in the identification results and are unable to fully meet future vehicle safety standards, especially in the judgment of torque exceeding limits.
By collecting vehicle data, the actual torque and allowable torque of the vehicle drive motor are determined, and judgment condition criteria are set according to different scenarios to determine whether the vehicle is in an unexpected driving event. Specifically, it includes the judgment of zero torque demand scenarios, over-limit scenarios and oscillation scenarios.
It improves the timeliness and accuracy of the identification results of unexpected events, can more effectively monitor the safety of vehicle torque and meet the expectations of future vehicle safety standards.
Smart Images
Figure CN119459562A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of identification design of unexpected vehicle events, and in particular to an identification method and an identification device for unexpected vehicle events. Background Art
[0002] At present, vehicle torque safety is crucial to the normal driving of the vehicle and the safety of personnel. In order to ensure vehicle torque safety, it is necessary to monitor the vehicle's unexpected acceleration and deceleration status in real time while also monitoring whether the vehicle's real-time torque output intention is consistent with expectations.
[0003] However, the traditional method of identifying abnormal vehicle conditions by using torque overlimit has a certain degree of hysteresis in the identification results, and the judgment based on the relative overlimit value cannot fully meet the expectations of future vehicle safety standards. Summary of the invention
[0004] In view of this, the embodiments of the present application at least provide a method and device for identifying unexpected events of a vehicle. Through the present application, corresponding judgment conditions and criteria can be set for special scenarios to determine whether the vehicle is in an unexpected driving event, thereby improving the timeliness and accuracy of the unexpected event identification results.
[0005] In a first aspect, an exemplary embodiment of the present application provides a method for identifying unexpected vehicle events, including: determining the actual torque and allowable torque of a vehicle drive motor based on collected vehicle data; determining whether the actual torque of the vehicle drive motor exceeds the allowable torque; if the actual torque of the vehicle drive motor exceeds the allowable torque, determining the scene the vehicle is in; and determining whether the vehicle is in an unexpected driving event based on a judgment method corresponding to the scene the vehicle is in.
[0006] Optionally, if the actual torque of the vehicle driving motor exceeds the allowable torque, determining the scene in which the vehicle is located includes:
[0007] If the actual torque of the vehicle drive motor exceeds the allowable torque and the vehicle is in a zero torque demand state, it is determined that the vehicle is in a zero torque demand scenario.
[0008] Optionally, if the actual torque of the vehicle driving motor exceeds the allowable torque, determining the scene in which the vehicle is located includes:
[0009] If the actual torque of the vehicle drive motor exceeds the permissible torque and the vehicle is not in a zero torque demand state, the time during which the actual torque exceeds the permissible torque is accumulated to obtain an excess torque accumulation time, and the excess relative acceleration of the vehicle is determined based on the vehicle data;
[0010] The excess relative acceleration of the vehicle is accumulated to obtain the excess torque accumulated speed of the vehicle;
[0011] Accumulating the excess torque accumulated speed of the vehicle to obtain the excess torque accumulated displacement of the vehicle;
[0012] If at least one of the following conditions is met: the vehicle is determined to be in an over-limit scenario: the accumulated time of over-limit torque exceeds the time limit, the accumulated vehicle speed of over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of over-limit torque exceeds the displacement limit;
[0013] If any one of the conditions that the accumulated time of excess torque exceeds the time limit, the accumulated vehicle speed of excess torque exceeds the vehicle speed limit, and the accumulated displacement of excess torque exceeds the displacement limit is not satisfied, it is determined that the vehicle is in a shock scenario.
[0014] Optionally, the determining whether the vehicle is in an unexpected driving event according to a judgment method corresponding to a scene in which the vehicle is located includes:
[0015] When the vehicle is in an over-limit scenario, when at least one of the following conditions is met: the vehicle is determined to be in an unexpected driving event: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit;
[0016] When the vehicle is in a shock scenario, the rising edges triggered when the actual torque of the vehicle drive motor exceeds the allowable torque are accumulated. If the accumulated number of rising edges detected exceeds N within a driving cycle, it is determined that the vehicle is in an unexpected driving event; N is a positive integer greater than 0.
[0017] Optionally, the determining whether the vehicle is in an unexpected driving event according to a judgment method corresponding to a scene in which the vehicle is located includes:
[0018] When the vehicle is in a zero torque demand scenario, the actual speed of the vehicle is accumulated to obtain the actual moving distance of the vehicle;
[0019] When the actual moving distance of the vehicle exceeds the actual moving distance limit, it is determined that the vehicle is in an unexpected driving event.
[0020] Optionally, the determining of the unexpected driving event includes: unexpected acceleration or unexpected deceleration.
[0021] In a second aspect, an embodiment of the present application further provides a device for identifying unexpected vehicle events, including:
[0022] a torque determination unit, which determines an actual torque and an allowable torque of a vehicle drive motor based on the collected vehicle data;
[0023] a judgment unit, determining whether the actual torque of the vehicle driving motor exceeds the allowable torque;
[0024] a scene determination unit, which determines the scene in which the vehicle is located if the actual torque of the vehicle driving motor exceeds the permissible torque;
[0025] The unexpected event determination unit determines whether the vehicle is in an unexpected driving event according to a judgment method corresponding to the scene in which the vehicle is located.
[0026] Optionally, the scene determination unit specifically includes:
[0027] If the actual torque of the vehicle drive motor exceeds the allowable torque and the vehicle is in a zero torque demand state, it is determined that the vehicle is in a zero torque demand scenario.
[0028] Optionally, the scenario determination unit further includes: if the actual torque of the vehicle driving motor exceeds the allowable torque and the vehicle is not in a zero torque demand state, accumulating the time when the actual torque exceeds the allowable torque to obtain the excess torque accumulation time, and determining the excess relative acceleration of the vehicle based on the vehicle data;
[0029] The excess relative acceleration of the vehicle is accumulated to obtain the excess torque accumulated speed of the vehicle;
[0030] Accumulating the excess torque accumulated speed of the vehicle to obtain the excess torque accumulated displacement of the vehicle;
[0031] If at least one of the following conditions is satisfied: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit, then it is determined that the vehicle is in an over-limit scenario;
[0032] If any one of the conditions that the accumulated time of excess torque exceeds the time limit, the accumulated vehicle speed of excess torque exceeds the vehicle speed limit, and the accumulated displacement of excess torque exceeds the displacement limit is not satisfied, it is determined that the vehicle is in a shock scenario.
[0033] Optionally, the scene determination unit specifically includes: determining whether the vehicle is in an unexpected driving event according to the judgment method corresponding to the scene in which the vehicle is located, including:
[0034] When the vehicle is in an over-limit scenario, when at least one of the following conditions is met: the vehicle is determined to be in an unexpected driving event: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit;
[0035] When the vehicle is in a shock scenario, the rising edges triggered when the actual torque of the vehicle drive motor exceeds the allowable torque are accumulated. If the accumulated number of rising edges detected exceeds N within a driving cycle, it is determined that the vehicle is in an unexpected driving event; N is a positive integer greater than 0.
[0036] Optionally, the scenario determination unit specifically includes: when the vehicle is in a zero torque demand scenario, accumulating the actual vehicle speed to obtain an actual moving distance of the vehicle;
[0037] When the actual moving distance of the vehicle exceeds the actual moving distance limit, it is determined that the vehicle is in an unexpected driving event.
[0038] Optionally, the determining of the unexpected driving event includes: unexpected acceleration or unexpected deceleration.
[0039] In a third aspect, an embodiment of the present application further provides an electronic device, comprising: a processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium through the bus, and the processor executes the machine-readable instructions to perform the steps of the above method.
[0040] In a fourth aspect, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the above method are executed.
[0041] The unexpected event recognition method and recognition device provided in the embodiments of the present application can set corresponding judgment conditions and criteria for special scenarios to determine whether the vehicle is in an unexpected driving event, thereby improving the timeliness and accuracy of the unexpected event recognition results. BRIEF DESCRIPTION OF THE DRAWINGS
[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0043] Figure 1 A schematic diagram showing the existing unexpected torque identification provided by an exemplary embodiment of the present application;
[0044] Figure 2 A flow chart showing a method for identifying unexpected vehicle events provided by an exemplary embodiment of the present application;
[0045] Figure 3 A block diagram showing a device for identifying unexpected vehicle events provided by an exemplary embodiment of the present application;
[0046] Figure 4 A schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present application is shown. DETAILED DESCRIPTION
[0047] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of explanation and description and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn in real proportion. The flowchart used in this application shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can be implemented out of sequence, and the steps without logical context can be reversed in order or implemented simultaneously. In addition, those skilled in the art, under the guidance of the content of the present application, can add one or more other operations to the flowchart, or remove one or more operations from the flowchart.
[0048] The terms "a", "an", "the" and "said" are used in this specification to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusion and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" etc. are used only as labels and are not intended to limit the quantity of their objects.
[0049] It should be understood that in the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" is merely a way to describe the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship. "Including A, B and / or C" means including any one, any two, or any three of A, B, and C.
[0050] It should be understood that in the embodiments of the present application, "B corresponding to A", "B corresponding to A", "A corresponds to B", or "B corresponds to A" means that B is associated with A, and B can be determined according to A. Determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.
[0051] In addition, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.
[0052] At present, vehicle torque safety is crucial to the normal driving of the vehicle and the safety of personnel. In order to ensure vehicle torque safety, it is necessary to monitor the vehicle's unexpected acceleration and deceleration status in real time while also monitoring whether the vehicle's real-time torque output intention is consistent with expectations.
[0053] However, the traditional recognition of unexpected events (e.g., unexpected acceleration or unexpected deceleration, etc.) relies on three indicators: the cumulative time of over-limit torque, the cumulative vehicle speed of over-limit torque, and the cumulative displacement of over-limit torque. If the actual torque of the vehicle drive motor exceeds the allowable torque, but the above three indicators do not exceed their corresponding safety thresholds, the actual torque will oscillate within the safety boundary (e.g., Figure 1 As shown in the scenario above, with the accumulated attenuation, it is difficult to accumulate the over-limit index. Therefore, the unexpected event recognition result has a certain degree of lag and the judgment based on the relative over-limit value cannot fully meet the expectations of future vehicle safety standards.
[0054] In response to at least one of the above-mentioned problems, the present application proposes a method for identifying unexpected vehicle events, which can set corresponding judgment conditions and criteria for special scenarios to determine whether the vehicle is in an unexpected driving event, thereby improving the timeliness and accuracy of the unexpected event identification results.
[0055] To facilitate understanding of the present application, the method and device for identifying unexpected vehicle events provided in the embodiments of the present application are described in detail below.
[0056] See also Figure 1 , is a flowchart of a method for identifying unexpected events of a vehicle provided in an exemplary embodiment of the present application.
[0057] like Figure 1 As shown, a method for identifying an unexpected event of a vehicle in an exemplary embodiment of the present application specifically includes:
[0058] Step S101: Determine the actual torque and the allowable torque of the vehicle drive motor based on the collected vehicle data.
[0059] Here, the allowable torque refers to the maximum torque value that the vehicle drive motor can withstand during operation, and the allowable torque determines the working performance and life of the vehicle drive motor. The actual torque refers to the real torque of the vehicle drive motor collected in real time.
[0060] As an example, the collected vehicle data may include: vehicle speed, battery amplification power, throttle power, etc. Those skilled in the art should understand that the above-mentioned collected vehicle data is not limited to data, but may also be other required data obtained according to actual conditions, which will not be elaborated in this application.
[0061] In the embodiment of the present application, the actual torque and the allowable torque of the current vehicle drive motor may be determined based on the above-collected vehicle data by any existing torque determination method.
[0062] Step S102: Determine whether the actual torque of the vehicle driving motor exceeds the allowable torque.
[0063] If the actual torque of the vehicle driving motor does not exceed the allowable torque, the process returns to step S102 to continue determining whether the actual torque of the vehicle driving motor exceeds the allowable torque.
[0064] If the actual torque of the vehicle's drive motor exceeds the allowable torque, then in step S103, the scene the vehicle is in is determined. Here, the scene the vehicle is in may include a zero torque scene, an over-limit scene, and an oscillation scene. Specifically, the zero torque scene refers to a scene where the vehicle is in a zero torque demand, for example, the vehicle's shift lever is in the parking gear P or the neutral gear N; the over-limit scene refers to a scene where the vehicle is likely to be in an unexpected driving event; the oscillation scene refers to a scene where the actual torque of the vehicle oscillates within the safety boundary. In order to solve the problems raised in the background technology section, the present application specifies more stringent criteria for each of the above-mentioned special scenarios to determine whether the vehicle is in an unexpected event, thereby improving the timeliness and accuracy of the recognition results.
[0065] Specifically, regarding step S102, during specific implementation, the judgment can be made in the following manner:
[0066] If the actual torque of the vehicle drive motor is positive, it is determined whether the actual torque of the vehicle drive motor is greater than the corresponding allowable torque. If the actual torque of the vehicle is greater than the corresponding allowable torque, it is considered that the actual torque of the vehicle drive motor exceeds the allowable torque, and the scene in which the vehicle is located can be further determined.
[0067] If the actual torque of the vehicle's drive motor is negative, it can be determined whether the vehicle's actual torque is less than the corresponding allowable torque. If the vehicle's actual torque is less than the corresponding allowable torque, it is considered that the actual torque of the vehicle's drive motor exceeds the allowable torque, and the vehicle's scenario can be further determined.
[0068] As an example, the scene in which the vehicle is located can be further determined in the following manner:
[0069] If the actual torque of the vehicle drive motor exceeds the permissible torque and the vehicle is in a zero torque demand state, it is determined that the vehicle is in a zero torque demand scenario. Here, as described above, whether the vehicle is in a zero torque demand state can be determined by determining the shift position of the vehicle, for example, if the shift position of the vehicle is in the parking gear P or the neutral gear N, it can be determined that it is in a zero torque demand state.
[0070] Accordingly, if the actual torque of the vehicle drive motor exceeds the allowable torque and the vehicle is not in a zero torque demand state, the time when the actual torque exceeds the allowable torque is accumulated to obtain the excess torque accumulation time, and the excess relative acceleration of the vehicle is determined based on the vehicle data.
[0071] Then, the excess relative acceleration of the vehicle is accumulated to obtain the excess torque accumulated vehicle speed of the vehicle. Specifically, the excess relative acceleration of the vehicle can be accumulated by integrating the excess relative acceleration of the vehicle to obtain the excess torque accumulated vehicle speed of the vehicle.
[0072] Then, the excess torque accumulated speed of the vehicle is accumulated to obtain the excess torque accumulated displacement of the vehicle. Specifically, the excess torque accumulated speed of the vehicle can be accumulated by integrating the excess torque accumulated speed of the vehicle to obtain the excess torque accumulated displacement of the vehicle.
[0073] If at least one of the following conditions is met: the accumulated time of over-limit torque exceeds the time limit, the accumulated speed of over-limit torque exceeds the speed limit, and the accumulated displacement of over-limit torque exceeds the displacement limit, then the vehicle is determined to be in an over-limit scenario. Here, the time limit, the speed limit, and the displacement limit are safety boundary thresholds pre-set based on experience, which are used to evaluate whether the corresponding vehicle parameters are in an abnormal situation.
[0074] If any of the over-torque accumulated time exceeds the time limit, the over-torque accumulated vehicle speed exceeds the vehicle speed limit, and the over-torque accumulated displacement exceeds the displacement limit is not satisfied, then it is determined that the vehicle is in an oscillation scenario. Specifically, when the actual torque of the vehicle drive motor exceeds the allowable torque, if the over-torque accumulated time, the over-torque accumulated vehicle speed, and the over-torque accumulated displacement do not accumulate to the safety boundary threshold, then the accumulation decays over time until the accumulation is eliminated, in which case the vehicle is considered to be in an oscillation scenario.
[0075] Step S104: Determine whether the vehicle is in an unexpected driving event according to the judgment method corresponding to the scene in which the vehicle is located. Here, the determination of the unexpected driving event includes: unexpected acceleration or unexpected deceleration. As an example, unexpected acceleration refers to the situation where the acceleration exceeds the expected torque when it is positive; unexpected deceleration refers to the situation where the acceleration exceeds the expected torque when it is negative.
[0076] In one embodiment of the present application, when the vehicle is in an over-limit scenario, when at least one of the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit is satisfied, it is determined that the vehicle is in an unexpected driving event.
[0077] In another embodiment of the present application, when the vehicle is in a shock scenario, the rising edges triggered when the actual torque of the vehicle drive motor exceeds the allowable torque are accumulated. If the accumulated number of rising edges detected exceeds N within a driving cycle, it is determined that the vehicle is in an unexpected driving event; N is a positive integer greater than 0.
[0078] Here, a driving cycle refers to the complete operation process of the vehicle from ignition start, through the normal operation stage (during this stage, any potential faults should be effectively detected), to the final shutdown. Assuming that when the vehicle is in a shock scenario, N is 3, within a driving cycle, if the actual torque is detected to exceed the allowable torque three times, it is determined that the vehicle is in an unexpected driving event. If the expected torque is positive, the vehicle is in an unexpected acceleration event. If the expected torque is negative, the vehicle is in an unexpected deceleration.
[0079] In another embodiment of the present application, when the vehicle is in a zero torque demand scenario, the actual speed of the vehicle is accumulated to obtain the actual moving distance of the vehicle; when the actual moving distance of the vehicle exceeds the actual moving distance limit, it is determined that the vehicle is in an unexpected driving event.
[0080] Here, the actual moving distance limit is a threshold limit pre-set according to the actual situation. Specifically, the actual vehicle speed can be integrated to accumulate the vehicle speed to obtain the actual moving distance of the vehicle. When the actual moving distance of the vehicle exceeds the actual moving distance limit, if the expected torque is positive, the vehicle is in an unexpected acceleration event, and if the expected torque is negative, the vehicle is in an unexpected deceleration event.
[0081] In summary, according to a method for identifying unexpected vehicle events provided in the present application, corresponding judgment conditions and criteria can be set for special scenarios to determine whether the vehicle is in an unexpected driving event, thereby improving the timeliness and accuracy of the unexpected event identification results.
[0082] Based on the same application concept, an embodiment of the present application also provides a device for identifying unexpected vehicle events corresponding to the method provided in the above embodiment. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the method for identifying unexpected vehicle events in the above embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.
[0083] Figure 3 A schematic diagram of the structure of a device for identifying unexpected vehicle events provided by an exemplary embodiment of the present application. Figure 3 As shown, the vehicle unexpected event recognition device 200 includes:
[0084] The torque determination unit 210 determines the actual torque and the allowable torque of the vehicle drive motor based on the collected vehicle data;
[0085] The judgment unit 220 determines whether the actual torque of the vehicle driving motor exceeds the allowable torque;
[0086] The scene determination unit 230 determines the scene in which the vehicle is located if the actual torque of the vehicle driving motor exceeds the allowable torque;
[0087] The unexpected event determination unit 240 determines whether the vehicle is in an unexpected driving event according to a judgment method corresponding to the scene in which the vehicle is located.
[0088] Optionally, the scenario determination unit 230 specifically includes: if the actual torque of the vehicle driving motor exceeds the allowable torque and the vehicle is in a zero torque demand state, determining that the vehicle is in a zero torque demand scenario.
[0089] Optionally, the scenario determination unit 230 further includes: if the actual torque of the vehicle driving motor exceeds the allowable torque and the vehicle is not in a zero torque demand state, accumulating the time when the actual torque exceeds the allowable torque to obtain the excess torque accumulation time, and determining the excess relative acceleration of the vehicle based on the vehicle data;
[0090] The excess relative acceleration of the vehicle is accumulated to obtain the excess torque accumulated speed of the vehicle;
[0091] Accumulating the excess torque accumulated speed of the vehicle to obtain the excess torque accumulated displacement of the vehicle;
[0092] If at least one of the following conditions is met: the vehicle is determined to be in an over-limit scenario: the accumulated time of over-limit torque exceeds the time limit, the accumulated vehicle speed of over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of over-limit torque exceeds the displacement limit;
[0093] If any one of the conditions that the accumulated time of excess torque exceeds the time limit, the accumulated vehicle speed of excess torque exceeds the vehicle speed limit, and the accumulated displacement of excess torque exceeds the displacement limit is not satisfied, it is determined that the vehicle is in a shock scenario.
[0094] Optionally, the scene determination unit 230 specifically includes: determining whether the vehicle is in an unexpected driving event according to the judgment method corresponding to the scene in which the vehicle is located, including:
[0095] When the vehicle is in an over-limit scenario, when at least one of the following conditions is met: the vehicle is determined to be in an unexpected driving event: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit;
[0096] When the vehicle is in a shock scenario, the rising edges triggered when the actual torque of the vehicle drive motor exceeds the allowable torque are accumulated. If the accumulated number of rising edges detected exceeds N within a driving cycle, it is determined that the vehicle is in an unexpected driving event; N is a positive integer greater than 0.
[0097] Optionally, the scenario determination unit 230 specifically includes: when the vehicle is in a zero torque demand scenario, accumulating the actual vehicle speed to obtain an actual moving distance of the vehicle;
[0098] When the actual moving distance of the vehicle exceeds the actual moving distance limit, it is determined that the vehicle is in an unexpected driving event.
[0099] Optionally, the determining of the unexpected driving event includes: unexpected acceleration or unexpected deceleration.
[0100] See also Figure 4 , Figure 4 The schematic diagram of the structure of the electronic device provided by the exemplary embodiment of the present application. Figure 4 As shown, the electronic device 300 includes a processor 310 , a memory 320 and a bus 330 .
[0101] The memory 320 stores machine-readable instructions executable by the processor 310. When the electronic device 300 is running, the processor 310 communicates with the memory 320 via the bus 330. When the machine-readable instructions are executed by the processor 310, the steps of the method for identifying unexpected vehicle events in any of the above embodiments can be executed.
[0102] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the method for identifying unexpected vehicle events in any of the above embodiments can be executed.
[0103] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. In the several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0104] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0105] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0106] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of 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 application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.
[0107] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A method for identifying unexpected vehicle events, characterized in that: include: Determine the actual torque and the allowable torque of the vehicle drive motor based on the collected vehicle data; determining whether the actual torque of the vehicle drive motor exceeds the allowable torque; If the actual torque of the vehicle drive motor exceeds the permissible torque, determining the scene the vehicle is in; Determine whether the vehicle is in an unexpected driving event based on the judgment method corresponding to the scene in which the vehicle is located.
2. The identification method according to claim 1, characterized in that: If the actual torque of the vehicle driving motor exceeds the allowable torque, determining the scene in which the vehicle is located includes: If the actual torque of the vehicle drive motor exceeds the allowable torque and the vehicle is in a zero torque demand state, it is determined that the vehicle is in a zero torque demand scenario.
3. The identification method according to claim 2, characterized in that: If the actual torque of the vehicle driving motor exceeds the allowable torque, determining the scene in which the vehicle is located includes: If the actual torque of the vehicle drive motor exceeds the permissible torque and the vehicle is not in a zero torque demand state, the time during which the actual torque exceeds the permissible torque is accumulated to obtain an excess torque accumulation time, and the excess relative acceleration of the vehicle is determined based on the vehicle data; The excess relative acceleration of the vehicle is accumulated to obtain the excess torque accumulated speed of the vehicle; Accumulating the excess torque accumulated speed of the vehicle to obtain the excess torque accumulated displacement of the vehicle; If at least one of the following conditions is satisfied: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit, then it is determined that the vehicle is in an over-limit scenario; If any one of the conditions that the accumulated time of excess torque exceeds the time limit, the accumulated vehicle speed of excess torque exceeds the vehicle speed limit, and the accumulated displacement of excess torque exceeds the displacement limit is not satisfied, it is determined that the vehicle is in a shock scenario.
4. The identification method according to claim 3, characterized in that: The determining whether the vehicle is in an unexpected driving event according to a judgment method corresponding to the scene in which the vehicle is located includes: When the vehicle is in an over-limit scenario, when at least one of the following conditions is met: the vehicle is determined to be in an unexpected driving event: the accumulated time of the over-limit torque exceeds the time limit, the accumulated vehicle speed of the over-limit torque exceeds the vehicle speed limit, and the accumulated displacement of the over-limit torque exceeds the displacement limit; When the vehicle is in a shock scenario, the rising edges triggered when the actual torque of the vehicle drive motor exceeds the allowable torque are accumulated. If the accumulated number of rising edges detected exceeds N within a driving cycle, it is determined that the vehicle is in an unexpected driving event; N is a positive integer greater than 0.
5. The identification method according to claim 2, characterized in that: The determining whether the vehicle is in an unexpected driving event according to a judgment method corresponding to the scene in which the vehicle is located includes: When the vehicle is in a zero torque demand scenario, the actual speed of the vehicle is accumulated to obtain the actual moving distance of the vehicle; When the actual moving distance of the vehicle exceeds the actual moving distance limit, it is determined that the vehicle is in an unexpected driving event.
6. The identification method according to claim 1, characterized in that: The determination of the unexpected driving event includes: unexpected acceleration or unexpected deceleration.
7. A vehicle unexpected event recognition device, characterized in that: include: a torque determination unit, which determines an actual torque and an allowable torque of a vehicle drive motor based on the collected vehicle data; a judgment unit, determining whether the actual torque of the vehicle driving motor exceeds the allowable torque; a scene determination unit, which determines the scene in which the vehicle is located if the actual torque of the vehicle driving motor exceeds the permissible torque; The unexpected event determination unit determines whether the vehicle is in an unexpected driving event according to a judgment method corresponding to the scene in which the vehicle is located.
8. The identification device according to claim 7, characterized in that The scene determination unit specifically includes: If the actual torque of the vehicle drive motor exceeds the allowable torque and the vehicle is in a zero torque demand state, it is determined that the vehicle is in a zero torque demand scenario.
9. An electronic device, characterized in that: include: A processor, a storage medium and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the storage medium communicate via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 6.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are executed.