Wheel rotating speed control method and device, vehicle, system and storage medium

Abstract

The embodiment of the invention provides a wheel rotating speed control method and device, a vehicle, a system and a storage medium, and the method comprises the steps: obtaining a target parameter of the vehicle in an automatic driving process; the target parameters of the vehicle comprise at least one of a tire pressure parameter, a temperature parameter of an engine and a vehicle moving distance parameter; when it is detected that the target parameters of the vehicle are abnormal, the target value of the wheel rotating speed of the vehicle is determined based on the target parameters; and adjusting the wheel rotating speed of the vehicle based on the target value of the wheel rotating speed. The method is used for reducing potential safety hazards and improving the safety of the vehicle during automatic driving.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a wheel speed control method, device, vehicle, system and storage medium. Background Art

[0002] With the development of science and technology and the application of artificial intelligence technology, autonomous driving computing has been rapidly developed and widely used. When a vehicle is driving autonomously, accurate control of wheel speed is one of the important factors to ensure the safety and reliability of the vehicle's autonomous operation. In some technologies, the wheel speed is usually adjusted according to the speed limit of the vehicle's driving road, the road conditions of the vehicle's driving road, etc., to adjust the vehicle speed.

[0003] The above method only adjusts the wheel speed of the vehicle according to the road conditions. When the vehicle is abnormal, such as abnormal tire pressure, the wheel speed of the vehicle cannot be adjusted in time, which poses certain safety hazards and reduces the safety of the vehicle during automatic driving. Summary of the invention

[0004] In view of this, the present application provides a wheel speed control method, device, vehicle, system and storage medium to reduce safety hazards and improve the safety of the vehicle during automatic driving.

[0005] In a first aspect, an embodiment of the present application provides a wheel speed control method, comprising: obtaining a target parameter of a vehicle during an automatic driving process; the target parameter of the vehicle comprises at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter;

[0006] When an abnormality is detected in a target parameter of the vehicle, determining a target value of a wheel speed of the vehicle based on the target parameter;

[0007] Based on the target value of the wheel speed, the wheel speed of the vehicle is adjusted.

[0008] In a possible implementation manner of the first aspect, detecting that a target parameter of the vehicle is abnormal includes:

[0009] When the target parameters of the vehicle include tire pressure parameters, if it is detected that the tire pressure parameter of the vehicle is greater than a first preset tire pressure threshold or less than a second preset tire pressure threshold, it is determined that the tire pressure of the vehicle is abnormal; the first preset tire pressure threshold is greater than the second preset tire pressure threshold.

[0010] In a possible implementation manner of the first aspect, when it is detected that a target parameter of the vehicle is abnormal, determining a target value of a wheel speed of the vehicle based on the target parameter includes:

[0011] If an abnormal tire pressure parameter is detected in the vehicle, a target value of the wheel speed corresponding to the tire pressure parameter of the vehicle is determined based on the tire pressure parameter of the vehicle and preset first mapping information; the first mapping information is a preset correspondence between different vehicle tire pressure values ​​and wheel speeds.

[0012] In a possible implementation manner of the first aspect, detecting that a target parameter of the vehicle is abnormal includes:

[0013] When the target parameter of the vehicle includes a temperature parameter of an engine, if it is detected that the temperature parameter of the engine in the vehicle is greater than a preset temperature threshold, it is determined that the temperature parameter of the engine is abnormal.

[0014] In a possible implementation manner of the first aspect, when detecting that a target parameter of the vehicle is abnormal, determining a target value of a wheel speed of the vehicle based on the target parameter includes:

[0015] If it is detected that a temperature parameter of an engine in the vehicle is abnormal, determining a current speed of the vehicle;

[0016] Determining an adjustment value of the wheel speed of the vehicle based on the current vehicle speed and preset second mapping information; the second mapping information is a preset correspondence between different vehicle speeds and wheel speed adjustment values ​​when the temperature parameter of the engine is abnormal;

[0017] Based on the adjustment value of the wheel speed, a target value of the wheel speed is determined.

[0018] In a possible implementation manner of the first aspect, when detecting that a target parameter of the vehicle is abnormal, determining a target value of a wheel speed of the vehicle based on the target parameter includes:

[0019] When the target parameter of the vehicle includes a vehicle movement distance parameter, determining a current rotation speed of a wheel in the vehicle;

[0020] Detecting whether a parameter of the vehicle moving distance is abnormal based on a current rotation speed of the wheel and a preset slip rate within a preset time;

[0021] If abnormal, determining the target moving distance of the vehicle within a preset time based on the vehicle moving distance parameter and the preset slip rate;

[0022] A target value of the wheel speed of the vehicle is determined based on the target moving distance of the vehicle and the preset time.

[0023] In a possible implementation manner of the first aspect, the detecting whether the vehicle moving distance parameter is abnormal based on the current rotation speed and the preset slip rate of the wheel within the preset time includes:

[0024] Determining a current slip rate of the vehicle based on a current rotation speed of the wheel and a distance parameter of the vehicle within a preset time;

[0025] If the current slip rate of the vehicle does not match the preset slip rate, it is determined that the vehicle moving distance parameter is abnormal.

[0026] In a possible implementation manner of the first aspect, the method further includes:

[0027] When an abnormality is detected in the target parameters of the vehicle, an alarm message is issued.

[0028] In a possible implementation manner of the first aspect, the method further includes:

[0029] When an abnormality is detected in a target parameter of the vehicle, the abnormal target parameter is stored.

[0030] In a second aspect, an embodiment of the present application provides a wheel speed control device, comprising: a detection unit, configured to detect a target parameter of a vehicle during an automatic driving process; the target parameter of the vehicle comprises at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter;

[0031] a processing unit, configured to determine a target value of a wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle;

[0032] An adjusting unit is used to adjust the vehicle speed of the vehicle based on the target value of the wheel speed.

[0033] In a third aspect, an embodiment of the present application provides a wheel speed control system, including: a parameter detection module, a data analysis module, a distributed drive control module, and a drive module;

[0034] The parameter detection module is electrically connected to the data analysis module, the data analysis module is electrically connected to the distributed drive control module, and the distributed drive control module is electrically connected to the drive module;

[0035] The parameter detection module is used to obtain target parameters;

[0036] The data analysis module is used to determine a target value of the wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle, and transmit the target value of the wheel speed to the distributed drive control module;

[0037] The distributed drive control module is used to adjust the wheel speed of the drive module based on the target value of the wheel speed.

[0038] In a possible implementation manner of the third aspect, the parameter detection module includes at least one of a laser rangefinder, a tire pressure sensor, and a temperature sensor.

[0039] In a fourth aspect, an embodiment of the present application provides a vehicle including the wheel speed control device described in the second aspect above, or including the wheel speed control system described in any one of the third aspect above.

[0040] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any method described in the first aspect.

[0041] By adopting the scheme provided in the embodiment of the present application, during the automatic driving process, the target parameters of the vehicle are detected; the target parameters of the vehicle include at least one of the tire pressure parameters, the temperature parameters of the engine, and the vehicle moving distance parameters; when an abnormality is detected in the target parameters of the vehicle, the target value of the wheel speed of the vehicle is determined based on the target parameters; and the wheel speed of the vehicle is adjusted based on the target value of the vehicle speed. That is, in the embodiment of the present application, the target parameters of the vehicle can be detected in real time during the automatic driving process, and when an abnormality is detected in the target parameters, the wheel speed can be adjusted in time to reduce the possibility of safety hazards and improve the safety and reliability of the vehicle. 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. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 A schematic diagram of a flow chart of a wheel speed control method provided in an embodiment of the present application;

[0044] Figure 2 A schematic flow chart of another wheel speed control method provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the structure of a wheel speed control device provided in an embodiment of the present application;

[0046] Figure 4 A schematic diagram of the structure of a wheel speed control system provided in an embodiment of the present application;

[0047] Figure 5a A schematic diagram of the structure of another wheel speed control system provided in an embodiment of the present application;

[0048] Figure 5b A schematic diagram of the structure of another wheel speed control system provided in an embodiment of the present application;

[0049] Figure 6 A schematic diagram of the structure of a single chip microcomputer provided in an embodiment of the present application. DETAILED DESCRIPTION

[0050] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0051] It should be clear that the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0052] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0053] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0054] In the related art, the wheel speed is usually adjusted according to the speed limit of the road on which the vehicle is traveling, the road conditions of the road on which the vehicle is traveling, etc., to adjust the vehicle speed during automatic driving. When the above method adjusts the wheel speed of the vehicle, it is only adjusted according to the road conditions. When the vehicle is abnormal, such as the tire pressure of the vehicle is abnormal, the wheel speed of the vehicle cannot be adjusted in time, which poses certain safety hazards and reduces the safety of the vehicle during automatic driving.

[0055] In response to the above problems, the embodiments of the present application provide a wheel speed control method, device, vehicle, system and storage medium. The method specifically comprises: during the automatic driving process, detecting the target parameters of the vehicle; the target parameters of the vehicle include at least one of the tire pressure parameters, the temperature parameters of the engine, and the vehicle moving distance parameters; when an abnormality is detected in the target parameters of the vehicle, determining the target value of the wheel speed of the vehicle based on the target parameters; and adjusting the wheel speed of the vehicle based on the target value of the vehicle speed. That is, in the embodiments of the present application, the target parameters of the vehicle can be detected in real time during the automatic driving process, that is, at least one of the tire pressure parameters, the temperature parameters of the engine, and the vehicle moving distance parameters can be detected in real time. When an abnormality is detected in the target parameters, the wheel speed can be adjusted in time to reduce the possibility of safety hazards and improve the safety and reliability of the vehicle. The following is a detailed description.

[0056] See also Figure 1 , is a flow chart of a wheel speed control method provided in an embodiment of the present application. Figure 1 As shown, the method includes:

[0057] Step S101: During the automatic driving process, obtain the target parameters of the vehicle.

[0058] The target parameter includes at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter.

[0059] In the embodiment of the present application, in the process of automatic driving, not only can the wheel speed be adjusted according to the road conditions of the vehicle, but also the target parameters of the vehicle can be detected so as to adjust the wheel speed according to the target parameters of the vehicle. As the driving time of the vehicle increases during the driving process, the values ​​of the tire pressure parameters, engine temperature parameters, and vehicle moving distance parameters in the vehicle will also change accordingly. The values ​​of the tire pressure parameters, engine temperature parameters, and vehicle moving distance parameters in the vehicle may be abnormal during the change process. After the above parameters are abnormal, it will not cause the vehicle to be unable to drive, but if the above parameters continue to be abnormal during driving, it may cause tire blowouts and pose a safety hazard. In order to reduce the possibility of safety hazards of the vehicle during automatic driving, at least one of the tire pressure parameters, engine temperature parameters, and vehicle moving distance parameters can be detected. Therefore, at least one of the tire pressure parameters, engine temperature parameters, and vehicle moving distance parameters can be obtained. That is, the target parameters of the vehicle can be obtained in real time or periodically.

[0060] It should be understood that the target parameters may also include other parameters of the vehicle whose values ​​may change during the driving of the vehicle, and the embodiments of the present application are not limited to this.

[0061] In some embodiments, a sensor for detecting a target parameter may be provided in the vehicle, and the wheel speed control device may obtain the target parameter through the sensor of the target parameter. For example, a tire pressure sensor may be provided in the vehicle, and the tire pressure parameter of the vehicle may be obtained through the tire pressure sensor. A tire pressure sensor may be provided for each wheel of the vehicle, so that the tire pressure parameter of each wheel of the vehicle may be obtained respectively.

[0062] Step S102: When it is detected that the target parameter of the vehicle is abnormal, a target value of the wheel speed of the vehicle is determined based on the target parameter.

[0063] In the embodiment of the present application, after the target parameters are obtained, it is possible to detect whether the target parameters of the vehicle are abnormal. If it is detected that the target parameters of the vehicle are abnormal, the wheel speed of the vehicle can be adjusted according to the target parameters in order to improve the safety of the vehicle. That is, the target value of the wheel speed of the vehicle can be determined according to the target parameters.

[0064] The target parameters are different, and the methods of detecting whether the target parameters are abnormal and determining the wheel speed corresponding to the target parameters are also different.

[0065] As a possible implementation method, detecting that there is an abnormality in the target parameters of the vehicle includes: when the target parameters of the vehicle include tire pressure parameters, if it is detected that the tire pressure parameter of the vehicle is greater than a first preset tire pressure threshold or less than a second preset tire pressure threshold, it is determined that the tire pressure of the vehicle is abnormal.

[0066] Among them, the first preset tire pressure threshold is greater than the second preset tire pressure threshold.

[0067] In the embodiment of the present application, when the target parameter includes the tire pressure parameter of the wheel, after the wheel speed control device obtains the tire pressure parameter of the wheel, it can compare the obtained tire pressure parameter with the first preset tire pressure threshold and the second preset tire pressure threshold. When it is detected that the tire pressure parameter is greater than the first preset tire pressure threshold, it means that the tire pressure of the current wheel is too high, and it can be determined that the tire pressure of the vehicle is abnormal. Alternatively, when it is detected that the tire pressure parameter is less than the second preset tire pressure threshold, it means that the tire pressure of the current wheel is too low, and it can be determined that the tire pressure of the vehicle is abnormal.

[0068] That is to say, when the tire pressure of the vehicle is greater than the second preset tire pressure threshold and less than the first preset tire pressure threshold, it means that the tire pressure of the current vehicle is moderate and it is not easy for the tire pressure to cause a tire blowout. When the tire pressure of the wheel is greater than the first preset tire pressure threshold, it means that the tire pressure of the wheel is too high and it is easy to cause a tire blowout. Alternatively, when the tire pressure of the wheel is less than the second preset tire pressure threshold, it means that the tire pressure of the wheel is too low and it is also easy to cause a tire blowout. When it is detected that the tire pressure parameter of the vehicle is greater than the first preset tire pressure threshold or less than the second preset tire pressure threshold, it can be determined that the tire pressure of the vehicle is abnormal.

[0069] In some embodiments, when the target parameter of the vehicle is detected to be abnormal, determining the target value of the wheel speed of the vehicle based on the target parameter includes:

[0070] If an abnormal tire pressure parameter in the vehicle is detected, a target value of the wheel speed corresponding to the tire pressure parameter of the vehicle is determined based on the tire pressure parameter of the vehicle and preset first mapping information.

[0071] The first mapping information is a preset correspondence between tire pressure values ​​and wheel speeds of different vehicles.

[0072] In the embodiment of the present application, in order to reduce the complexity of adjusting the wheel speed, the first mapping information can be preset. The first mapping information contains the correspondence between different tire pressure values ​​and wheel speeds. In this way, when an abnormal tire pressure parameter in the vehicle is detected, the first mapping information can be searched according to the current tire pressure parameter of the vehicle, and the target value of the wheel speed corresponding to the current tire pressure parameter of the vehicle can be determined in the first mapping information.

[0073] In some embodiments, since the vehicle has four wheels, the detected tire pressure parameters of the wheels are four. The wheel speed can be determined based on the abnormal tire pressure parameter. When the vehicle has at least two abnormal tire pressure parameters, the values ​​of the wheel speed corresponding to the abnormal tire pressure parameters can be determined respectively, and the average value of the wheel speed corresponding to the at least two abnormal tire pressure parameters can be calculated, and the average value can be used as the target value of the wheel speed to adjust the vehicle speed. Alternatively, any one of the values ​​of the wheel speed corresponding to at least two abnormal tire pressure parameters can be determined as the target value of the wheel speed. Of course, the target values ​​of the wheel speed corresponding to the two abnormal tire pressure parameters can also be calculated in other ways. The embodiments of the present application are not limited to this.

[0074] As a possible implementation method, the above detection of abnormalities in the target parameters of the vehicle includes:

[0075] When the target parameter of the vehicle includes a temperature parameter of the engine, if it is detected that the temperature parameter of the engine in the vehicle is greater than a preset temperature threshold, it is determined that the temperature parameter of the engine is abnormal.

[0076] Since the engine temperature is too high, the temperature of the air entering the engine will also increase, resulting in a decrease in the actual intake volume, thereby reducing the engine's charging efficiency. Reduced charging efficiency will lead to reduced engine power and torque, which manifests as insufficient engine power. This may increase the power and cause the wheel speed to be too fast. Based on this, in an embodiment of the present application, when the target parameters of the vehicle include the temperature parameters of the engine, the wheel speed control device can compare the engine temperature parameters with a preset temperature threshold after obtaining the engine temperature parameters. If the temperature parameters of the transmitter are greater than the preset temperature threshold, it means that the current engine temperature is too high, and it can be determined that the engine temperature parameters are abnormal.

[0077] It should be noted that the preset temperature threshold is a threshold that is pre-set according to actual needs to determine whether the engine temperature is too high.

[0078] In some embodiments, when the target parameter of the vehicle is detected to be abnormal, determining the target value of the wheel speed of the vehicle based on the target parameter includes:

[0079] If an abnormal temperature parameter of an engine in the vehicle is detected, a current speed of the vehicle is determined.

[0080] Based on the current vehicle speed and the preset second mapping information, an adjustment value of the wheel speed of the vehicle is determined.

[0081] The second mapping information is a preset correspondence between different vehicle speeds and wheel speed adjustment values ​​when the temperature parameter of the engine is abnormal.

[0082] Based on the adjustment value of the wheel speed, a target value of the wheel speed is determined.

[0083] That is, when the temperature parameter of the engine in the vehicle is detected to be abnormal, it means that the engine temperature is too high. In order to adjust the speed of the vehicle more safely, it is necessary to determine the current speed of the vehicle first. In some embodiments, the wheel speed control device can obtain the current speed of the vehicle by reading parameters during the automatic driving process. Alternatively, the current speed can also be calculated according to the current wheel speed. After obtaining the current speed of the vehicle, the preset second mapping information can be searched according to the current speed of the vehicle. Among them, the second mapping information contains the corresponding relationship between different speeds and wheel speed adjustment values. Usually, the wheel speed adjustment value recorded in the second mapping information refers to the value that the wheel speed needs to be reduced. In this way, when the temperature of the engine in the vehicle is detected to be abnormal, the second mapping information can be searched according to the current speed of the vehicle, and the adjustment value of the wheel speed corresponding to the current speed of the vehicle can be determined in the second mapping information. That is, the value of the speed reduction required for the current speed of the vehicle. After determining the wheel speed adjustment value, the target value of the wheel speed can be determined according to the current speed of the wheel and the wheel speed adjustment value. For example, the difference between the current speed of the wheel and the wheel speed adjustment value is the target value of the wheel speed.

[0084] As a possible implementation manner, when it is detected that an abnormality exists in a target parameter of the vehicle, determining a target value of the wheel speed of the vehicle based on the target parameter includes:

[0085] When the target parameter of the vehicle includes a vehicle travel distance parameter, a current rotation speed of wheels in the vehicle is determined.

[0086] Based on the current rotation speed of the wheel and the preset slip rate within the preset time, detect whether the vehicle movement distance parameter is abnormal.

[0087] If abnormal, the target moving distance of the vehicle is determined based on the vehicle moving distance parameter and the preset slip rate.

[0088] Based on the target moving distance of the vehicle and the preset time, a target value of the wheel speed of the vehicle is determined.

[0089] During the process of automatic driving, the vehicle may pass through muddy or slippery roads and other poor road conditions. When the road surface is poor, the actual rotation speed of the wheel may not match the actual distance traveled by the vehicle. For example, when the road surface is poor, the wheel may spin or the wheel may be locked. Based on this, in an embodiment of the present application, when the target parameter includes a vehicle moving distance parameter, the wheel speed control device can determine whether the current wheel speed of the vehicle matches the vehicle moving distance parameter after obtaining the vehicle moving distance parameter. The wheel speed control device can determine the current speed of the wheel in the vehicle. For example, the wheel speed control device can calculate the current speed of the wheel by reading the current speed of the vehicle. Alternatively, the wheel speed control device can directly obtain the current speed of the wheel by reading the parameters during the automatic driving process. Of course, the wheel speed control device can also obtain the current speed of the wheel in the vehicle by a method, which is not limited in the embodiment of the present application.

[0090] After determining the current rotation speed of the wheel, the wheel speed control device can determine whether the vehicle moving distance parameter is abnormal according to the current rotation speed of the wheel and the preset slip rate within a preset time. For example, the target moving distance of the vehicle within the preset time can be calculated according to the current rotation speed of the wheel. According to the target moving distance of the vehicle and the preset slip rate, it is detected whether the vehicle moving distance parameter is abnormal. That is, the possible moving distance of the vehicle can be calculated according to the target moving distance of the vehicle and the preset slip rate. If the possible moving distance of the vehicle does not match the vehicle moving distance parameter, it can be determined that the vehicle moving distance parameter is abnormal.

[0091] Alternatively, in some embodiments, detecting whether the vehicle travel distance parameter is abnormal based on the current rotation speed of the wheel and the preset slip rate within the preset time includes: determining the current slip rate of the vehicle based on the current rotation speed of the wheel and the vehicle travel distance parameter within the preset time. If the current slip rate of the vehicle does not match the preset slip rate, determining that the vehicle travel distance parameter is abnormal.

[0092] That is, the wheel speed control device can calculate the theoretical speed of the vehicle according to the current speed of the wheel. In some embodiments, the theoretical speed of the vehicle can be calculated according to the formula v=d*n / 1885.04. Among them, v represents the theoretical speed of the vehicle. d represents the diameter of the wheel, and n represents the current speed of the wheel. Of course, the wheel speed control device can calculate the theoretical speed of the vehicle according to the wheel speed in other ways, and the embodiments of the present application are not limited to this. The actual speed of the vehicle is calculated based on the preset time and the vehicle moving distance parameters.

[0093] After calculating the theoretical speed and the actual speed of the vehicle, the current slip rate of the vehicle can be determined based on the theoretical speed and the actual speed of the vehicle. For example, the current slip rate of the vehicle can be calculated according to the formula S=V1-V2 / V1. Among them, S represents the current slip rate of the vehicle, V1 represents the theoretical speed of the vehicle, and V2 represents the actual speed of the vehicle. The current slip rate of the vehicle is compared with the preset slip rate. If the current slip rate of the vehicle does not match the preset slip rate, for example, the current slip rate of the vehicle is no longer equal to the preset slip rate within the error range, it is determined that the vehicle movement distance parameter is abnormal.

[0094] If it is determined that the vehicle moving distance parameter is abnormal, it means that the current wheel speed needs to be adjusted. At this time, the wheel speed control device can determine the target moving distance of the vehicle within the preset time according to the vehicle moving distance parameter and the preset slip rate. For example, the target moving distance of the vehicle within the preset time can be calculated according to the above formula S=V1-V2 / V1. According to the target moving distance of the vehicle and the preset time, the target speed of the vehicle can be calculated, and then the target value of the wheel speed of the vehicle can be calculated according to the target speed of the vehicle.

[0095] Step S103: adjusting the wheel speed of the vehicle based on the target value of the wheel speed.

[0096] In an embodiment of the present application, after determining the target value of the wheel speed, the wheel speed of the vehicle can be adjusted to the target value. In this way, during the automatic driving process, if the tire pressure parameters and / or engine temperature parameters of the vehicle are abnormal, the wheel speed of the vehicle can be adjusted to the target value to reduce the wheel speed, leaving enough time for the vehicle to park in a safe position, thereby improving the safety and reliability of the vehicle. In addition, when the road surface is poor, the wheel speed of the vehicle can also be adjusted to the target value to prevent the wheel speed from slipping due to excessively fast wheel speed or wheel locking due to excessively slow wheel speed on sections with poor road surfaces, thereby improving the safety and reliability of the vehicle.

[0097] As a possible implementation, Figure 2 As shown, the above method also includes:

[0098] Step S104: When an abnormality is detected in the target parameters of the vehicle, an alarm message is issued.

[0099] In an embodiment of the present application, in order to further improve the safety of vehicle driving, when an abnormality in the target parameter of the vehicle is detected, an alarm message can be issued to remind the driver to check in time. For example, the abnormality of the target parameter can be displayed on the display screen of the vehicle, or the alarm message can be sent by voice broadcast. In this way, the driver can receive the alarm message, so that the driver can perform corresponding operations to improve the safety of vehicle driving. For example, the driver can switch from automatic driving mode to manual driving, and park the vehicle in a safe position as soon as possible, and perform corresponding tests to eliminate the abnormality of the target parameter.

[0100] As a possible implementation, Figure 2 As shown, the above method also includes:

[0101] Step S105: When it is detected that the target parameters of the vehicle are abnormal, the abnormal target parameters are stored.

[0102] In an embodiment of the present application, in order to facilitate the subsequent analysis of abnormal target parameters in the vehicle and further improve the safety of vehicle driving, the abnormal target parameters can be stored when abnormalities are detected in the target parameters of the vehicle. For example, they are stored in a data storage module. In some embodiments, if there is not enough storage space in the data storage module to store abnormal target parameters, the first data stored in the data storage module can be deleted according to the first-in-first-out principle to ensure that there is enough space in the data storage module to store abnormal target parameters.

[0103] In some embodiments, in order to further improve the reliability of storage, the abnormal target parameters can be uploaded to the cloud server, and the abnormal target parameters can also be stored in the cloud server. In this way, when the data storage module is abnormal, the abnormal target parameters can be obtained from the cloud server for corresponding analysis to improve the reliability of storage. In addition, storing the abnormal target parameters in the cloud server can facilitate relevant personnel to perform remote diagnosis and analysis to eliminate safety hazards and improve the safety and reliability of the vehicle.

[0104] Thus, in the embodiment of the present application, the wheel speed control device intelligently controls the wheel speed according to the actual driving condition and road conditions of the vehicle, such as automatically adjusting the speed on a muddy or slippery road to prevent slipping. When the tire pressure and / or engine temperature in the vehicle are abnormal, the wheel speed is adjusted in time, and the abnormal target parameters in the vehicle can be analyzed and fed back to the driver in time, eliminating safety hazards and improving the safety and reliability of the vehicle.

[0105] Furthermore, the wheel speed control device can detect the target parameters in the vehicle in real time, such as driving distance, tire pressure and engine temperature, etc., and can detect more comprehensive vehicle status information, and adjust the wheel speed when the target parameter is detected to improve the safety and reliability of the vehicle. In addition, when the target parameter is detected to be abnormal, an alarm message can be sent to the driver to promptly remind the driver to conduct corresponding inspections, further improving the safety and reliability of the vehicle.

[0106] Furthermore, the detected abnormal target parameters can not only be stored in the data storage module, but also uploaded to the cloud server storage to ensure the security and traceability of the data, while also facilitating remote diagnosis and analysis to reduce the possibility of vehicle safety hazards and improve the safety and reliability of the vehicle.

[0107] refer to Figure 3 , is a schematic diagram of the structure of a wheel speed control device provided in an embodiment of the present application. Figure 3 As shown, the wheel speed control device comprises:

[0108] The detection unit 301 is used to detect target parameters of the vehicle during the automatic driving process.

[0109] The target parameter of the vehicle includes at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter.

[0110] The processing unit 302 is used to determine a target value of the wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle.

[0111] The adjusting unit 303 is used to adjust the vehicle speed of the vehicle based on the target value of the wheel speed.

[0112] As a possible implementation, the processing unit 302 is specifically used to determine that the tire pressure of the vehicle is abnormal if it is detected that the tire pressure parameter of the vehicle is greater than a first preset tire pressure threshold or less than a second preset tire pressure threshold when the target parameters of the vehicle include tire pressure parameters.

[0113] Among them, the first preset tire pressure threshold is greater than the second preset tire pressure threshold.

[0114] As a possible implementation, the processing unit 302 is specifically used to determine a target value of the wheel speed corresponding to the tire pressure parameter of the vehicle based on the tire pressure parameter of the vehicle and preset first mapping information if an abnormal tire pressure parameter in the vehicle is detected.

[0115] The first mapping information is a preset correspondence between tire pressure values ​​and wheel speeds of different vehicles.

[0116] As a possible implementation, the processing unit 302 is specifically configured to determine that the temperature parameter of the engine is abnormal if it is detected that the temperature parameter of the engine in the vehicle is greater than a preset temperature threshold when the target parameter of the vehicle includes the temperature parameter of the engine.

[0117] As a possible implementation, the processing unit 302 is specifically configured to determine the current speed of the vehicle if an abnormal temperature parameter of the engine in the vehicle is detected. Based on the current speed of the vehicle and the preset second mapping information, determine the adjustment value of the wheel speed of the vehicle. Based on the adjustment value of the wheel speed, determine the target value of the wheel speed.

[0118] The second mapping information is a preset correspondence between different vehicle speeds and wheel speed adjustment values ​​when the temperature parameter of the engine is abnormal.

[0119] As a possible implementation, the processing unit 302 is specifically configured to determine the current rotation speed of the wheels of the vehicle when the target parameter of the vehicle includes a vehicle moving distance parameter. Detect whether the vehicle moving distance parameter is abnormal based on the current rotation speed of the wheels and a preset slip ratio within a preset time. If abnormal, determine the target moving distance of the vehicle within the preset time based on the vehicle moving distance parameter and the preset slip ratio. Determine the target value of the wheel speed of the vehicle based on the target moving distance of the vehicle and the preset time.

[0120] As a possible implementation method, the processing unit 302 is specifically used to determine the current slip rate of the vehicle based on the current rotation speed of the wheel and the vehicle moving distance parameter within a preset time; if the current slip rate of the vehicle does not match the preset slip rate, it is determined that the vehicle moving distance parameter is abnormal.

[0121] As a possible implementation manner, the processing unit 302 is further configured to issue an alarm message when an abnormality is detected in a target parameter of the vehicle.

[0122] As a possible implementation manner, the processing unit 302 is further configured to store the abnormal target parameters when it is detected that the target parameters of the vehicle are abnormal.

[0123] refer to Figure 4 , is a schematic diagram of the structure of a wheel speed control system provided by an embodiment of the present application. Figure 4 As shown, the wheel speed control system includes: a parameter detection module 401 , a data analysis module 402 , a distributed drive control module 403 , and a drive module 404 .

[0124] The parameter detection module 401 is electrically connected to the data analysis module 402 , the data analysis module 402 is electrically connected to the distributed drive control module 403 , and the distributed drive control module 403 is electrically connected to the drive module 404 .

[0125] The parameter detection module 401 is used to obtain target parameters.

[0126] The data analysis module 402 is used to determine a target value of the wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle, and transmit the target value of the wheel speed to the distributed drive control module 403.

[0127] The distributed drive control module 403 is used to adjust the wheel speed of the drive module 404 based on the target value of the wheel speed.

[0128] As a possible implementation, Figure 5a and Figure 5b As shown, the parameter detection module 401 includes at least one of a laser rangefinder 4011 , a tire pressure sensor 4012 , and a temperature sensor 4013 .

[0129] The laser rangefinder 4011 is used to detect the moving distance of the vehicle, the tire pressure sensor 4012 is used to detect the tire pressure of the vehicle, and the temperature sensor 4013 is used to detect the temperature of the engine.

[0130] The laser rangefinder 4011 is an instrument that uses a certain parameter of modulated laser to measure the distance to the target. According to the distance measurement method, it is divided into a phase method rangefinder and a pulse method rangefinder. The pulse laser rangefinder emits a beam or a sequence of short pulse laser beams to the target during operation. The laser beam reflected by the target is received by the photoelectric element. The timer measures the time from the emission to the reception of the laser beam and calculates the distance from the observer to the target. The phase method laser rangefinder detects the distance by detecting the phase difference between the emitted light and the reflected light when propagating in space. The laser rangefinder is light in weight, small in size, simple to operate, fast and accurate, and its error is only one-fifth to several hundredths of other optical rangefinders. In some embodiments, the model of the above-mentioned laser rangefinder 4011 can be GLM500.

[0131] The tire pressure sensor 4012 monitors the tire pressure, ensures the consistency of tire pressure, increases the service life of the tire, and reduces fuel consumption. The working principle of the tire pressure sensor is that the sensor receives the tire pressure, and transmits it to the receiver after processing by the chip, and then feeds it back to the display after processing by the receiver. In some embodiments, the model of the tire pressure sensor 4012 is TY-5240026OE.

[0132] As a possible implementation, refer to Figure 5a and Figure 5bAs shown, the wheel speed control system further includes a single chip microcomputer 405. A first end of the single chip microcomputer 405 is electrically connected to the parameter detection module 401, a second end of the single chip microcomputer 405 is electrically connected to the distributed drive control module 403, and a data analysis module 402 is electrically connected to the distributed drive control module 403.

[0133] The single chip microcomputer 405 is used to obtain the target parameter detected by the parameter detection module 401 and convert the target parameter from a first signal to a second signal. For example, the target parameter can be converted from an analog signal to a digital signal.

[0134] The single-chip computer 405 can transmit the converted target parameters to the data analysis module 402 via the distributed drive control module 403. In this way, the data analysis module 402 can analyze the received target parameters, and when an abnormality is detected in the target parameters, determine the target value of the vehicle's wheel speed based on the target parameters, and transmit the target value of the wheel speed to the distributed drive control module 403.

[0135] The single-chip microcomputer 405 is an integrated circuit chip that uses ultra-large-scale integrated circuit technology to integrate a central processing unit (CPU) with data processing capabilities, random access memory (RAM), read-only memory (ROM), multiple input / output (I / O) interfaces and interrupt systems, timers / counters and other functions on a silicon chip to form a small and complete microcomputer system. The structure of the single-chip microcomputer 405 can be referred to Figure 6 In some embodiments, the model of the single chip microcomputer 405 may be M68HC16.

[0136] As a possible implementation, refer to Figure 5a and Figure 5b As shown, the wheel speed control system further includes an abnormality alarm module 406 . The abnormality alarm module 406 is electrically connected to the single chip microcomputer 405 .

[0137] The abnormal alarm module 406 is used to obtain the target parameter output by the single-chip microcomputer 405, and issue an alarm message when the target parameter is detected to be abnormal. Alternatively, when the data analysis module 402 detects that the target parameter is abnormal, it can send information that the target parameter is abnormal to the single-chip microcomputer 405. At this time, after receiving the information that the target parameter is abnormal, the single-chip microcomputer 405 can trigger the abnormal alarm module 406 to issue an alarm message.

[0138] As a possible implementation, refer to Figure 5a and Figure 5b As shown, the wheel speed control system further includes a data storage module 407. The data storage module 407 is electrically connected to the single chip microcomputer 405.

[0139] The data storage module 407 is used to obtain and store the target parameters output by the single chip microcomputer 405. In some embodiments, when the target parameters are abnormal, the single chip microcomputer 405 can transmit the abnormal target parameters to the data storage module 407 for storage.

[0140] As a possible implementation, refer to Figure 5a and Figure 5b As shown, the wheel speed control system further includes a network module 408. The network module 408 is electrically connected to the single chip microcomputer 405.

[0141] The network module 408 is used to obtain the target parameters output by the single-chip microcomputer 405 and transmit the target parameters to the cloud server so as to store the target parameters in the cloud server. In some embodiments, when the target parameters are abnormal, the single-chip microcomputer 405 can send the abnormal target parameters to the cloud server for storage via the network module 408.

[0142] As a possible implementation, refer to Figure 5a and Figure 5b As shown, the wheel speed control system further includes a power supply module 409. The power supply module 409 is electrically connected to the single chip microcomputer 405 and is used to supply power to the single chip microcomputer.

[0143] As a possible implementation, the driving module 404 is a wheel of a vehicle.

[0144] In this way, during the automatic driving process of the vehicle, the tire pressure sensor 4012 monitors the tire pressure of the vehicle, and the temperature sensor 4013 monitors the temperature of the engine. When the tire pressure of the wheel is abnormal or the temperature sensor 4013 detects that the engine is abnormally high temperature, the single chip microcomputer 405 converts the detected tire pressure parameters and engine temperature parameters from analog signals to digital signals, and transmits them to the data analysis module 402 through the distributed drive control module 403. The data analysis module 402 detects the received tire pressure parameters and engine temperature parameters. When the tire pressure parameter abnormality and / or the engine temperature parameter abnormality are detected, the target value of the wheel speed can be determined according to the tire pressure parameter abnormality and / or the engine temperature parameter. The target value of the wheel speed is sent to the distributed drive control module 403, and the distributed drive control module 403 can adjust the wheel speed according to the target value of the wheel speed. In this way, the distributed drive system 10 will reduce the wheel speed after a short time to reserve enough time for the driver to park the vehicle in a safe place and check it.

[0145] The data analysis module 402 can transmit information that the target parameters are abnormal to the single-chip microcomputer 405. At this time, the single-chip microcomputer 405 can trigger the abnormal alarm module 406 to issue an alarm message to remind the driver that the target parameters are abnormal. The single-chip microcomputer 405 can store the abnormal target parameters in the data storage module 407, and can transmit the abnormal target parameters to the cloud server via the network module 408. In this way, the cloud server can back up the data in the data storage module 407. When the storage space of the data storage module 407 is insufficient, the single-chip microcomputer 405 can delete the data stored earlier in the data storage module 407 to ensure that there is enough space in the data storage module 407 to store new data.

[0146] When the vehicle is traveling on a muddy or slippery road, the distributed drive system 10 allows the wheels to rotate normally, but the laser rangefinder 4011 monitors the vehicle's moving distance. When the data analysis module 402 detects that the vehicle's moving distance parameter is abnormal, it determines that the road condition is poor. The data analysis module 402 can determine the target value of the wheel speed based on the vehicle's moving distance parameter and transmit it to the distributed drive control module 403. The distributed drive control module 403 can adjust the wheel speed based on the target value of the wheel speed to help the vehicle get out of trouble.

[0147] Corresponding to the above embodiments, the present application also provides a vehicle, comprising the wheel speed control device or wheel speed control system described in the above embodiments.

[0148] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program, and when the program is executed, the program may include some or all of the steps in each embodiment of the wheel speed control method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0149] In a specific implementation, the present invention further provides a computer program product, wherein the computer program product includes executable instructions, and when the executable instructions are executed on a computer, the computer executes part or all of the steps in each embodiment of the simulation scene generation method provided by the present invention.

[0150] Those skilled in the art can clearly understand that the technology in the embodiments of the present invention can be implemented by means of software plus a necessary general hardware platform. Based on this understanding, the technical solution in the embodiments of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., and includes 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 of the present invention or some parts of the embodiments.

[0151] In this specification, the same or similar parts between the various embodiments can be referred to each other. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A wheel speed control method, characterized in that: include: During the autonomous driving process, obtain the target parameters of the vehicle; The target parameter of the vehicle includes at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter; When an abnormality is detected in a target parameter of the vehicle, determining a target value of the wheel speed of the vehicle based on the target parameter; Based on the target value of the wheel speed, the wheel speed of the vehicle is adjusted.

2. The method according to claim 1, characterized in that The detection of an abnormality in the target parameter of the vehicle includes: When the target parameters of the vehicle include tire pressure parameters, if it is detected that the tire pressure parameter of the vehicle is greater than a first preset tire pressure threshold or less than a second preset tire pressure threshold, it is determined that the tire pressure of the vehicle is abnormal; the first preset tire pressure threshold is greater than the second preset tire pressure threshold.

3. The method according to claim 2, characterized in that When an abnormality is detected in a target parameter of the vehicle, determining a target value of the wheel speed of the vehicle based on the target parameter includes: If an abnormal tire pressure parameter is detected in the vehicle, a target value of the wheel speed corresponding to the tire pressure parameter of the vehicle is determined based on the tire pressure parameter of the vehicle and preset first mapping information; the first mapping information is a preset correspondence between different vehicle tire pressure values ​​and wheel speeds.

4. The method according to claim 1, characterized in that: The detection of an abnormality in the target parameter of the vehicle includes: When the target parameter of the vehicle includes a temperature parameter of an engine, if it is detected that the temperature parameter of the engine in the vehicle is greater than a preset temperature threshold, it is determined that the temperature parameter of the engine is abnormal.

5. The method according to claim 4, characterized in that When an abnormality is detected in a target parameter of the vehicle, determining a target value of the wheel speed of the vehicle based on the target parameter includes: If it is detected that a temperature parameter of an engine in the vehicle is abnormal, determining a current speed of the vehicle; Determining an adjustment value of the wheel speed of the vehicle based on the current vehicle speed and preset second mapping information; the second mapping information is a preset correspondence between different vehicle speeds and wheel speed adjustment values ​​when the temperature parameter of the engine is abnormal; Based on the adjustment value of the wheel speed, a target value of the wheel speed is determined.

6. The method according to claim 1, characterized in that When an abnormality is detected in a target parameter of the vehicle, determining a target value of the wheel speed of the vehicle based on the target parameter includes: When the target parameter of the vehicle includes a vehicle movement distance parameter, determining a current rotation speed of a wheel in the vehicle; Detecting whether a parameter of the vehicle moving distance is abnormal based on a current rotation speed of the wheel and a preset slip rate within a preset time; If abnormal, determining the target moving distance of the vehicle within a preset time based on the vehicle moving distance parameter and the preset slip rate; A target value of the wheel speed of the vehicle is determined based on the target moving distance of the vehicle and the preset time.

7. The method according to claim 6, characterized in that The detecting whether the vehicle moving distance parameter is abnormal based on the current rotation speed and the preset slip rate of the wheel within the preset time includes: Determining a current slip rate of the vehicle based on a current rotation speed of the wheel and a distance parameter of the vehicle within a preset time; If the current slip rate of the vehicle does not match the preset slip rate, it is determined that the vehicle moving distance parameter is abnormal.

8. The method according to any one of claims 1 to 7, further comprising: When an abnormality is detected in the target parameters of the vehicle, an alarm message is issued.

9. The method according to any one of claims 1 to 7, further comprising: When an abnormality is detected in a target parameter of the vehicle, the abnormal target parameter is stored.

10. A wheel speed control device, characterized in that: include: A detection unit, used to detect target parameters of the vehicle during the autonomous driving process; The target parameter of the vehicle includes at least one of a tire pressure parameter, an engine temperature parameter, and a vehicle moving distance parameter; a processing unit, configured to determine a target value of a wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle; An adjusting unit is used to adjust the vehicle speed of the vehicle based on the target value of the wheel speed.

11. A wheel speed control system, characterized in that: include: Parameter detection module, data analysis module, distributed drive control module, drive module; The parameter detection module is electrically connected to the data analysis module, the data analysis module is electrically connected to the distributed drive control module, and the distributed drive control module is electrically connected to the drive module; The parameter detection module is used to obtain target parameters; The data analysis module is used to determine a target value of the wheel speed of the vehicle based on the target parameter when an abnormality is detected in the target parameter of the vehicle, and transmit the target value of the wheel speed to the distributed drive control module; The distributed drive control module is used to adjust the wheel speed of the drive module based on the target value of the wheel speed.

12. The system according to claim 11, characterized in that The parameter detection module includes at least one of a laser rangefinder, a tire pressure sensor, and a temperature sensor.

13. A vehicle, characterized in that: Includes the wheel speed control device according to claim 10, or includes the wheel speed control system according to claim 11 or 12.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 9.

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