Method and system for judging vehicle driving state, medium and electronic equipment

Abstract

The invention provides a method and a system for judging a vehicle driving state, a medium and electronic equipment. The method comprises the following steps: acquiring a yaw velocity signal, a gear identification signal, a wheel direction signal and a fault identification result of a wheel speed signal; according to the current yaw velocity signal, the gear recognition signal, the wheel direction signal and the wheel speed signal of the vehicle, the current yaw velocity, the gear state, the direction of each wheel and the vehicle speed of the vehicle are determined; and on the basis of the yaw velocity, the gear state, the directions of all the wheels and the vehicle speed, according to all the fault recognition results, the vehicle driving state is judged through different preset strategies. According to the invention, the problem of poor vehicle safety caused by low judgment redundancy of the driving direction in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile safety control, and in particular to a method, system, medium and electronic equipment for judging the driving state of a vehicle. Background Art

[0002] With the rapid development of automobile intelligence and intelligent driving, the chassis domain of automobiles carries more and more functions, and the functional safety requirements of related functions are becoming increasingly stringent. Judging the direction of the vehicle is one of the most basic functions, and it is also one of the foundations for the realization of other functions. Therefore, during the driving process of the vehicle, it is necessary to ensure accurate judgment of the vehicle's driving direction to prevent other functions from being activated normally due to incorrect identification of the direction, thereby endangering the safety of the driver and passengers.

[0003] The existing technology can determine the direction of vehicle travel by setting a hard-wire signal in the direction of the gearbox output shaft, so as to sense the direction of the gearbox output shaft and determine the direction of vehicle travel. However, setting a hard-wire signal will significantly increase the cost, and with the rapid development of new energy vehicles, this method is gradually no longer applicable.

[0004] In order to reduce costs, the existing technology can also rely on the car ABS (anti-lock braking control system) to determine the direction of the car. If the car is not equipped with ABS or it fails, this method cannot be applied. Therefore, accurately determining the direction of the vehicle's travel and ensuring the redundant safety of the system have become technical problems to be solved. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a method, system, medium and electronic device for determining the driving state of a vehicle, which solves the problem in the prior art that the redundancy in determining the driving direction is low, resulting in poor vehicle safety.

[0006] At least one embodiment of the present invention provides a method for determining a driving state of a vehicle, comprising:

[0007] Obtaining fault identification results of the yaw angular velocity signal, the gear identification signal, the wheel direction signal, and the wheel speed signal;

[0008] According to the current yaw rate signal of the vehicle, the gear position identification signal, the wheel direction signal and the wheel speed signal, respectively determine the current yaw rate, gear position state, directions of each wheel and vehicle speed of the vehicle;

[0009] Based on the yaw angular velocity, gear status, directions of each wheel and vehicle speed, and according to the fault identification result, the vehicle driving status is judged using different preset strategies.

[0010] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0011] The current yaw rate signal, gear position recognition signal, wheel direction signal and wheel speed signal are used to judge the vehicle's driving direction, which reduces the expensive cost of using hard-wire signal sensing.

[0012] At the same time, based on the fault identification results of the above signals, a variety of strategies can be used to determine the direction of the vehicle. Even if one of the signals has a problem, the direction of the vehicle can be determined by changing the judgment strategy, thereby improving the redundant safety of the vehicle direction judgment.

[0013] In a method for determining a vehicle driving state provided by one embodiment of the present invention, the vehicle driving state is determined using different preset strategies according to each of the fault identification results, and further includes:

[0014] If the gear recognition signal, the wheel direction signal, the wheel speed signal and the yaw rate signal are all normal, the vehicle driving state is judged using a first judgment strategy, wherein the first judgment strategy includes:

[0015] If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary;

[0016] If the vehicle speed is between the first threshold and the second threshold, the current direction index of the vehicle is determined according to the yaw angular velocity, and the direction index is used to characterize the dynamic characteristics of the vehicle's yaw angular velocity. The current driving state of the vehicle is judged in combination with the direction index, gear status and vehicle speed; or, the number distribution of wheels in a forward state, wheels in a backward state and wheels in a stationary state is determined according to the direction of each wheel, and the current driving state of the vehicle is judged based on the number distribution.

[0017] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0018] When all signals are normal, the driving direction is first determined based on the vehicle speed. If it cannot be determined, the direction index or wheel direction is used to accurately determine the vehicle's driving direction to improve the accuracy and timeliness of the judgment of the vehicle's driving direction.

[0019] In a method for determining a vehicle driving state provided by one embodiment of the present invention, the vehicle driving state is determined using different preset strategies according to each of the fault identification results, including:

[0020] If the yaw rate signal and / or the gear position identification signal fails, and the wheel direction signal and the wheel speed signal are not failed, the vehicle driving state is judged using a second judgment strategy, the second judgment strategy comprising:

[0021] If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary;

[0022] If the vehicle speed is between the first threshold and the second threshold, the number distribution of wheels in the forward state, wheels in the backward state and wheels in the stationary state is determined according to the direction of each wheel, and the current driving state of the vehicle is judged according to the number distribution.

[0023] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0024] If the yaw rate signal and / or gear identification signal fails, and the wheel direction signal and wheel speed signal are not failed, the vehicle's driving direction can be determined in combination with the vehicle speed and the directions of each wheel, thereby improving the redundant safety of the vehicle's driving direction determination.

[0025] In a method for determining a vehicle driving state provided by one embodiment of the present invention, the vehicle driving state is determined using different preset strategies according to each of the fault identification results, and further includes:

[0026] If the wheel speed signal fails and the wheel direction signal does not fail, the vehicle driving state is judged using a third judgment strategy, the third judgment strategy comprising:

[0027] Determine the number distribution of wheels in a forward state, wheels in a backward state, and wheels in a stationary state according to the directions of each wheel;

[0028] The current driving state of the vehicle is determined based on the quantity distribution.

[0029] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0030] If the wheel speed signal fails and the wheel direction signal is not failed, the vehicle's driving direction can be determined only by the wheel direction, further improving the redundant safety of the vehicle's driving direction determination.

[0031] In a method for determining a vehicle driving state provided by one embodiment of the present invention, the vehicle driving state is determined using different preset strategies according to each of the fault identification results, and further includes:

[0032] If only the wheel direction signal fails, the vehicle driving state is judged using the fourth judgment strategy, which includes:

[0033] If the vehicle speed is greater than the first threshold, it is determined that the driving state is forward; if the vehicle speed is less than the second threshold, it is determined that the driving state is stationary.

[0034] If the vehicle speed is between the first threshold and the second threshold, the current vehicle direction index is determined according to the yaw rate, and the direction index is used to characterize the dynamic characteristics of the vehicle yaw rate.

[0035] Combining the direction index, gear state, and vehicle speed, the current driving state of the vehicle is judged.

[0036] The technical solution provided by the present invention at least has the following beneficial effects:

[0037] If only the wheel direction signal fails, the current driving state of the vehicle can also be judged by combining the direction index, gear state, and vehicle speed, further improving the redundancy safety of the vehicle's judgment of the driving direction.

[0038] In a method for judging the driving state of a vehicle provided in one embodiment of the present invention, the step of judging the driving state of the vehicle by using different preset strategies according to each of the fault recognition results further includes:

[0039] If the yaw rate signal and the wheel direction signal fail, and the wheel speed signal and the gear recognition signal are normal, a fifth judgment strategy is used to judge the driving state of the vehicle, and the fifth judgment strategy includes:

[0040] If the vehicle speed is greater than the first threshold, it is determined that the driving state is forward; if the vehicle speed is less than the second threshold, it is determined that the driving state is stationary.

[0041] If the vehicle speed is between the first threshold and the second threshold, the current driving state of the vehicle is judged based on the comparison result between the vehicle speed and the speed threshold in the current gear state.

[0042] The technical solution provided by the present invention at least has the following beneficial effects:

[0043] If the yaw rate signal and the wheel direction signal fail, and the wheel speed signal and the gear recognition signal are normal, the current driving state of the vehicle can also be judged by combining the current gear and vehicle speed, so as to further improve the redundancy safety of the vehicle's judgment of the driving direction.

[0044] In a method for judging the driving state of a vehicle provided in one embodiment of the present invention, the step of judging the driving state of the vehicle by using different preset strategies according to each of the fault recognition results further includes:

[0045] If both the gear recognition signal and the wheel direction signal are faulty, and the wheel speed signal and the yaw rate signal are normal, or only the wheel speed signal is normal, and the gear recognition signal, the wheel direction signal and the yaw rate signal are all faulty, then the sixth judgment strategy is used to judge the vehicle driving state, and the sixth judgment strategy includes:

[0046] If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary.

[0047] The technical solution disclosed in the present invention has at least the following beneficial effects:

[0048] If the gear identification signal and the wheel direction signal are both faulty, the wheel speed signal and the yaw angular velocity signal are normal, or only the wheel speed signal is normal and the gear identification signal, the wheel direction signal and the yaw angular velocity are all faulty, the vehicle's driving direction can also be determined based on the current vehicle speed conditions to further improve the redundant safety of the vehicle's driving direction judgment.

[0049] At least one embodiment of the present invention provides a system for determining a driving state of a vehicle, comprising:

[0050] a fault identification module, which obtains fault identification results of the yaw angular velocity signal, the gear identification signal, the wheel direction signal and the wheel speed signal;

[0051] A signal recognition module determines the current yaw rate, gear status, directions of each wheel and vehicle speed of the vehicle according to the current yaw rate signal, gear recognition signal, wheel direction signal and wheel speed signal of the vehicle;

[0052] The direction recognition module determines the vehicle driving state by using different preset strategies based on the yaw angular velocity, gear status, directions of each wheel and vehicle speed and according to the fault recognition result.

[0053] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes a method for determining the driving status of a vehicle as described above.

[0054] The present invention also provides an electronic device, comprising a memory, a processor, and a program stored in the memory and running on the processor, wherein the processor implements a method for determining the driving state of a vehicle as described above when executing the program. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 A schematic diagram of a flow chart of a method for determining a vehicle driving state according to the present invention;

[0056] Figure 2 A logic diagram of a method for determining a vehicle driving state according to the present invention;

[0057] Figure 3 A schematic diagram of a flow chart of a system for determining a vehicle driving state according to the present invention;

[0058] Figure 4 This is a schematic structural diagram of an electronic device provided by the present invention.

[0059] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0060] 10. Electronic device, 11. Processor, 12. Read-only memory (ROM), 13. Random access memory (RAM), 14. Bus, 15. Input / output (I / O) interface, 16. Input unit, 17. Output unit, 18. Storage unit, 19. Communication unit. DETAILED DESCRIPTION

[0061] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0062] The present invention provides a method for determining the driving state of a vehicle. Figure 1 As shown, including:

[0063] Obtaining fault identification results of the yaw angular velocity signal, the gear identification signal, the wheel direction signal, and the wheel speed signal;

[0064] According to the current yaw rate signal of the vehicle, the gear position identification signal, the wheel direction signal and the wheel speed signal, respectively determine the current yaw rate, gear position state, directions of each wheel and vehicle speed of the vehicle;

[0065] Based on the yaw angular velocity, gear status, directions of each wheel and vehicle speed, and according to the fault identification result, the vehicle driving status is judged using different preset strategies.

[0066] The current yaw rate signal, gear position recognition signal, wheel direction signal and wheel speed signal are used to judge the vehicle's driving direction, which reduces the expensive cost of using hard-wire signal sensing.

[0067] At the same time, based on the fault identification results of the above signals, a variety of strategies can be used to determine the direction of the vehicle. Even if one of the signals has a problem, the direction of the vehicle can be determined by changing the judgment strategy, thereby improving the redundant safety of the vehicle direction judgment.

[0068] In a more specific embodiment provided by the present invention, please refer to Figure 2As shown, including:

[0069] S1, obtaining the fault identification results of the yaw rate signal, gear identification signal, wheel direction signal and wheel speed signal, and if any signal is identified to be faulty, outputting the relevant signal failure flag, and determining whether the vehicle ABS is faulty, and if so, setting the fault flag;

[0070] S2, according to the current yaw rate signal of the vehicle, the gear recognition signal, the wheel direction signal and the wheel speed signal, respectively determine the current yaw rate of the vehicle, the gear state, the direction of each wheel and the vehicle speed, wherein the yaw rate signal is obtained and the yaw rate can be calculated based on the Ackerman yaw rate calculation part;

[0071] S3 judges the driving state of the vehicle by using different preset strategies based on the yaw angular velocity, gear state, directions of each wheel and vehicle speed according to the fault identification result, wherein the different preset strategies include:

[0072] First, if the yaw rate signal and / or the gear position identification signal fails, and the wheel direction signal and the wheel speed signal are not failed, the vehicle driving state is judged using a second judgment strategy, and the second judgment strategy includes:

[0073] If the vehicle speed is greater than the first threshold, the driving state is judged to be forward; if the vehicle speed is less than the second threshold, the driving state is judged to be stationary. Specifically, the vehicle speed is compared with the first threshold of the maximum speed allowed by the set reverse gear (set to 30 in this embodiment). If the vehicle speed is already greater than 30, the forward flag is set; if the vehicle speed signal is less than the second threshold (set to 0.8 in this embodiment) and the stationary flag is set, the forward flag is not set.

[0074] If the vehicle speed is between the first threshold and the second threshold, the number distribution of wheels in the forward state, wheels in the backward state and wheels in the stationary state is determined according to the direction of each wheel, and the current driving state of the vehicle is judged according to the number distribution.

[0075] Specifically, if the number of wheels in a stationary state is greater than or equal to a set threshold (set to 3 in this embodiment), the vehicle driving state is stationary;

[0076] If the number of wheels in the forward state is greater than or equal to a set threshold value (set to 2 in this embodiment), and the number of wheels in the reverse state is less than or equal to a set threshold value (set to 0 in this embodiment), the vehicle driving state is forward;

[0077] If the number of wheels in the reverse state is greater than or equal to a set threshold (set to 2 in this embodiment), and the number of wheels in the forward state is less than or equal to a set threshold (set to 0 in this embodiment), the vehicle's driving state is reverse; for rear-wheel drive vehicles only, if the number of front wheels in the reverse state is equal to 2, and the number of rear wheels driven in the forward state or the reverse state is one, the vehicle's driving state is reverse.

[0078] Second, if the wheel speed signal fails and the wheel direction signal does not fail, the vehicle driving state is judged using a third judgment strategy, the third judgment strategy includes:

[0079] Determine the number distribution of wheels in a forward state, wheels in a backward state, and wheels in a stationary state according to the directions of each wheel;

[0080] Determining the current driving state of the vehicle based on the quantity distribution;

[0081] Specifically, as above, if the number of wheels in a stationary state is greater than or equal to a set threshold (set to 3 in this embodiment), the vehicle driving state is stationary;

[0082] If the number of wheels in the forward state is greater than or equal to a set threshold value (set to 2 in this embodiment), and the number of wheels in the reverse state is less than or equal to a set threshold value (set to 0 in this embodiment), the vehicle driving state is forward;

[0083] If the number of wheels in the reverse state is greater than or equal to a set threshold (set to 2 in this embodiment), and the number of wheels in the forward state is less than or equal to a set threshold (set to 0 in this embodiment), the vehicle's driving state is reverse; for rear-wheel drive vehicles only, if the number of front wheels in the reverse state is equal to 2, and the number of rear wheels driven in the forward state or the reverse state is one, the vehicle's driving state is reverse.

[0084] Thirdly, if only the wheel direction signal fails, the vehicle driving state is judged using the fourth judgment strategy, the fourth judgment strategy includes:

[0085] If the vehicle speed is greater than the first threshold, the driving state is judged to be forward; if the vehicle speed is less than the second threshold, the driving state is judged to be stationary. Specifically, the vehicle speed is compared with the first threshold of the maximum speed allowed by the set reverse gear (set to 30 in this embodiment). If the vehicle speed is already greater than 30, the forward flag is set; if the vehicle speed signal is less than the second threshold (set to 0.8 in this embodiment) and the stationary flag is set, the forward flag is not set.

[0086] If the vehicle speed is between the first threshold and the second threshold, determining a current direction index of the vehicle according to the yaw rate, wherein the direction index is used to characterize a dynamic characteristic of the yaw rate of the vehicle;

[0087] Based on the combined direction index, gear state, and vehicle speed, determine the current driving state of the vehicle;

[0088] The specific steps are as follows:

[0089] The difference between the Ackermann yaw rate and the sensor yaw rate should be less than the maximum error threshold (set to 0.175 in this embodiment), then the direction index = (direction index of the previous cycle * weight coefficient a + Ackermann yaw rate * yaw rate offset correction coefficient) / (square of the Ackermann yaw rate + weight coefficient b).

[0090] If the direction index is greater than the set threshold (set to 2 in this embodiment), then the vehicle driving state is forward;

[0091] If the direction index is less than the set threshold (set to -2 in this embodiment), and the forward flag is not set, then the vehicle driving state is reverse;

[0092] If the direction index is greater than the threshold set based on the gear state (set to 0.1 in this embodiment), and the vehicle speed is greater than the speed threshold calculated based on the gear state (set to 5 in this embodiment), and the vehicle is in the forward gear, then the vehicle driving state is forward;

[0093] If the direction index is less than the threshold set based on the gear state (set to -0.1 in this embodiment), and the vehicle is in the reverse gear, and the forward flag is not set, then the vehicle driving state is reverse.

[0094] Fourth: If the yaw rate signal and the wheel direction signal are faulty, and the wheel speed signal and the gear recognition signal are normal, then use the fifth judgment strategy to judge the vehicle driving state. The fifth judgment strategy includes:

[0095] If the vehicle speed is greater than the first threshold, then judge the driving state as forward. If the vehicle speed is less than the second threshold, then judge the driving state as stationary. Specifically, by comparing the vehicle speed with the first threshold of the maximum speed allowed in reverse gear (set to 30 in this embodiment), if the vehicle speed is already greater than 30, then the forward flag is set; if the vehicle speed signal is less than the second threshold (set to 0.8 in this embodiment) and the stationary flag is set, then the forward flag is not set.

[0096] If the vehicle speed is between the first threshold and the second threshold, judge the current driving state of the vehicle based on the comparison result of the vehicle speed and the speed threshold in the current gear state.

[0097] That is: If the gear is greater than or equal to 2, and the vehicle speed is greater than or equal to the minimum vehicle speed threshold for the second gear (set to 5 in this embodiment), then the vehicle driving state is forward;

[0098] If the gear position is greater than or equal to 1 and the vehicle speed is greater than or equal to the minimum vehicle speed threshold for the first gear (set to 1.5 in this embodiment), then the vehicle driving state is forward;

[0099] If the gear position is less than or equal to -1 and the vehicle speed is greater than or equal to the minimum vehicle speed threshold for the reverse gear (set to 0.35 in this embodiment), then the vehicle driving state is reverse.

[0100] Fifth: If both the gear position identification signal and the wheel direction signal are faulty, the wheel speed signal and the yaw rate signal are normal, or only the wheel speed signal is normal, and the gear position identification signal, the wheel direction signal, and the yaw rate are all faulty, then the sixth judgment strategy is used to judge the vehicle driving state. The sixth judgment strategy includes:

[0101] If the vehicle speed is greater than the first threshold, then it is judged that the driving state is forward. If the vehicle speed is less than the second threshold, then it is judged that the driving state is stationary. Specifically, by comparing the vehicle speed with the first threshold of the maximum speed allowed for the reverse gear set in this embodiment (set to 30), if the vehicle speed is already greater than 30, then the forward flag is set; if the vehicle speed signal is less than the second threshold (set to 0.8 in this embodiment) and the stationary flag is set, then the forward flag is not set.

[0102] Sixth: If the gear position identification signal, the wheel direction signal, the wheel speed signal, and the yaw rate signal are all normal, then the first judgment strategy is used to judge the vehicle driving state. The first judgment strategy includes:

[0103] Similarly, if the vehicle speed is greater than the first threshold, then it is judged that the driving state is forward. If the vehicle speed is less than the second threshold, then it is judged that the driving state is stationary;

[0104] If the vehicle speed is between the first threshold and the second threshold, then the current vehicle direction index is determined according to the yaw rate. The direction index is used to characterize the dynamic characteristics of the vehicle yaw rate. Combining the direction index, the gear position state, and the vehicle speed, the current vehicle driving state is judged; or, according to the directions of each wheel, the number distribution of the wheels in the forward state, the reverse state, and the stationary state is determined, and the current vehicle driving state is judged based on the number distribution.

[0105] When all signals are normal, first judge the driving direction according to the vehicle speed. If it cannot be judged, then use the direction index or the wheel direction to accurately judge the vehicle driving direction, so as to improve the accuracy and timeliness of judging the vehicle driving direction.

[0106] 1. The vehicle direction recognition method comprehensively processes the wheel direction signal, wheel speed signal, shift recognition signal, and yaw rate signal to achieve the purpose of accurately judging the vehicle's driving direction. It can be applied to vehicle models with different power drive types, ensuring the safety of the vehicle, and can also be applied to driving situations at L2-L3 levels.

[0107] 2. The vehicle judgment threshold setting calibration quantity is very convenient to adjust as needed, can adapt to different road conditions in various driving modes, has a high accuracy rate, and is very flexible in design.

[0108] 3. Even in the case of an ABS failure, it can accurately judge the vehicle's driving direction to ensure the safety of drivers and passengers. It is convenient to adjust, has a flexible design, strong applicability, and at the same time ensures the redundancy of the vehicle control system, with relatively high safety.

[0109] The present invention also provides a system for judging the vehicle driving state. Please refer to Figure 3 as shown, including:

[0110] A fault recognition module that obtains the fault recognition results of the yaw rate signal, gear position recognition signal, wheel direction signal, and wheel speed signal;

[0111] A signal recognition module that determines the current yaw rate, gear position state, direction of each wheel, and vehicle speed of the vehicle based on the current yaw rate signal, gear position recognition signal, wheel direction signal, and wheel speed signal of the vehicle;

[0112] A direction recognition module that judges the vehicle driving state using different preset strategies based on the yaw rate, gear position state, direction of each wheel, and vehicle speed according to the fault recognition results.

[0113] Further, the direction recognition module specifically includes:

[0114] If the yaw rate signal and / or the gear position recognition signal fails, and the wheel direction signal and the wheel speed signal do not fail, then use the second judgment strategy to judge the vehicle driving state. The second judgment strategy includes:

[0115] If the vehicle speed is greater than the first threshold, then judge the driving state as forward; if the vehicle speed is less than the second threshold, then judge the driving state as stationary;

[0116] If the vehicle speed is between the first threshold and the second threshold, then determine the quantity distribution of the wheels in the forward state, reverse state, and stationary state according to the direction of each wheel, and judge the current driving state of the vehicle according to the quantity distribution.

[0117] Further, the direction recognition module specifically includes:

[0118] If the wheel speed signal fails and the wheel direction signal does not fail, the third judgment strategy is used to judge the driving state of the vehicle. The third judgment strategy includes:

[0119] Determine the quantity distribution of the wheels in the forward state, the backward state, and the stationary state according to the directions of the respective wheels;

[0120] Judge the current driving state of the vehicle based on the quantity distribution.

[0121] Furthermore, the direction recognition module specifically includes:

[0122] If only the wheel direction signal fails, the fourth judgment strategy is used to judge the driving state of the vehicle. The fourth judgment strategy includes:

[0123] If the vehicle speed is greater than the first threshold, it is judged that the driving state is forward; if the vehicle speed is less than the second threshold, it is judged that the driving state is stationary;

[0124] If the vehicle speed is between the first threshold and the second threshold, determine the current direction index of the vehicle according to the yaw angular velocity. The direction index is used to characterize the dynamic characteristics of the vehicle's yaw angular velocity;

[0125] Combine the direction index, the gear state, and the vehicle speed to judge the current driving state of the vehicle.

[0126] Furthermore, the direction recognition module specifically includes:

[0127] If the yaw angular velocity signal and the wheel direction signal fail, and the wheel speed signal and the gear recognition signal are normal, the fifth judgment strategy is used to judge the driving state of the vehicle. The fifth judgment strategy includes:

[0128] If the vehicle speed is greater than the first threshold, it is judged that the driving state is forward; if the vehicle speed is less than the second threshold, it is judged that the driving state is stationary;

[0129] If the vehicle speed is between the first threshold and the second threshold, judge the current driving state of the vehicle based on the comparison result between the vehicle speed and the speed threshold in the current gear state.

[0130] Furthermore, the direction recognition module specifically includes:

[0131] If both the gear recognition signal and the wheel direction signal fail, the wheel speed signal and the yaw angular velocity signal are normal, or only the wheel speed signal is normal, and the gear recognition signal, the wheel direction signal, and the yaw angular velocity all fail, the sixth judgment strategy is used to judge the driving state of the vehicle. The sixth judgment strategy includes:

[0132] If the vehicle speed is greater than the first threshold, it is determined that the driving state is forward. If the vehicle speed is less than the second threshold, it is determined that the driving state is stationary.

[0133] Further, the direction recognition module specifically includes:

[0134] If the gear recognition signal, wheel direction signal, wheel speed signal, and yaw rate signal are all normal, then a first judgment strategy is used to judge the vehicle driving state, and the first judgment strategy includes:

[0135] If the vehicle speed is greater than the first threshold, it is determined that the driving state is forward. If the vehicle speed is less than the second threshold, it is determined that the driving state is stationary;

[0136] If the vehicle speed is between the first threshold and the second threshold, then the vehicle's current direction index is determined according to the yaw rate. The direction index is used to characterize the dynamic characteristics of the vehicle's yaw rate. Combining the direction index, gear state, and vehicle speed, the vehicle's current driving state is judged; or, according to the directions of each wheel, the number distribution of the wheels in the forward state, reverse state, and stationary state is determined, and the vehicle's current driving state is judged based on the number distribution.

[0137] The present invention also provides a computer-readable storage medium, in which instructions are stored. When the instructions run on a terminal device, the terminal device is made to execute a method for judging a vehicle driving state as described above.

[0138] The present invention also provides an electronic device, including a memory, a processor, and a program stored on the memory and running on the processor. The feature is that when the processor executes the program, it implements a method for judging a vehicle driving state as described above.

[0139] Figure 4 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described herein and / or claimed.

[0140] As Figure 4As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0141] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0142] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a method for judging the driving state of a vehicle.

[0143] In some embodiments, a method for judging the driving state of a vehicle can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the method for judging the driving state of a vehicle described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute a method for judging the driving state of a vehicle in any other appropriate manner (e.g., by means of firmware).

[0144] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0145] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0146] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0147] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or an LCD (liquid crystal display)); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0148] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0149] A computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0150] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0151] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for determining a vehicle driving state, characterized in that: include: Obtaining fault identification results of yaw angular velocity signals, gear position identification signals, wheel direction signals, and wheel speed signals; According to the current yaw rate signal of the vehicle, the gear position identification signal, the wheel direction signal and the wheel speed signal, respectively determine the current yaw rate, gear position state, directions of each wheel and vehicle speed of the vehicle; Based on the yaw angular velocity, gear status, directions of each wheel and vehicle speed, and according to the fault identification result, the vehicle driving status is judged using different preset strategies.

2. A method for determining a vehicle driving state according to claim 1, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result includes: If the gear recognition signal, the wheel direction signal, the wheel speed signal and the yaw rate signal are all normal, the vehicle driving state is judged using a first judgment strategy, wherein the first judgment strategy includes: If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary; If the vehicle speed is between the first threshold and the second threshold, the current direction index of the vehicle is determined according to the yaw angular velocity, and the direction index is used to characterize the dynamic characteristics of the vehicle's yaw angular velocity. The current driving state of the vehicle is judged in combination with the direction index, gear status and vehicle speed; or, the number distribution of wheels in a forward state, wheels in a backward state and wheels in a stationary state is determined according to the direction of each wheel, and the current driving state of the vehicle is judged based on the number distribution.

3. A method for determining a vehicle driving state according to claim 2, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result also includes: If the yaw rate signal and / or the gear position identification signal fails, and the wheel direction signal and the wheel speed signal are not failed, the vehicle driving state is judged using a second judgment strategy, the second judgment strategy comprising: If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary; If the vehicle speed is between the first threshold and the second threshold, the number distribution of wheels in the forward state, wheels in the backward state and wheels in the stationary state is determined according to the direction of each wheel, and the current driving state of the vehicle is judged according to the number distribution.

4. A method for determining a vehicle driving state according to claim 3, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result also includes: If the wheel speed signal fails and the wheel direction signal does not fail, the vehicle driving state is judged using a third judgment strategy, the third judgment strategy comprising: Determine the number distribution of wheels in a forward state, wheels in a backward state, and wheels in a stationary state according to the directions of each wheel; The current driving state of the vehicle is determined based on the quantity distribution.

5. A method for determining a vehicle driving state according to claim 4, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result also includes: If only the wheel direction signal fails, the vehicle driving state is judged using the fourth judgment strategy, which includes: If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary; If the vehicle speed is between the first threshold and the second threshold, determining a current direction index of the vehicle according to the yaw rate, wherein the direction index is used to characterize a dynamic characteristic of the yaw rate of the vehicle; The current driving state of the vehicle is determined by combining the direction index, gear state and vehicle speed.

6. A method for determining a vehicle driving state according to claim 5, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result also includes: If the yaw rate signal and the wheel direction signal are faulty, and the wheel speed signal and the gear position identification signal are normal, the fifth judgment strategy is used to judge the vehicle driving state, and the fifth judgment strategy includes: If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary; If the vehicle speed is between the first threshold and the second threshold, the current driving state of the vehicle is determined based on a comparison result between the vehicle speed and a speed threshold in the current gear state.

7. A method for determining a vehicle driving state according to claim 6, characterized in that: The method of judging the vehicle driving state by using different preset strategies according to the fault identification result also includes: If both the gear recognition signal and the wheel direction signal are faulty, and the wheel speed signal and the yaw rate signal are normal, or only the wheel speed signal is normal, and the gear recognition signal, the wheel direction signal and the yaw rate signal are all faulty, then the sixth judgment strategy is used to judge the vehicle driving state, and the sixth judgment strategy includes: If the vehicle speed is greater than a first threshold, the driving state is determined to be forward, and if the vehicle speed is less than a second threshold, the driving state is determined to be stationary.

8. A system for determining the driving state of a vehicle, characterized in that: include: a fault identification module, which obtains fault identification results of the yaw angular velocity signal, the gear identification signal, the wheel direction signal and the wheel speed signal; A signal recognition module determines the current yaw rate, gear status, directions of each wheel and vehicle speed of the vehicle according to the current yaw rate signal, gear recognition signal, wheel direction signal and wheel speed signal of the vehicle; The direction recognition module determines the vehicle driving state by using different preset strategies based on the yaw angular velocity, gear status, directions of each wheel and vehicle speed and according to the fault recognition result.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes a method for determining a vehicle driving state as described in any one of claims 1 to 7.

10. An electronic device comprising a memory, a processor, and a program stored in the memory and running on the processor, characterized in that: When the processor executes the program, a method for determining the driving state of a vehicle as described in any one of claims 1 to 7 is implemented.

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