A multi-instruction control method, device and equipment for special vehicles

Abstract

The application relates to the technical field of vehicle control, in particular to a multi-instruction control method, device and equipment for special vehicles. The method comprises the following steps: collecting control instructions sent by multiple control nodes, determining instruction types corresponding to the control instructions; screening the control instructions based on the instruction types to obtain target control instructions; the first priority of the instruction type corresponding to the target control instructions is the highest; acquiring identification information of the target control instructions, calculating target weights of the target control instructions based on the identification information; and controlling an electric cylinder controller to work based on the target weights. The multi-instruction control method, device and equipment for special vehicles provided by the application can efficiently and reliably complete multi-instruction control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a multi-command control method, device and equipment for special vehicles. Background Technology

[0002] In today's rapidly developing automotive industry, vehicle intelligence has become an irreversible trend. With the continuous advancement of technologies such as autonomous driving, vehicle networking, and smart cockpits, the demands on vehicle control systems are also increasing. Traditional automotive control systems often rely on a single command source to drive actuators, such as electric cylinders. This control method has significant limitations in terms of flexibility and efficiency. As consumers' demands for driving experience and safety performance continue to rise, automotive control systems urgently need to evolve towards greater intelligence and parallel processing of multiple commands.

[0003] In current automotive control systems, the control modes of actuators are relatively simple. While this control mode meets basic vehicle control needs to a certain extent, it often fails to accurately complete control in scenarios with multiple control commands, thus failing to meet the operator's requirements. Summary of the Invention

[0004] In view of this, this application provides a multi-command control method, apparatus and equipment for special vehicles, so as to efficiently and reliably complete multi-command control.

[0005] Specifically, this application is implemented through the following technical solution:

[0006] The first aspect of this application provides a multi-command control method for special vehicles, the method comprising:

[0007] Collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands; the command type includes mode control commands and reset control commands; the control commands are signals sent by the control nodes to the electric cylinder controller, and the electric cylinder motor is instructed to perform specific actions or adjust to a specific state through the control commands.

[0008] The control instructions are filtered based on the instruction type to obtain target control instructions; wherein, the instruction type corresponding to the target control instruction has the highest first priority.

[0009] Obtain the identification information of the target control command, and calculate the target weight of the target control command based on the identification information; specifically, this includes: obtaining the control node that generated the target control command based on the identification information; calculating the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein, the third priority represents the operator's control intention; and weighting and summing the second priority and the third priority according to a preset ratio to obtain the target weight.

[0010] The electric cylinder controller operates based on the target weight.

[0011] A second aspect of this application provides a multi-command control device for special vehicles, the device comprising:

[0012] The processing module is used to collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands; the command type includes mode control commands and reset control commands; the control commands are signals sent by the control nodes to the electric cylinder controller, and the electric cylinder motor is instructed to perform specific actions or adjust to a specific state through the control commands.

[0013] The filtering module is used to filter the control instructions based on the instruction type to obtain target control instructions; wherein, the instruction type corresponding to the target control instruction has the highest first priority;

[0014] The calculation module is used to obtain the identification information of the target control command and calculate the target weight of the target control command based on the identification information; specifically, it is used to obtain the control node that generates the target control command based on the identification information; calculate the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein, the third priority represents the operator's control intention; and the second priority and the third priority are weighted and summed according to a preset ratio to obtain the target weight.

[0015] The control module is used to control the operation of the electric cylinder controller based on the target weight.

[0016] A third aspect of this application provides a multi-command control device for special vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the methods provided in the first aspect of this application.

[0017] A fourth aspect of this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods provided in the first aspect of this application.

[0018] A fifth aspect of this application discloses a vehicle, including: the aforementioned multi-command control device for special vehicles, or the aforementioned multi-command control equipment for special vehicles.

[0019] The multi-command control method, apparatus, and equipment for special vehicles provided in this application first collect control commands issued by multiple control nodes, determine the command type corresponding to each control command, and then filter the control commands based on the command type to obtain the target control command. The command type corresponding to the target control command has the highest priority. Then, the identification information of the target control command is obtained, and the target weight of the target control command is calculated based on the identification information. Finally, the electric propulsion cylinder controller is controlled based on the target weight. This allows multiple command sources to send control commands simultaneously, and combined with the priority judgment mechanism, it can flexibly respond to complex and changing situations, ensuring the timely execution of critical commands. Furthermore, each command can be precisely processed and executed, enabling more refined vehicle state adjustments, thereby improving control accuracy and ensuring the stability and safety of the vehicle in different driving scenarios. Thus, multi-command control enhances the flexibility and reliability of special vehicle control. Attached Figure Description

[0020] Figure 1 A flowchart of an embodiment of the multi-command control method for special vehicles provided in this application;

[0021] Figure 2 A flowchart of Embodiment 2 of the multi-command control method for special vehicles provided in this application;

[0022] Figure 3 This is a hardware structure diagram of the multi-command control device for special vehicles, which is the location of the multi-command control device for special vehicles in this application.

[0023] Figure 4 This is a schematic diagram of the structure of a first embodiment of the multi-command control device for special vehicles provided in this application. Detailed Implementation

[0024] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0025] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0027] This application provides a multi-command control method, apparatus, and equipment for special vehicles, which can efficiently and reliably complete multi-command control.

[0028] The multi-command control method, apparatus, and equipment for special vehicles provided in this application first collect control commands issued by multiple control nodes, determine the command type corresponding to each control command, and then filter the control commands based on the command type to obtain the target control command. The command type corresponding to the target control command has the highest priority. Then, the identification information of the target control command is obtained, and the target weight of the target control command is calculated based on the identification information. Finally, the electric propulsion cylinder controller is controlled based on the target weight. This allows multiple command sources to send control commands simultaneously, and combined with the priority judgment mechanism, it can flexibly respond to complex and changing situations, ensuring the timely execution of critical commands. Furthermore, each command can be precisely processed and executed, enabling more refined vehicle state adjustments, thereby improving control accuracy and ensuring the stability and safety of the vehicle in different driving scenarios. Thus, multi-command control enhances the flexibility and reliability of special vehicle control.

[0029] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0030] Figure 1 This is a flowchart of an embodiment of the multi-command control method for special vehicles provided in this application. Please refer to... Figure 1 The method provided in this embodiment may include:

[0031] S101. Collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands.

[0032] Specifically, a control node refers to a device or module in a multi-command control system that is responsible for sending control commands. These nodes can be distributed in different parts of the vehicle. For example, in one embodiment, control nodes may include intelligent controllers, remote controls, and smart surfaces.

[0033] Furthermore, based on the vehicle status, the control node receives operator input or generates control commands according to a preset algorithm, and sends the control commands to other components of the special vehicle.

[0034] Furthermore, control commands are signals sent from the control node to the electric cylinder controller, instructing the electric cylinder motor to perform specific actions or adjust to specific states.

[0035] It should be noted that control commands typically include a series of parameters and command identifiers, which describe in detail the specific tasks and operating conditions that the actuator needs to perform. For example, a control command for an electric cylinder mode might include parameters such as a mode identifier, execution speed, and target position.

[0036] Furthermore, when controlling the superstructure of a special vehicle, control commands may originate from multiple different control nodes, and the arrival time of these commands is random. It should be noted that control commands can be interconnected via the vehicle's CAN network or other communication protocols; however, this embodiment does not limit this.

[0037] Furthermore, the instruction type can characterize the function of the control instruction. In specific implementation, the specific types included in the instruction type are determined according to actual needs, and this embodiment does not limit this. For example, in one embodiment, the instruction type may include two types: mode control instruction and reset control instruction.

[0038] S102. The control instructions are filtered based on the instruction type to obtain the target control instructions; wherein, the first priority of the instruction type corresponding to the target control instructions is the highest.

[0039] Specifically, different command types correspond to different first priorities, which characterize the importance of the control command. It should be noted that when special vehicles execute control commands, they prioritize the control commands with higher importance; in other words, they prioritize the control commands with higher first priority.

[0040] Furthermore, the specific value of the first priority is preset according to the actual situation; in this embodiment, it is not set. For example, in one embodiment, the first priority of the reset control command is set to be much greater than the first priority of the mode control command.

[0041] In practice, the first priority is sorted from highest to lowest, and control instructions are selected as target control instructions in the order of sorting.

[0042] S103. Obtain the identification information of the target control command, and calculate the target weight of the target control command based on the identification information.

[0043] Specifically, each target control command has corresponding identification information, which can be used to determine the source and other attributes of the target control command.

[0044] In practice, the specific data type of the identification information is set according to actual needs, and this embodiment does not limit it. For example, in one embodiment, the identification information can be the ID of the target control command. In another embodiment, the command information can be the command code of the target control command.

[0045] It should be noted that the target weight corresponding to the target control command represents the importance of the target control command. When special vehicles execute commands, target control commands with higher importance are executed first.

[0046] The following is a specific embodiment to illustrate in detail the process of calculating the target weight of the target control command based on the identification information:

[0047] (1) Obtain the control node that generates the target control command based on the identification information.

[0048] In practice, special vehicles identify the source of target control commands by parsing identification information. For example, in one embodiment, the special vehicle identifies the identification information of the target control command and determines that the target control command was issued by the IDS intelligent controller. In another embodiment, the special vehicle identifies the identification information of the target control command and determines that the target control command was issued by the intelligent surface.

[0049] (2) Calculate the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein the third priority represents the operator's control intention.

[0050] Specifically, each control node has a corresponding second priority. The second priority can represent the importance of the instructions issued by the control node. In other words, the control instructions issued by the control node with a higher second priority are more important than the control instructions issued by the control node with a lower second priority.

[0051] Furthermore, the specific value of the second priority is set according to actual needs, and this embodiment does not limit it.

[0052] Optionally, the second priority is: IDS smart controller is greater than smart surface.

[0053] In practice, the control commands issued by the IDS intelligent controller are more important than the control commands issued by the intelligent surface.

[0054] Furthermore, each target control command has a corresponding third priority, which represents the control intention to execute the target control command. In specific implementation, the specific value of the third priority is set according to actual needs, and this embodiment does not limit it. For example, in one embodiment, the third priority corresponding to the target control command generated by the IDS intelligent controller based on the algorithm is set to 0.1, the third priority corresponding to the target control command generated by the first-level operator is set to 0.4, and the third priority corresponding to the target control command generated by the second-level operator is set to 0.5.

[0055] In this step, the second priority and the third priority can be weighted and summed according to a preset ratio to obtain the target weight.

[0056] The multi-command control method for special vehicles provided in this embodiment first obtains the control node that generates the target control command based on identification information. Then, it calculates the target weight based on the second priority of the control node and the third priority corresponding to the identification information. In this way, in complex control scenarios, the collected control commands are prioritized. By combining the second and third priorities and considering both the control node and the control intention, the execution order of subsequent commands can be fully influenced by the urgency level and the vehicle's status, ensuring that critical commands are processed promptly. Furthermore, the third priority prevents the operator's true intention from being masked, enabling accurate control of the special vehicle.

[0057] S104. Control the operation of the electric cylinder controller based on the target weight.

[0058] In practice, the target control command corresponding to the largest target weight can be sent to the vehicle's interactive network, and then the target control command can be transmitted through the electric cylinder controller to control the electric cylinder motor to work according to the target control command.

[0059] The following is a specific embodiment to illustrate in detail the process of controlling the electric cylinder controller based on the target weight:

[0060] (1) Sort the target control instructions based on the target weights to obtain the control order.

[0061] Specifically, the target control commands can be sorted using traditional sorting methods or neural network sorting methods; this embodiment does not limit the specific method. In practice, the target control commands are sorted according to their target weights from largest to smallest to obtain the control order. The control order can represent the priority order of different target control commands.

[0062] (2) Execute the target control instructions sequentially based on the control sequence.

[0063] In this step, the target control instructions are executed sequentially according to the control order. It should be noted that the next target control instruction is executed only after the current one has been completed.

[0064] The multi-command control method for special vehicles provided in this embodiment first collects control commands issued by multiple control nodes, determines the command type corresponding to each command, and then filters the control commands based on their command types to obtain target control commands. The command type corresponding to the target control command has the highest priority. The identification information of the target control command is then obtained, and the target weight of the target control command is calculated based on the identification information. Finally, the electric cylinder controller is controlled based on the target weight. This allows multiple command sources to send control commands simultaneously, and combined with the priority judgment mechanism, it can flexibly respond to complex and changing situations, ensuring the timely execution of critical commands. Furthermore, by assigning different target weights, special vehicles can prioritize important or urgent control commands, thereby quickly responding to critical needs and improving overall response efficiency. Furthermore, when multiple commands are executed concurrently, priority sorting reduces conflicts and erroneous execution between commands, ensuring correct command execution and stable system operation. This allows for fast and accurate multi-command control of special vehicles, improving the operator's user experience.

[0065] Figure 2 This is a flowchart of Embodiment 2 of the multi-command control method for special vehicles provided in this application. Please refer to... Figure 2 Based on the above embodiments, the step of controlling the electric cylinder controller based on the target weight further includes:

[0066] S201. Based on the electric cylinder controller, generate working information and upload the working information to the vehicle interaction network.

[0067] Specifically, the working information includes the status of the electric push cylinder motor and the execution status of control commands. In practice, the working information may include the current position, speed, load status, and execution status of the electric push cylinder motor (execution status may include: execution success, execution failure, execution error, etc.).

[0068] It should be noted that the working information generated by the electric cylinder controller can ensure the subsequent analysis and optimization of control strategies.

[0069] In practice, after generating operational information, the electric cylinder controller uploads it to the vehicle interaction network of the special vehicle in real time. For example, in one embodiment, the electric cylinder controller uploads the generated operational information to the vehicle interaction network through a specific communication interface and protocol, thereby enabling the transmission and sharing of operational information.

[0070] It should be noted that during the upload process, the work information can be encapsulated into a specific data packet format to ensure data integrity and reliability.

[0071] S202, Feedback of the working information based on the vehicle interaction network.

[0072] Specifically, after the work information is uploaded to the vehicle interaction network, other control units or components of the special vehicle can obtain this work information through the vehicle interaction network.

[0073] Furthermore, after receiving the work information, other control units or components of the special vehicle will perform corresponding processing and analysis. In practice, they can update the system status and trigger alarms or responses based on the work information.

[0074] Furthermore, vehicle interaction networks can also transmit operational information to other systems or platforms outside the vehicle (e.g., remote monitoring systems, data centers, etc.) to achieve broader information sharing and collaborative control.

[0075] The multi-command control method for special vehicles provided in this embodiment first generates working information based on the electric cylinder controller, uploads the working information to the vehicle interaction network, and then feeds back the working information based on the vehicle interaction network. In this way, by uploading the working information detected by the electric cylinder controller to the vehicle interaction network in real time, the special vehicle's system can monitor the operating status of the electric cylinder motor in real time. This helps to promptly detect potential faults or abnormalities and perform rapid diagnosis. Furthermore, the real-time feedback of working information enables the system to quickly respond to changes in the state of the electric cylinder controller, improving the reliability and stability of multi-command control. Furthermore, based on the real-time feedback of working information, the special vehicle can analyze the performance of the electric cylinder controller and optimize the control strategy according to the analysis results, thereby improving the system's operating efficiency and performance. Thus, the real-time uploading and feedback mechanism of working information ensures maintenance efficiency and the reliability and accuracy of multi-command control.

[0076] Corresponding to the aforementioned embodiment of a multi-command control method for special vehicles, this application also provides an embodiment of a multi-command control device for special vehicles.

[0077] An embodiment of the multi-command control device for special vehicles disclosed in this application can be applied to multi-command control equipment for special vehicles. The device embodiment can be implemented through software, hardware, or a combination of both. Taking software implementation as an example, as a logical device, it is formed by the processor of the multi-command control equipment of the special vehicle loading the corresponding computer program instructions from non-volatile memory into memory for execution. From a hardware perspective, such as... Figure 3 The diagram shown is a hardware structure diagram of a multi-command control device for a special vehicle, where the multi-command control device of this application is located. Except for... Figure 3 In addition to the processor, memory, network interface, and non-volatile memory shown, the multi-instruction control device of the special vehicle in which the device is located in the embodiment may also include other hardware depending on the actual function of the multi-instruction control device of the special vehicle, which will not be described in detail here.

[0078] Figure 4 This is a schematic diagram of the structure of a first embodiment of the multi-command control device for special vehicles provided in this application. Please refer to... Figure 4 The device provided in this embodiment includes a processing module 410, a filtering module 420, a calculation module 430, and a control module 440; wherein, the processing module 410 is used to collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands;

[0079] The filtering module 420 is used to filter the control instructions based on the instruction type to obtain target control instructions; wherein, the first priority of the instruction type corresponding to the target control instruction is the highest.

[0080] The calculation module 430 is used to obtain the identification information of the target control command and calculate the target weight of the target control command based on the identification information.

[0081] The control module 440 is used to control the operation of the electric cylinder controller based on the target weight.

[0082] The apparatus of this embodiment can be used to perform... Figure 1 The steps of the method embodiment shown are similar in principle and process, and will not be repeated here.

[0083] Optionally, the calculation module 430 is specifically used to obtain the control node that generates the target control command based on the identification information;

[0084] The calculation module 430 is further specifically used to calculate the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein the third priority represents the operator's control intention.

[0085] Optionally, the control module 440 is specifically used to sort the target control commands based on the target weights to obtain a control order;

[0086] The control module 440 is also specifically used to execute the target control instructions sequentially based on the control sequence.

[0087] Optionally, the control module 440 is further configured to generate working information based on the electric cylinder controller and upload the working information to the vehicle interaction network;

[0088] The control module 440 is also used to feed back the working information based on the vehicle interaction network.

[0089] Optionally, the second priority is: IDS smart controller is greater than smart surface.

[0090] Optionally, the instruction types include mode control instructions and reset control instructions.

[0091] Please continue to refer to Figure 3 This application also provides a multi-command control device for special vehicles, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of any of the methods provided in the first aspect of this application.

[0092] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods provided in this application.

[0093] This application also provides a vehicle, including: the aforementioned multi-command control device for special vehicles, or the aforementioned multi-command control equipment for special vehicles.

[0094] The specific implementation process of the functions and roles of each unit in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0095] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this application according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0096] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A multi-command control method for special vehicles, characterized in that, The method includes: Collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands; the command type includes mode control commands and reset control commands; the control commands are signals sent by the control nodes to the electric cylinder controller, and the electric cylinder motor is instructed to perform specific actions or adjust to a specific state through the control commands. The control instructions are filtered based on the instruction type to obtain target control instructions; wherein, the instruction type corresponding to the target control instruction has the highest first priority. Obtain the identification information of the target control command, and calculate the target weight of the target control command based on the identification information; specifically, this includes: obtaining the control node that generated the target control command based on the identification information; calculating the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein, the third priority represents the operator's control intention; and weighting and summing the second priority and the third priority according to a preset ratio to obtain the target weight. The electric cylinder controller operates based on the target weight.

2. The method according to claim 1, characterized in that, The operation of the electric cylinder controller based on the target weight includes: The target control commands are sorted based on the target weights to obtain the control order; The target control commands are executed sequentially based on the control sequence.

3. The method according to claim 1, characterized in that, After the electric cylinder controller is operated based on the target weight, the method further includes: Based on the electric cylinder controller, working information is generated and uploaded to the vehicle interaction network; The working information is fed back based on the vehicle interaction network.

4. The method according to claim 1, characterized in that, The second priority is: IDS smart controller is greater than smart surface.

5. A multi-command control device for special vehicles, characterized in that, The device includes a processing module, a filtering module, a calculation module, and a control module; wherein, The processing module is used to collect control commands issued by multiple control nodes and determine the command type corresponding to the control commands; the command type includes mode control commands and reset control commands; the control commands are signals sent by the control nodes to the electric cylinder controller, and the electric cylinder motor is instructed to perform specific actions or adjust to a specific state through the control commands. The filtering module is used to filter the control instructions based on the instruction type to obtain target control instructions; wherein, the instruction type corresponding to the target control instruction has the highest first priority; The calculation module is used to obtain the identification information of the target control command and calculate the target weight of the target control command based on the identification information; specifically, it is used to obtain the control node that generates the target control command based on the identification information; calculate the target weight based on the second priority of the control node and the third priority corresponding to the identification information; wherein, the third priority represents the operator's control intention; and the second priority and the third priority are weighted and summed according to a preset ratio to obtain the target weight. The control module is used to control the operation of the electric cylinder controller based on the target weight.

6. A multi-command control device for special vehicles, characterized in that, The method includes a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the program, implements the steps of the method according to any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, it implements the steps of the method according to any one of claims 1-4.

8. A vehicle, characterized in that, include: The multi-command control device for special vehicles as described in claim 5, or the multi-command control equipment for special vehicles as described in claim 6.

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