Emergency vehicle moving method, device and equipment under strong magnetic working condition and medium

Abstract

The invention discloses an emergency vehicle moving method, device and equipment under a strong magnetic working condition and a medium. The method comprises the steps that if it is detected that an emergency vehicle moving switch is switched to an emergency vehicle moving mode, a first vehicle signal is shielded; when it is detected that the vehicle is switched to the forward gear or the reverse gear, the initial torque, the torque amplification and the maximum torque are determined; and in each control period, according to the initial torque, the torque amplification and the maximum torque, the current vehicle torque is calculated and sent to a motor, and the vehicle is driven through the motor. By the adoption of the technical scheme, when the vehicle stops moving due to strong magnetic interference, the vehicle is not affected by interference signals, so that the vehicle safely and conveniently evacuates from a fault area and does not depend on external rescue.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a method, device, equipment and medium for emergency vehicle movement under strong magnetic conditions. Background Art

[0002] For electrically driven engineering vehicles, when they operate under extremely strong magnetic conditions, electrical signals are easily interfered with by strong magnetic fields, resulting in signal distortion, thereby triggering the vehicle's program safety mechanism and causing the vehicle to stop moving.

[0003] In order to avoid traffic jams caused by sudden vehicle stops, it is generally necessary to coordinate with another vehicle to tow the stopped vehicle, or use troubleshooting methods to eliminate the fault before continuing the operation.

[0004] However, using towing to rescue a vehicle requires waiting for the rescue vehicle to arrive, which prolongs the troubleshooting time, increases the consumption of manpower and material resources, and is prone to causing secondary accidents during the towing process. On-site troubleshooting requires professional personnel to operate on-site, which is more complex and difficult to quickly respond to sudden parking incidents, and does not meet the actual needs of efficient production. Summary of the Invention

[0005] The present invention provides an emergency vehicle moving method, device, equipment and medium under strong magnetic conditions, which can ensure that when a vehicle stops moving due to strong magnetic interference, it will not be affected by the interference signal, allowing the vehicle to evacuate the fault area safely and conveniently without relying on external rescue.

[0006] According to one aspect of the present invention, a method for emergency vehicle maneuvering under strong magnetic conditions is provided, comprising:

[0007] If it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode, the first vehicle signal is shielded;

[0008] When it is detected that the vehicle is shifted into a forward gear or a reverse gear, an initial torque, a torque increase, and a maximum torque are determined respectively;

[0009] In each control cycle, the current vehicle torque is calculated based on the initial torque, torque increase, and maximum torque and sent to the motor to drive the vehicle.

[0010] Optionally, when it is detected that the vehicle is switched to a forward gear or a reverse gear, the initial torque, the torque increase, and the maximum torque are determined respectively, including:

[0011] Obtaining the mode switch status and determining the initial torque coefficient, torque amplification coefficient, and maximum torque coefficient based on the target mode selected by the user;

[0012] The initial torque, torque increase and maximum torque are determined according to the peak torque, torque coefficient, torque increase coefficient and maximum torque coefficient of the vehicle.

[0013] Optionally, in each control cycle, the current vehicle torque is calculated based on the initial torque, the torque increase, and the maximum torque and sent to the motor to drive the vehicle via the motor, including:

[0014] According to the torque increase, starting from the initial torque, the vehicle torque is gradually increased in each control cycle until the maximum torque is reached;

[0015] The current vehicle torque calculated in each control cycle and the maximum vehicle speed under the emergency state are sent to the motor to drive the vehicle through the motor;

[0016] Among them, when the motor detects that the current speed exceeds the motor speed at the maximum vehicle speed, the torque that can maintain the maximum vehicle speed will be used as the actual response torque of the motor.

[0017] Optionally, after detecting that the vehicle is switched to a forward gear or a reverse gear and determining the initial torque, the torque increase, and the maximum torque respectively, the method further includes:

[0018] If it is detected that the vehicle's acceleration within the target time interval is less than the target acceleration, the torque increase is increased.

[0019] Optionally, the emergency vehicle moving method under strong magnetic conditions further includes:

[0020] When it is detected that the vehicle has shifted into neutral, the vehicle torque is reduced to 0.

[0021] Optionally, the emergency vehicle moving method under strong magnetic conditions further includes:

[0022] During vehicle driving, when it is detected that the motor temperature exceeds a preset temperature threshold, the target power and current speed of the motor are determined;

[0023] The target torque is determined based on the target power and current speed of the motor, and the motor torque is reduced to the target torque.

[0024] Optionally, the emergency vehicle moving method under strong magnetic conditions further includes:

[0025] During vehicle driving, when it is detected that data of the first vehicle signal is lost, the vehicle is driven according to a preset fixed torque.

[0026] According to another aspect of the present invention, there is provided an emergency vehicle moving device under strong magnetic conditions, comprising:

[0027] a signal shielding module, configured to shield the first vehicle signal if it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode;

[0028] a torque parameter determination module, for determining an initial torque, a torque increase, and a maximum torque respectively when detecting that the vehicle has switched to a forward gear or a reverse gear;

[0029] The vehicle drive module is used to calculate the current vehicle torque based on the initial torque, torque increase and maximum torque in each control cycle and send it to the motor to drive the vehicle through the motor.

[0030] According to another aspect of the present invention, an electronic device is provided, comprising:

[0031] at least one processor; and

[0032] a memory communicatively connected to the at least one processor; wherein,

[0033] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the emergency vehicle moving method under strong magnetic conditions described in any embodiment of the present invention.

[0034] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the emergency vehicle moving method under strong magnetic conditions described in any embodiment of the present invention when executed.

[0035] The technical solution of the embodiment of the present invention can avoid the interference of invalid signals affecting the vehicle movement by shielding the first vehicle signal if it is detected that the emergency moving switch is switched to the emergency moving mode. When it is detected that the vehicle is switched to the forward gear or the reverse gear, the initial torque, the torque increase and the maximum torque are determined respectively, so as to obtain the torque parameters matching the road conditions, thereby ensuring that the vehicle has sufficient driving force to overcome the road resistance and the influence of the slope. By calculating the current vehicle torque according to the initial torque, the torque increase and the maximum torque in each control cycle and sending it to the motor, so as to drive the vehicle by the motor, it can realize fast and efficient autonomous moving of the vehicle under strong magnetic conditions, reduce the consumption of manpower and material resources, reduce the time for handling faults, have low operation complexity, and ensure the safety of the vehicle during the emergency moving process.

[0036] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0038] Figure 1 This is a flow chart of a method for emergency vehicle moving under strong magnetic conditions provided in accordance with the first embodiment of the present invention;

[0039] Figure 2 This is a flow chart of another method for emergency vehicle moving under strong magnetic conditions provided by the second embodiment of the present invention;

[0040] Figure 3 This is a structural diagram of an emergency vehicle moving device under strong magnetic conditions provided by Example 3 of the present invention;

[0041] Figure 4 The figure is a structural diagram of an electronic device for implementing the emergency vehicle moving method under strong magnetic conditions according to an embodiment of the present invention. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0043] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0044] Example 1

[0045] Figure 1This is a flowchart of a method for emergency vehicle maneuvering under strong magnetic conditions provided by the first embodiment of the present invention. This embodiment is applicable to the situation where an engineering vehicle is urgently stopped due to signal interference under strong magnetic conditions and the method can be executed by an emergency vehicle maneuvering device under strong magnetic conditions. The emergency vehicle maneuvering device under strong magnetic conditions can be implemented in the form of hardware and / or software and can generally be configured in a vehicle computer or vehicle main control system with data processing capabilities. Figure 1 As shown, the method includes:

[0046] S110: If it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode, the first vehicle signal is shielded.

[0047] Optionally, the vehicle of the present invention may refer to an electrically driven engineering vehicle, which can operate through various control methods such as remote driving, on-site driver control or preset operating rules. When the engineering vehicle encounters extremely strong magnetic conditions during operation, such as metal processing workshops, large magnetic material storage areas or special scientific research environments, it may cause interference to some electronic circuits inside the vehicle, resulting in failure of key electrical signals such as the accelerator pedal, brake pedal, handbrake and pressure switch. Such signal distortion will trigger the safety mechanism of the vehicle program, causing the vehicle to stop.

[0048] Optionally, an emergency moving car switch can be set inside the engineering vehicle and / or in the remote cockpit of the engineering vehicle. The emergency moving car switch can be a two-position switch. Under normal operating conditions, the emergency moving car switch remains in the non-emergency moving car mode. When the vehicle stops in an emergency under strong magnetic conditions, the emergency moving car switch set inside the engineering vehicle or in the remote cockpit can be switched to the emergency moving car mode.

[0049] Optionally, the first vehicle signal may include but is not limited to an electric throttle signal, an electric brake pedal feedback signal, a handbrake status signal, and status information of a specified pressure switch. The specified pressure switch may refer to a pressure switch such as a hydraulic valve switch that can control vehicle movement.

[0050] It is understandable that the first vehicle signal will have a great impact on the movement of the vehicle. If the first vehicle signal is distorted by strong magnetic interference, for example, when the handbrake is released, the handbrake signal received in the vehicle corresponds to the lifted state. At this time, the vehicle code will logically not support the movement of the vehicle, thereby interfering with emergency moving. By shielding the first vehicle signal, the interference of invalid signals can be avoided to affect the vehicle movement.

[0051] S120: When it is detected that the vehicle is switched to a forward gear or a reverse gear, an initial torque, a torque increase, and a maximum torque are determined respectively.

[0052] Optionally, after the emergency maneuvering switch is switched to the emergency maneuvering mode, if it is detected that the vehicle has switched to the forward gear or the reverse gear, it can be determined whether the vehicle is in the forward or reverse mode in the emergency maneuvering state according to the forward gear or the reverse gear, and then after the vehicle starts to move, it moves forward or backward according to the gear position.

[0053] Optionally, the initial torque, torque increase and maximum torque can be determined based on the peak torque of the vehicle. For example, the initial torque can be set to 20%-30% of the peak torque, the peak torque can be increased by 0.05%-0.1% every 10ms, and the maximum torque limit can be 50%-70% of the peak torque. The specific percentages can be determined based on demand.

[0054] When it is detected that the vehicle is switched to forward gear or reverse gear, the initial torque, torque increase and maximum torque are determined respectively, including:

[0055] Obtaining the mode switch status and determining the initial torque coefficient, torque amplification coefficient, and maximum torque coefficient based on the target mode selected by the user;

[0056] The initial torque, torque increase and maximum torque are determined according to the peak torque, torque coefficient, torque increase coefficient and maximum torque coefficient of the vehicle.

[0057] Optionally, taking into account the different road conditions under which the vehicle operates, if the same torque increase and maximum torque are used under different road conditions, it is easy to cause the vehicle speed and acceleration to be too large or too small. Therefore, a mode switch can also be set around the emergency moving switch. The mode switch status can be used to indicate the current road condition. The mode switch can provide at least three optional road conditions including flat ground, uphill and downhill.

[0058] Optionally, different coefficients can be set for the initial torque, torque increase and maximum torque under different road conditions. Under uphill road conditions, each coefficient can be increased based on the coefficient set on flat ground. Under downhill road conditions, each coefficient can be reduced based on the coefficient set on flat ground.

[0059] Optionally, the product of the initial torque coefficient and the peak torque can be used as the initial torque. Similarly, the torque increase is the product of the torque increase coefficient and the peak torque, and the maximum torque is the product of the maximum torque coefficient and the peak torque.

[0060] In an optional example, the initial torque coefficient, torque amplification coefficient and maximum torque coefficient can be set to 25%, 0.07% and 60% respectively on flat road conditions; the initial torque coefficient, torque amplification coefficient and maximum torque coefficient can be set to 30%, 0.1% and 70% respectively on uphill road conditions; the initial torque coefficient, torque amplification coefficient and maximum torque coefficient can be set to 20%, 0.05% and 50% respectively on downhill road conditions. This is only for illustrative purposes. It is also possible to set coefficients for only one or two of the initial torque, torque amplification and maximum torque, and the torque for which no coefficient is set can be preset to a fixed value.

[0061] Optionally, the initial torque, torque increase and maximum torque may also be preset fixed values, for example, the initial torque is set to 0, the torque increase is set to y%, and the maximum torque is set to z%, where y and z are both preset values.

[0062] S130. In each control cycle, the current vehicle torque is calculated based on the initial torque, the torque increase, and the maximum torque, and is sent to the motor to drive the vehicle through the motor.

[0063] In each control cycle, the current vehicle torque is calculated based on the initial torque, torque increase, and maximum torque and sent to the motor to drive the vehicle through the motor, including:

[0064] According to the torque increase, starting from the initial torque, the vehicle torque is gradually increased in each control cycle until the maximum torque is reached;

[0065] The current vehicle torque calculated in each control cycle and the maximum vehicle speed under the emergency state are sent to the motor to drive the vehicle through the motor;

[0066] Among them, when the motor detects that the current speed exceeds the motor speed at the maximum vehicle speed, the torque that can maintain the maximum vehicle speed will be used as the actual response torque of the motor.

[0067] Optionally, the current vehicle torque of the current control cycle is calculated in each control cycle, and the current vehicle torque and a preset maximum vehicle speed are sent to the motor together. The motor drives the vehicle to move by responding to the torque.

[0068] Optionally, in order to prevent safety problems caused by excessive vehicle speed during emergency maneuvering, the present invention presets a maximum vehicle speed. If the current speed of the motor has exceeded the motor speed at the maximum vehicle speed, the vehicle speed is reduced by keeping the motor speed unchanged and reducing the torque actually responded by the motor. For example, if the maximum vehicle speed is 3km, in the first control cycle, the torque sent by the vehicle computer to the motor is 500N / m (Newtons / meters), and the vehicle speed in the first control cycle is 3km / h (kilometers / hour). In the second control cycle, the torque sent by the vehicle computer to the motor is 600N / m. Assuming that the motor speed in the first control cycle is the same as that in the second control cycle, at this time, the motor only responds to a torque of 500N / m, thereby continuing to keep the vehicle speed stable at 3km.

[0069] Optionally, after the vehicle has sufficient driving force to overcome the road resistance and the influence of the slope, the vehicle can start to move slowly. At this time, the direction of the vehicle's movement can be determined by the direction signal generated by the driver driving in the car, remote driving in the cockpit, or a preset escape path.

[0070] The technical solution of the embodiment of the present invention can avoid the interference of invalid signals affecting the vehicle movement by shielding the first vehicle signal if it is detected that the emergency moving switch is switched to the emergency moving mode. When it is detected that the vehicle is switched to the forward gear or the reverse gear, the initial torque, the torque increase and the maximum torque are determined respectively, so as to obtain the torque parameters matching the road conditions, thereby ensuring that the vehicle has sufficient driving force to overcome the road resistance and the influence of the slope. By calculating the current vehicle torque according to the initial torque, the torque increase and the maximum torque in each control cycle and sending it to the motor, so as to drive the vehicle by the motor, it can realize fast and efficient autonomous moving of the vehicle under strong magnetic conditions, reduce the consumption of manpower and material resources, reduce the time for handling faults, have low operation complexity, and ensure the safety of the vehicle during the emergency moving process.

[0071] Example 2

[0072] Figure 2 This is a flow chart of a method for emergency vehicle moving under strong magnetic working conditions provided by the second embodiment of the present invention. This embodiment specifically describes the method for emergency vehicle moving under strong magnetic working conditions based on the above embodiment. Figure 2 As shown, the method includes:

[0073] S210: If it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode, the first vehicle signal is shielded.

[0074] S220 , obtaining a mode switch state, and determining an initial torque coefficient, a torque amplification coefficient, and a maximum torque coefficient according to a target mode selected by the user.

[0075] S230 : Determine the initial torque, torque increase, and maximum torque respectively according to the peak torque, torque coefficient, torque increase coefficient, and maximum torque coefficient of the vehicle.

[0076] S240 . Starting from the initial torque, gradually increase the vehicle torque in each control cycle according to the torque increase until the maximum torque is reached.

[0077] Wherein, after detecting that the vehicle is switched to a forward gear or a reverse gear, respectively determining the initial torque, the torque increase, and the maximum torque, the following steps may be further included:

[0078] If it is detected that the vehicle's acceleration within the target time interval is less than the target acceleration, the torque increase is increased.

[0079] Optionally, the target time interval can be a specified time period, such as 3 seconds or 5 seconds, and the target acceleration is also a preset value. If it is detected that the acceleration of the vehicle in the target time interval is less than the target acceleration, it can be said that the speed change of the vehicle is not obvious over a long period of time. In order to improve the efficiency of emergency vehicle moving, the torque increase can be appropriately increased. Specifically, the torque increase variation can be preset. When it is detected that the acceleration of the vehicle in the target time interval is less than the target acceleration, the torque increase is updated according to the torque increase variation. For example, the torque increase variation can be 50%. When it is detected that the acceleration of the vehicle in the target time interval is less than the target acceleration, the torque increase after increasing by 50% is used as the updated torque increase.

[0080] S250: Send the current vehicle torque calculated in each control cycle and the maximum vehicle speed in the emergency state to the motor to drive the vehicle through the motor.

[0081] Among them, when the motor detects that the current speed exceeds the motor speed at the maximum vehicle speed, the torque that can maintain the maximum vehicle speed will be used as the actual response torque of the motor.

[0082] The emergency vehicle moving method under strong magnetic conditions may further include:

[0083] When it is detected that the vehicle has shifted into neutral, the vehicle torque is reduced to 0.

[0084] Optionally, in order to ensure the safety of the vehicle during emergency maneuvering, the present invention also provides a reliable parking method for the emergency maneuvering process. When it is detected that the vehicle has switched to neutral, the vehicle torque is reduced to 0, thereby stopping smoothly. During the emergency maneuvering process, when the vehicle continues to move and there is a safety problem, the vehicle can be temporarily stopped, and the emergency maneuvering process can be continued after the safety problem is resolved.

[0085] Optionally, when the vehicle has driven to a safe position, the emergency moving switch can be switched to non-emergency moving mode. At this time, the vehicle exits the emergency moving mode and can wait for subsequent rescue operations.

[0086] Optionally, the emergency vehicle moving method under strong magnetic conditions may further include:

[0087] When it is determined that the vehicle is in an emergency state, the warning lights will be controlled to flash and a sound prompt will be given, and all electrical connections of the engineering vehicle will be cut off at the same time.

[0088] Optionally, the emergency state can be pre-set, such as collision, motor damage, etc., which is not limited here.

[0089] The technical solution of the embodiment of the present invention can avoid the interference of invalid signals affecting the vehicle movement by shielding the first vehicle signal if it is detected that the emergency moving switch is switched to the emergency moving mode. When it is detected that the vehicle is switched to the forward gear or the reverse gear, the initial torque, the torque increase and the maximum torque are determined respectively, so as to obtain the torque parameters matching the road conditions, thereby ensuring that the vehicle has sufficient driving force to overcome the road resistance and the influence of the slope. By calculating the current vehicle torque according to the initial torque, the torque increase and the maximum torque in each control cycle and sending it to the motor, so as to drive the vehicle by the motor, it can realize fast and efficient autonomous moving of the vehicle under strong magnetic conditions, reduce the consumption of manpower and material resources, reduce the time for handling faults, have low operation complexity, and ensure the safety of the vehicle during the emergency moving process.

[0090] Furthermore, the emergency vehicle moving method under strong magnetic conditions may further include:

[0091] During vehicle driving, when it is detected that the motor temperature exceeds a preset temperature threshold, the target power and current speed of the motor are determined;

[0092] The target torque is determined based on the target power and current speed of the motor, and the motor torque is reduced to the target torque.

[0093] Optionally, considering the safety impact of excessively high vehicle motor temperature on the vehicle, when it is detected that the motor temperature exceeds a preset temperature threshold, the motor heating rate can be reduced by reducing the torque and the motor power, thereby reducing the motor heating rate.

[0094] Optionally, the temperature threshold can be pre-set and the target power can be determined based on the motor temperature. When the motor temperature exceeds the temperature threshold, different motor temperatures have corresponding target powers. When the actual power of the motor is reduced to below the target power, the motor heating rate can be effectively reduced.

[0095] Optionally, the motor power is determined by the motor speed and torque. In the torque control mode, the motor speed can be kept constant. The target torque can be determined based on the target power and the current speed. When the motor responds to the target torque, the motor power operates at the target power.

[0096] Optionally, if the motor continues to run at a high temperature, the vehicle power supply can be cut off to ensure vehicle safety.

[0097] Furthermore, the emergency vehicle moving method under strong magnetic conditions may further include:

[0098] During vehicle driving, when it is detected that data of the first vehicle signal is lost, the vehicle is driven according to a preset fixed torque.

[0099] Optionally, during vehicle driving, if the first vehicle signal data is lost, the driver may not be able to detect and respond in a timely manner for a short period of time. Therefore, when it is determined that the first vehicle signal data is lost, the vehicle can be driven with a preset fixed torque, which is generally a small value, to reduce the vehicle speed and send a prompt to the driver to ensure driving safety.

[0100] Example 3

[0101] Figure 3 This is a structural diagram of an emergency vehicle moving device under strong magnetic working conditions provided by the third embodiment of the present invention. Figure 3 As shown, the device includes: a signal shielding module 310 , a torque parameter determination module 320 and a vehicle driving module 330 .

[0102] The signal shielding module 310 is configured to shield the first vehicle signal if it is detected that the emergency vehicle maneuvering switch is switched to the emergency vehicle maneuvering mode.

[0103] The torque parameter determination module 320 is configured to determine the initial torque, the torque increase, and the maximum torque respectively when it is detected that the vehicle is switched to a forward gear or a reverse gear.

[0104] The vehicle driving module 330 is used to calculate the current vehicle torque according to the initial torque, the torque increase and the maximum torque in each control cycle and send the current vehicle torque to the motor to drive the vehicle through the motor.

[0105] The technical solution of the embodiment of the present invention can avoid the interference of invalid signals affecting the vehicle movement by shielding the first vehicle signal if it is detected that the emergency moving switch is switched to the emergency moving mode. When it is detected that the vehicle is switched to the forward gear or the reverse gear, the initial torque, the torque increase and the maximum torque are determined respectively, so as to obtain the torque parameters matching the road conditions, thereby ensuring that the vehicle has sufficient driving force to overcome the road resistance and the influence of the slope. By calculating the current vehicle torque according to the initial torque, the torque increase and the maximum torque in each control cycle and sending it to the motor, so as to drive the vehicle by the motor, it can realize fast and efficient autonomous moving of the vehicle under strong magnetic conditions, reduce the consumption of manpower and material resources, reduce the time for handling faults, have low operation complexity, and ensure the safety of the vehicle during the emergency moving process.

[0106] Based on the above embodiments, the torque parameter determination module 320 can be specifically used to:

[0107] Obtaining the mode switch status and determining the initial torque coefficient, torque amplification coefficient, and maximum torque coefficient based on the target mode selected by the user;

[0108] The initial torque, torque increase and maximum torque are determined according to the peak torque, torque coefficient, torque increase coefficient and maximum torque coefficient of the vehicle.

[0109] Based on the above embodiments, the vehicle driving module 330 can be specifically used to:

[0110] According to the torque increase, starting from the initial torque, the vehicle torque is gradually increased in each control cycle until the maximum torque is reached;

[0111] The current vehicle torque calculated in each control cycle and the maximum vehicle speed under the emergency state are sent to the motor to drive the vehicle through the motor;

[0112] Among them, when the motor detects that the current speed exceeds the motor speed at the maximum vehicle speed, the torque that can maintain the maximum vehicle speed will be used as the actual response torque of the motor.

[0113] Based on the above embodiments, a torque amplification adjustment module may be further included to:

[0114] If it is detected that the vehicle's acceleration within the target time interval is less than the target acceleration, the torque increase is increased.

[0115] On the basis of the above embodiments, an emergency parking module may be further included for:

[0116] When it is detected that the vehicle has shifted into neutral, the vehicle torque is reduced to 0.

[0117] Based on the above embodiments, a motor temperature abnormality processing module may be further included, which is used to:

[0118] During vehicle driving, when it is detected that the motor temperature exceeds a preset temperature threshold, the target power and current speed of the motor are determined;

[0119] The target torque is determined based on the target power and current speed of the motor, and the motor torque is reduced to the target torque.

[0120] Based on the above embodiments, a signal loss processing module may be further included, which is used to:

[0121] During vehicle driving, when it is detected that data of the first vehicle signal is lost, the vehicle is driven according to a preset fixed torque.

[0122] The emergency vehicle moving device under strong magnetic conditions provided by the embodiment of the present invention can execute the emergency vehicle moving method under strong magnetic conditions provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0123] Example 4

[0124] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, 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 and / or claimed herein.

[0125] like Figure 4 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11. The memory stores a computer program that can be executed 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. Various programs and data required for the operation of the electronic device 10 can also be stored in the RAM 13. The processor 11, ROM 12, and 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.

[0126] 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 magnetic disk, an optical disk, 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.

[0127] The processor 11 can be various general and / or special 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 that run 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 the emergency vehicle moving method under strong magnetic conditions as described in any embodiment of the present invention. That is:

[0128] If it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode, the first vehicle signal is shielded;

[0129] When it is detected that the vehicle is shifted into a forward gear or a reverse gear, an initial torque, a torque increase, and a maximum torque are determined respectively;

[0130] In each control cycle, the current vehicle torque is calculated based on the initial torque, torque increase, and maximum torque and sent to the motor to drive the vehicle.

[0131] In some embodiments, the method for emergency vehicle maneuvering under strong magnetic conditions can be implemented as a computer program, which is tangibly contained 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 on 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 emergency vehicle maneuvering under strong magnetic conditions described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to execute the method for emergency vehicle maneuvering under strong magnetic conditions in any other appropriate manner (for example, by means of firmware).

[0132] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), 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 interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0133] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0134] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0135] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types 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).

[0136] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0137] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0138] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0139] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. An emergency vehicle moving method under strong magnetic conditions, characterized in that: include: If it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode, the first vehicle signal is shielded; When it is detected that the vehicle is shifted into a forward gear or a reverse gear, an initial torque, a torque increase, and a maximum torque are determined respectively; In each control cycle, the current vehicle torque is calculated based on the initial torque, torque increase, and maximum torque and sent to the motor to drive the vehicle.

2. The method according to claim 1, characterized in that When it is detected that the vehicle is shifting into forward gear or reverse gear, the initial torque, torque increase, and maximum torque are determined respectively, including: Obtaining the mode switch status and determining the initial torque coefficient, torque amplification coefficient, and maximum torque coefficient based on the target mode selected by the user; The initial torque, torque increase and maximum torque are determined according to the peak torque, torque coefficient, torque increase coefficient and maximum torque coefficient of the vehicle.

3. The method according to claim 1, characterized in that In each control cycle, the current vehicle torque is calculated based on the initial torque, torque increase, and maximum torque and sent to the motor to drive the vehicle, including: According to the torque increase, starting from the initial torque, the vehicle torque is gradually increased in each control cycle until the maximum torque is reached; The current vehicle torque calculated in each control cycle and the maximum vehicle speed under the emergency state are sent to the motor to drive the vehicle through the motor; Among them, when the motor detects that the current speed exceeds the motor speed at the maximum vehicle speed, the torque that can maintain the maximum vehicle speed will be used as the actual response torque of the motor.

4. The method according to claim 1, wherein When it is detected that the vehicle is shifted into a forward gear or a reverse gear, after determining the initial torque, the torque increase, and the maximum torque respectively, the method further includes: If it is detected that the vehicle's acceleration within the target time interval is less than the target acceleration, the torque increase is increased.

5. The method according to claim 1, wherein Also includes: When it is detected that the vehicle has shifted into neutral, the vehicle torque is reduced to 0.

6. The method according to claim 1, wherein Also includes: During vehicle driving, when it is detected that the motor temperature exceeds a preset temperature threshold, the target power and current speed of the motor are determined; The target torque is determined based on the target power and current speed of the motor, and the motor torque is reduced to the target torque.

7. The method according to claim 1, characterized in that Also includes: During vehicle driving, when it is detected that data of the first vehicle signal is lost, the vehicle is driven according to a preset fixed torque.

8. An emergency vehicle moving device under strong magnetic conditions, characterized in that: include: a signal shielding module, configured to shield the first vehicle signal if it is detected that the emergency vehicle moving switch is switched to the emergency vehicle moving mode; a torque parameter determination module, for determining an initial torque, a torque increase, and a maximum torque respectively when detecting that the vehicle has switched to a forward gear or a reverse gear; The vehicle drive module is used to calculate the current vehicle torque based on the initial torque, torque increase and maximum torque in each control cycle and send it to the motor to drive the vehicle through the motor.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the emergency vehicle moving method under strong magnetic working conditions according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the emergency vehicle moving method under strong magnetic working conditions according to any one of claims 1 to 7 when executed.

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