Vehicle tarpaulin control method and vehicle

Abstract

The invention provides a tarpaulin control method of a vehicle and the vehicle. The method comprises the following steps: acquiring vehicle information of a first target vehicle; based on the vehicle information of the first target vehicle, target tarpaulin states of the first target vehicle are determined, and the target tarpaulin states comprise an unfolded state and a folded state; determining a target operation mode of a tarpaulin driving motor based on the target tarpaulin state; based on the target operation mode, a motor driving instruction is generated, and the motor driving instruction is used for controlling a tarpaulin driving motor to operate in the target operation mode so as to drive the tarpaulin to move in the target direction until the tarpaulin is switched to the target tarpaulin state. According to the scheme, the tarpaulin can be automatically unfolded and folded, and the technical problem that in the prior art, tarpaulin control needs manual control, and consequently the working efficiency is low is solved.

Description

Technical Field

[0001] The present invention relates to the fields of vehicle control technology and unmanned driving technology, and in particular to a vehicle tarpaulin control method and the vehicle. Background Art

[0002] In traditional mining truck transport, tarpaulin systems are primarily used to prevent dust and material loss caused by wind, turbulence, and other factors during transportation. This is particularly true for transporting dusty materials like ore and coal. Currently, tarpaulin systems on mining trucks are mostly controlled manually, with remote controls or manual switches controlling their deployment and retraction. This method has a low degree of automation and requires operators to be physically present on-site to manually operate the remote control or switch, making remote or automatic control impossible. This reduces efficiency and increases the workload of operators.

[0003] Currently, no effective solutions have been proposed for the above technical problems. Summary of the Invention

[0004] The main purpose of the present invention is to provide a tarpaulin control method for a vehicle and a vehicle, so as to solve the problem of low working efficiency caused by manual control of the tarpaulin in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a tarpaulin control method for a vehicle is provided, the method comprising: acquiring vehicle information of a first target vehicle; determining a target tarpaulin state of the first target vehicle based on the vehicle information, wherein the target tarpaulin state comprises an unfolded state and a folded state; determining a target operating mode of a tarpaulin drive motor based on the target tarpaulin state; generating a motor drive instruction based on the target operating mode, the motor drive instruction being used to control the tarpaulin drive motor to operate in the target operating mode to drive the tarpaulin to move in a target direction until the tarpaulin switches to the target tarpaulin state.

[0006] Furthermore, the method further includes: acquiring tarpaulin status detection information; determining a current state of the tarpaulin based on the tarpaulin status detection information; and controlling a tarpaulin drive motor to stop moving in response to the current state being a target tarpaulin state.

[0007] Furthermore, the method also includes: obtaining operating condition information of the tarpaulin control system; judging whether a fault occurs in the tarpaulin control system based on the operating condition information; in response to a fault in the tarpaulin control system, controlling the tarpaulin control system to execute a fault handling process based on the fault type of the tarpaulin control system, and the fault handling process is set corresponding to the fault type.

[0008] Furthermore, based on the vehicle information of the first target vehicle, the target tarpaulin state of the first target vehicle is determined, including: determining the current position and current business node of the first target vehicle based on the vehicle information of the first target vehicle; determining the target tarpaulin state of the first target vehicle according to the current position and current business node of the first target vehicle.

[0009] Furthermore, based on the current position and current business node of the first target vehicle, the target tarpaulin state of the first target vehicle is determined, including: in response to the current position being the loading area and the current business node being the loading preparation node, determining the target tarpaulin state to be the retracted state; and / or, in response to the current position being the loading area and the current business node being the loading completion node, determining the target tarpaulin state to be the unfolded state; and / or, in response to the current position being the unloading area and the current business node being the unloading preparation node, determining the target tarpaulin state to be the retracted state; and / or, in response to the current position being the unloading area and the current business node being the unloading completion node, determining the target tarpaulin state to be the unfolded state.

[0010] Furthermore, the method also includes: determining the target driving strategy of the second target vehicle based on the current state of the tarpaulin of the first target vehicle, wherein the second target vehicle is a vehicle close to the first target vehicle; in response to the vehicle information of the second target vehicle meeting the first execution condition, controlling the second target vehicle to execute the target driving strategy.

[0011] Furthermore, based on the current state of the tarpaulin of the first target vehicle, the target driving strategy of the second target vehicle is determined, including the following steps: in response to the current state of the tarpaulin of the first target vehicle being the retracted state, the target driving strategy of the second target vehicle is determined to be the first driving strategy, and the first driving strategy includes: increasing the safety distance between the second target vehicle and the first target vehicle, and keeping the second target vehicle in a following state; or, in response to the current state of the tarpaulin of the first target vehicle being the retracted state, the target driving strategy of the second target vehicle is determined to be the second driving strategy, and the second driving strategy includes: changing the driving route of the second target vehicle so that the second target vehicle exits the following state; wherein, the following state is used to indicate the state in which the second target vehicle follows the first target vehicle.

[0012] Furthermore, the method also includes: determining the target operating mode of the perception system of the second target vehicle based on the current state of the tarpaulin of the first target vehicle; and controlling the perception system of the second target vehicle to switch to the target operating mode in response to the vehicle information of the second target vehicle meeting the second execution condition.

[0013] Furthermore, based on the current state of the tarpaulin of the first target vehicle, the target operating mode of the perception system of the second target vehicle is determined, including: in response to the current state of the tarpaulin of the first target vehicle being the retracted state, determining the target operating mode of the perception system of the second target vehicle to be a high-precision mode; wherein, the perception system of the second target vehicle has multiple operating modes, and the multiple operating modes include at least a low-precision mode and a high-precision mode, and the perception accuracy of the perception system in the high-precision mode is higher than the perception accuracy of the perception system in the low-precision mode.

[0014] According to another aspect of the present invention, a vehicle is provided, and the vehicle is controlled by using the above-mentioned vehicle tarpaulin control method.

[0015] By applying the technical solution of the present invention, based on vehicle information, such as the vehicle's location, business nodes, etc., the system can automatically determine whether the tarpaulin should be in the unfolded or folded state, and generate corresponding motor drive instructions accordingly to control the operating mode of the tarpaulin drive motor to achieve automatic unfolding and folding of the tarpaulin. This solution realizes the automatic control of the tarpaulin in the vehicle's automated operation process, solves the problem of low work efficiency caused by the need for manual control of the tarpaulin in related technologies, and effectively improves vehicle work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 A hardware structure block diagram of an electronic device of a vehicle according to the vehicle tarpaulin control method of the present invention is shown;

[0018] Figure 2 A schematic flow chart showing an embodiment of a vehicle tarpaulin control method according to the present invention is shown;

[0019] Figure 3 A structural block diagram of an embodiment of a tarpaulin control device for a vehicle according to the present invention is shown;

[0020] Figure 4 It shows a structural schematic diagram of a first embodiment of a tarpaulin control system according to the present invention;

[0021] Figure 5 A structural schematic diagram of a second embodiment of a tarpaulin control system according to the present invention is shown.

[0022] The above drawings include the following reference numerals:

[0023] 10. Motor drive module; 11. Cover relay unit; 12. Retract relay unit;

[0024] 20. Tarpaulin drive motor;

[0025] 30. Power distribution module;

[0026] 40. Control module;

[0027] 51. Cover the detection switch; 52. Retract the detection switch;

[0028] 60. Autonomous driving domain controller;

[0029] 70. Remote control terminal;

[0030] 81. Remote control receiver; 82. Battery; 83. Receiving antenna;

[0031] 91. Induction bracket; 92. Induction switch; 93. Wire rope; 94. Pulley; 95. Slide; 96. Cargo box side panel. DETAILED DESCRIPTION

[0032] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0033] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0034] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 terms used in this way are interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, 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.

[0035] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in a variety of different forms and should not be interpreted as being limited to the embodiments described herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete, and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art. In the accompanying drawings, for the sake of clarity, the thickness of layers and regions may be exaggerated, and the same reference numerals are used to represent the same devices, and thus their descriptions will be omitted.

[0036] According to one embodiment of the present invention, an embodiment of a vehicle tarpaulin control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0037] The method embodiment can be executed in an electronic device or similar computing device in a vehicle that includes a memory and a processor. For example, Figure 1 As shown, the electronic device of the vehicle may include one or more processors 102 (the processor may include but is not limited to a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processing (DSP) chip, a microprocessor (MCU), a field-programmable logic device (FPGA), a neural network processor (NPU), a tensor processing unit (TPU), an artificial intelligence (AI) type processor, etc.) and a memory 104 for storing data. Optionally, the electronic device of the vehicle may also include a transmission device 106 for communication functions, an input and output device 108, and a display 110. It will be understood by those skilled in the art that Figure 1 The structure shown is for illustration only and does not limit the structure of the electronic device of the vehicle. For example, the electronic device of the vehicle may include more or fewer components than those described above, or have a configuration different from that described above.

[0038] Memory 104 can be used to store computer programs, such as software programs and modules for application software, such as the computer program corresponding to the vehicle tarpaulin control method in the embodiments of the present invention. Processor 102 executes the computer program stored in memory 104 to execute various functional applications and data processing, thereby implementing the aforementioned vehicle tarpaulin control method. Memory 104 may include high-speed random access memory (RAM) and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory remotely located from processor 102, which can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0039] The transmission device 106 is used to receive or send data via a network. A specific example of the aforementioned network may include a wireless network provided by the mobile terminal's communications provider. In one embodiment, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0040] The display 110 may be, for example, a touch-screen liquid crystal display (LCD). The LCD may enable a user to interact with a user interface of the mobile terminal. In some embodiments, the mobile terminal may include a graphical user interface (GUI), and a user may interact with the GUI by finger contact and / or gestures on a touch-sensitive surface. The human-computer interaction functions herein may optionally include the following interactions: creating web pages, drawing, word processing, creating electronic documents, gaming, video conferencing, instant messaging, sending and receiving emails, call interfaces, playing digital videos, playing digital music, and / or web browsing, etc. Executable instructions for executing the above-mentioned human-computer interaction functions are configured / stored in a computer program product or readable storage medium executable by one or more processors.

[0041] This embodiment provides a vehicle tarpaulin control method running on the electronic device of the vehicle. Figure 2 FIG. 1 is a flow chart of a method for controlling a tarpaulin of a vehicle according to one embodiment of the present invention. Figure 2 As shown, the process includes the following steps:

[0042] Step S200, obtaining vehicle information of a first target vehicle;

[0043] Specifically, in step S200, the vehicle information may include the vehicle's location, speed, loading status, etc., and may also include the current status information of the tarpaulin, such as whether it is unfolded or folded.

[0044] Step S210, determining a target tarpaulin state of the first target vehicle based on the vehicle information of the first target vehicle, wherein the target tarpaulin state includes an unfolded state and a retracted state;

[0045] Step S220, determining a target operating mode of the tarpaulin drive motor based on the target tarpaulin state;

[0046] Step S230: Based on the target operation mode, a motor drive instruction is generated, where the motor drive instruction is used to control the tarpaulin drive motor to operate in the target operation mode to drive the tarpaulin to move in the target direction until the tarpaulin switches to the target tarpaulin state.

[0047] By applying the technical solution of this embodiment, based on vehicle information, such as the vehicle's location, business nodes, etc., the system can automatically determine whether the tarpaulin should be in the unfolded or folded state, and generate corresponding motor drive instructions accordingly to control the operating mode of the tarpaulin drive motor to achieve automatic unfolding and folding of the tarpaulin. This solution realizes the automatic control of the tarpaulin in the vehicle's automated operation process, solves the problem of low work efficiency caused by the need for manual control of the tarpaulin in related technologies, and effectively improves vehicle work efficiency.

[0048] Furthermore, the method further comprises:

[0049] Step S300, obtaining tarpaulin status detection information;

[0050] Specifically, in step S300, the tarpaulin status detection information may be a signal generated by an inductive switch. During the movement of the tarpaulin, the inductive detection switch continuously monitors the position status of the tarpaulin. When the tarpaulin is close to being fully unfolded or fully retracted, the inductive detection switch sends a high-level signal. This signal is the tarpaulin status detection information, which is transmitted to the controller in the form of a high-level signal.

[0051] Step S310, determining the current state of the tarpaulin based on the tarpaulin state detection information;

[0052] Step S320: In response to the current state being the target tarpaulin state, the tarpaulin driving motor is controlled to stop moving.

[0053] Through steps S300 to S320, by acquiring the tarpaulin status detection information, the unfolding and folding status of the tarpaulin can be monitored in real time. The system can adjust the operation of the motor in time to prevent damage caused by excessive movement of the tarpaulin, thereby ensuring the accuracy and safety of the tarpaulin control.

[0054] Preferably, in step S220, based on the target tarpaulin state, determining the target operating mode of the tarpaulin drive motor includes:

[0055] Step S221: When it is determined that the target state of the tarpaulin is the unfolded state, the target operation mode of the tarpaulin driving motor is determined to be the forward rotation mode.

[0056] Step S222: When it is determined that the target state of the tarpaulin is the retracted state, the target operation mode of the tarpaulin driving motor is determined to be the reverse mode.

[0057] Through steps S221 and S222, the system automatically selects the motor's forward or reverse rotation mode based on the target tarpaulin state, ensuring that the tarpaulin can be accurately deployed or retracted. When the target tarpaulin state is deployed, the system automatically selects the motor's forward rotation mode, outputs a forward current, and drives the motor forward to deploy the tarpaulin. Conversely, when the target tarpaulin state is retracted, the system automatically selects the motor's reverse rotation mode, outputs a reverse current, and drives the motor in reverse to retract the tarpaulin.

[0058] Furthermore, the method further comprises:

[0059] Step S400, obtaining the working condition information of the tarpaulin control system;

[0060] Specifically, in step S400, the operating condition information refers to the status and performance data of the tarpaulin control system during operation, including but not limited to current, voltage, temperature, motor operating time, etc.

[0061] Step S410: determining whether a tarpaulin control system fails based on the operating condition information;

[0062] Step S420: In response to a fault occurring in the tarpaulin control system, the tarpaulin control system is controlled to execute a fault handling process based on the fault type of the tarpaulin control system, where the fault handling process is set corresponding to the fault type.

[0063] Through steps S400-S420, by real-time monitoring of system operating conditions, such as motor current and sensor switch status, the system can promptly detect and address faults, avoiding operational interruptions caused by system failures and improving system stability and reliability. For example, if the system detects an abnormal motor drive current, it automatically identifies a motor overload fault and immediately initiates overload protection, shutting off the current and preventing motor damage.

[0064] In this embodiment, the tarpaulin control system refers to a system composed of multiple components for controlling and switching the tarpaulin state. The tarpaulin control system includes at least components such as a tarpaulin drive motor and a tarpaulin state detection component.

[0065] Specifically, the fault type and fault handling process are configured based on the specific configuration of the tarpaulin control system. For example, if the fault type is a motor overload, the fault handling process might include immediately shutting off the motor power supply to prevent damage and notifying the controller via the CAN bus. The controller records the fault type and generates a fault code, while also sending an alert to the vehicle's maintenance system, prompting maintenance personnel to inspect the tarpaulin motor and related circuits. Different fault types may correspond to different fault handling processes, or they may include some of the same processes, such as automatically shutting down the system, issuing an alarm, recording fault information, and attempting fault recovery. The specific process is customized for each type of fault.

[0066] Furthermore, in step S210, based on the vehicle information, determining the target tarpaulin state of the first target vehicle includes the following steps:

[0067] Step S211, based on the vehicle information of the first target vehicle, determining the current position and current service node of the first target vehicle;

[0068] Specifically, in step S211, the vehicle information can be data from the vehicle's sensors and positioning system to determine the vehicle's current location and current service node, or it can be task node instructions from a control terminal or environmental information sent by devices in the environment. A vehicle's service nodes typically include transport nodes, loading nodes, and unloading nodes. Each node can be further refined based on the specific operation process. For example, the loading node can be further divided into a loading preparation node, a loading in progress node, and a loading completion node. The unloading node can be divided into an unloading preparation node, an unloading in progress node, and an unloading completion node. The transport node can be divided into multiple transport sub-nodes based on the transport route.

[0069] Step S212: determining a target tarpaulin state of the first target vehicle according to the current position and current service node of the first target vehicle.

[0070] Through steps S211 and S212, the working environment and working status of the vehicle can be automatically identified, so that the status of the tarpaulin can be automatically adjusted, the tarpaulin operation can be automated, and the efficiency and safety of the vehicle during loading and unloading can be improved, while also reducing the need for manual intervention.

[0071] Optionally, in step S211, based on the vehicle information of the first target vehicle, determining the current position and current service node of the first target vehicle includes the following steps:

[0072] Step S2111: In response to the current position being a loading area and the current service node being a loading preparation node, determining that the target tarpaulin state is a retracted state.

[0073] Through step S2111, when the vehicle is in the loading area and is ready to start loading materials, the tarpaulin is automatically set to the retracted state to facilitate the smooth loading of materials, ensuring that the tarpaulin does not interfere with the loading process, and also preparing for the subsequent unfolding of the tarpaulin (for covering materials).

[0074] Optionally, in step S211, based on the vehicle information of the first target vehicle, determining the current position and current service node of the first target vehicle includes the following steps:

[0075] Step S2112: In response to the current position being the loading area and the current service node being the loading completion node, determining that the target tarpaulin state is the unfolded state.

[0076] Through step S2112, when the vehicle completes the loading operation in the loading area, the system automatically recognizes this state change and determines that the tarpaulin should be adjusted to the expanded state to protect the loaded materials from dust or other environmental factors, thereby improving the efficiency and continuity of vehicle operations and allowing the vehicle to prepare to enter the next operation process without additional manual operation.

[0077] Optionally, in step S211, based on the vehicle information of the first target vehicle, determining the current position and current service node of the first target vehicle includes the following steps:

[0078] Step S2113: In response to the current position being the unloading area and the current business node being the unloading preparation node, it is determined that the target tarpaulin state is the retracted state.

[0079] Through step S2113, when the vehicle arrives at the unloading area and is ready to start unloading, the system automatically recognizes this state change and sets the tarpaulin state to the retracted state, ensuring that the tarpaulin does not interfere with the unloading process, facilitates the unloading operation, and creates conditions for the smooth unloading of materials.

[0080] Optionally, in step S211, based on the vehicle information of the first target vehicle, determining the current position and current service node of the first target vehicle includes the following steps:

[0081] Step S2114: In response to the current position being the unloading area and the current business node being the unloading completion node, it is determined that the target tarpaulin state is the unfolded state.

[0082] Through step S2114, after the vehicle completes the unloading operation in the unloading area, the system can automatically recognize this state change and set the tarpaulin state to the expanded state, covering the vehicle compartment in preparation for reloading or long-distance driving to prevent dust in subsequent transportation and protect the empty compartment.

[0083] Through steps S2111-S2114, the system automatically determines whether the tarpaulin should be deployed or retracted based on the vehicle's current location and the service node, generating corresponding control instructions. When the vehicle is in the loading area and the service node is the loading preparation node, the system automatically determines that the target tarpaulin state should be retracted to facilitate loading operations. When the vehicle is in the unloading area and the service node is the unloading completion node, the system automatically determines that the target tarpaulin state should be deployed to protect the cargo from environmental factors. This achieves automatic adjustment of the tarpaulin state at different operation nodes, ensuring the safety and efficiency of the operation.

[0084] Optionally, the method further comprises:

[0085] Step S500, determining a target driving strategy for a second target vehicle based on the current state of the tarpaulin of the first target vehicle, wherein the second target vehicle is a vehicle close to the first target vehicle;

[0086] In step S500, the tarpaulin state of the first target vehicle affects the driving strategy of the adjacent vehicle (i.e., the second target vehicle). For example, if the tarpaulin of the first target vehicle is being unfolded or folded, taking into account the safety during this operation, and avoiding the interference that the material scattering or tarpaulin movement may cause to the driving of the adjacent vehicle. To this end, the second target vehicle generates a target driving strategy to ensure the driving safety of the second target vehicle during the tarpaulin operation of the first target vehicle. This strategy may include slowing down, keeping a safe distance, or temporarily stopping and waiting. It should be understood that the number of the first target vehicle and the second target vehicle is not limited, that is, it is possible that one first target vehicle affects the driving of multiple second target vehicles, and it is also possible that multiple first target vehicles affect the driving of one second target vehicle.

[0087] Step S520 , in response to the vehicle information of the second target vehicle meeting the first execution condition, controlling the second target vehicle to execute the target driving strategy.

[0088] In step S520, the first execution condition may include the relative position between the vehicles, the tarpaulin operation status of the first target vehicle, and the current working environment. When the second target vehicle approaches the first target vehicle and the vehicle information (such as position and speed) meets the first execution condition, that is, the second target vehicle is within the range that may be affected by the tarpaulin operation of the first target vehicle, the driving strategy of the second target vehicle is automatically adjusted to ensure that the second target vehicle drives in a safe manner before the tarpaulin operation of the first target vehicle is completed, avoiding any possible collision or material spillage risk.

[0089] Through steps S500 to S520, the driving strategy of the second target vehicle is adjusted by monitoring the tarpaulin status of the first target vehicle, which optimizes the operating efficiency and safety of a single vehicle while improving the collaborative operation capabilities of multiple vehicles, reducing potential operational risks, and enhancing the overall automation and intelligence level of the operation process.

[0090] Optionally, in step S500, based on the current state of the tarpaulin of the first target vehicle, determining the target driving strategy of the second target vehicle includes the following steps:

[0091] Step S501, in response to the current state of the tarpaulin of the first target vehicle being the folded state, determining that the target driving strategy of the second target vehicle is the first driving strategy, the first driving strategy includes: increasing the safety distance between the second target vehicle and the first target vehicle, and keeping the second target vehicle in a following state, wherein the following state is used to indicate the state in which the second target vehicle follows the first target vehicle.

[0092] Through step S501, the second target vehicle remains behind the first target vehicle in the following state, following the first target vehicle's path, ensuring orderly traffic between vehicles and avoiding unnecessary intersections or collision risks. Furthermore, the following state also helps the second target vehicle promptly obtain operational information from the first target vehicle, such as changes in the tarpaulin status, so that it can respond accordingly and ensure a sufficient safe distance between the two vehicles. When the tarpaulin of the first target vehicle is retracted, the second target vehicle appropriately increases the safe distance from the first target vehicle. This can prevent material splashing caused by the sudden deployment of the tarpaulin or improper operation of the first target vehicle's tarpaulin, which could damage the second target vehicle or threaten driving safety.

[0093] Optionally, in step S500, based on the current state of the tarpaulin of the first target vehicle, determining the target driving strategy of the second target vehicle includes the following steps:

[0094] Step S502, in response to the current state of the tarpaulin of the first target vehicle being the folded state, determining that the target driving strategy of the second target vehicle is the second driving strategy, the second driving strategy includes: changing the driving route of the second target vehicle so that the second target vehicle exits the following state; wherein the following state is used to indicate the state in which the second target vehicle follows the first target vehicle.

[0095] At step S502, when the first target vehicle's tarpaulin is in the retracted state, the second target vehicle changes its original route to avoid following the first target vehicle. Exiting the following state helps prevent direct or indirect safety issues that may be caused by the first target vehicle's tarpaulin operation or material scattering. For example, if the first target vehicle's tarpaulin suddenly deploys or material splashes, the second target vehicle can avoid it by changing its route, reducing the possibility of an accident.

[0096] Optionally, the method may further include:

[0097] Step S600, determining a target operating mode of a perception system of a second target vehicle based on a current state of a tarpaulin of the first target vehicle;

[0098] In step S600, when the state of the tarpaulin on the first target vehicle changes, the system analyzes the impact of this change on the perception environment of neighboring vehicles. For example, when the tarpaulin is retracted, especially when preparing for unloading, it may generate dust, which can reduce the accuracy of sensing equipment such as lidar and cameras. Therefore, based on the current state of the tarpaulin on the first target vehicle, a target operating mode is set for the perception system of the second target vehicle. This can increase the operating frequency of the sensing equipment, adjust the camera exposure, or adjust the scanning angle of the lidar to adapt to changing environmental conditions, and ensure the performance and reliability of the perception system.

[0099] Step S620 , in response to the vehicle information of the second target vehicle meeting the second execution condition, controlling the perception system of the second target vehicle to switch to the target working mode.

[0100] In step S620, the second execution condition may include the distance between the second target vehicle and the first target vehicle, changes in the operating environment (such as dust concentration), or the current driving state of the second target vehicle (such as speed and direction). When the vehicle information of the second target vehicle meets the second execution condition, the second target vehicle adjusts the operating mode of its perception system. Specifically, the second target vehicle adjusts the parameters of its perception equipment, such as increasing the scanning density of the lidar or adjusting the focus or exposure setting of the camera. This ensures that the second target vehicle can accurately perceive the surrounding environment even in harsh operating environments and ensure driving safety.

[0101] Through steps S600 to S620, the perception capabilities of neighboring vehicles are adjusted based on the tarpaulin status of the first target vehicle, ensuring that neighboring vehicles can make timely and accurate responses when facing a changing working environment, thereby improving the safety and efficiency of each working vehicle.

[0102] Optionally, in step S600, determining a target operating mode of a perception system of the second target vehicle based on the current state of the tarpaulin of the first target vehicle includes:

[0103] Step S601, in response to the current state of the tarpaulin of the first target vehicle being the retracted state, determining that the target operating mode of the perception system of the second target vehicle is the high-precision mode;

[0104] Among them, the perception system of the second target vehicle has multiple working modes, and the multiple working modes include at least a low-precision mode and a high-precision mode. The perception accuracy of the perception system in the high-precision mode is higher than the perception accuracy of the perception system in the low-precision mode.

[0105] Through step S601, when the tarpaulin of the first target vehicle is in the retracted state, the dynamic operation of the tarpaulin or the movement of the material may affect neighboring vehicles. The perception system of the second target vehicle enters the high-precision mode, which can provide more accurate environmental perception information to ensure that the second target vehicle can accurately identify the environmental changes around the first target vehicle and avoid any potential collision risks.

[0106] In low-precision mode, the perception system may operate at lower accuracy and frequency in order to save energy or reduce the data processing burden; in high-precision mode, the perception system will monitor the surrounding environment with higher accuracy and more frequent scanning rates to capture any details that may affect driving safety in real time.

[0107] The high-precision mode of the perception system may include but is not limited to: increasing the sensor acquisition frequency, enabling additional sensors, improving the processing capabilities of the image recognition algorithm, etc., to ensure that the tarpaulin status of the first target vehicle, changes in the surrounding environment, and potential risks in the surrounding environment can be identified in a timely and accurate manner, thereby making safer driving decisions.

[0108] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the method described in each embodiment of the present invention.

[0109] This embodiment also provides a vehicle tarpaulin control device for implementing the aforementioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. While the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0110] Figure 3 FIG. 1 is a structural block diagram of a tarpaulin control device for a vehicle according to one embodiment of the present invention. Figure 3 As shown, the device includes: an acquisition module 301, the acquisition module 301 is used to obtain vehicle information of a first target vehicle; a first determination module 302, the first determination module 302 is used to determine the target tarpaulin state of the first target vehicle based on the vehicle information, wherein the target tarpaulin state includes an unfolded state and a folded state; a second determination module 303, the second determination module 303 is used to determine the target operating mode of the tarpaulin drive motor based on the target tarpaulin state; a generation module 304, the generation module 304 is used to generate a motor drive instruction based on the target operating mode, and the motor drive instruction is used to control the tarpaulin drive motor to operate in the target operating mode to drive the tarpaulin to move in the target direction until the tarpaulin switches to the target tarpaulin state.

[0111] Through the above-mentioned device, based on vehicle information such as the vehicle's location, business nodes, etc., the system can automatically determine whether the tarpaulin should be in the unfolded or folded state, and generate corresponding motor drive instructions accordingly to control the operation mode of the tarpaulin drive motor to realize automatic unfolding and folding of the tarpaulin. This solution realizes the automatic control of the tarpaulin in the vehicle's automated operation process, solves the problem of low work efficiency caused by manual control of the tarpaulin in related technologies, and effectively improves vehicle work efficiency.

[0112] It should be noted that the above modules can be implemented through software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

[0113] Combine Figures 4 and 5 As shown, according to a specific embodiment of the present application, a tarpaulin control system is provided, and the tarpaulin control system can be controlled by the tarpaulin control method of the vehicle in the above embodiment.

[0114] Specifically, the tarpaulin control system includes a motor drive module 10, a power distribution module 30 and a control module 40. The motor drive module 10 is electrically connected to the tarpaulin drive motor 20. The motor drive module 10 has multiple output states, and the multiple output states include at least a first output state for outputting a first preset current, and a second output state for outputting a second preset current, wherein the current direction of the first preset current is set opposite to the current direction of the second preset current; the power distribution module 30 is electrically connected to the motor drive module 10, and the power distribution module 30 is used to control the motor drive module 10 to switch the output state; the control module 40 is electrically connected to the power distribution module 30, and the power distribution module 30 controls the output state of the motor drive module 10 based on the control instructions of the control module 40.

[0115] By applying the technical solution of this embodiment, the motor drive module 10 can provide current in opposite directions to the tarpaulin drive motor 20, so that the tarpaulin drive motor 20 can rotate forward and reverse, realize the reciprocating movement of the tarpaulin, and then complete the switching of the tarpaulin between the unfolded state and the folded state. The power distribution module 30 controls the motor drive module 10 to switch the output state according to the instructions of the control module 40, which can realize intelligent control of the tarpaulin drive motor 20 and realize automatic unfolding and folding of the tarpaulin, solving the technical problem of low work efficiency caused by manual control of the tarpaulin in related technologies.

[0116] It should be understood that the control module in this application, which may also be referred to as a controller in some embodiments, is a functional module with information exchange and logical judgment capabilities, and is often used to make system decisions. By setting up the control module, the tarpaulin control system can have automatic decision-making and automatic control functions. When it determines that tarpaulin control is required, the control module 40 can automatically generate corresponding control instructions to control the operation of the power distribution module 30, thereby adjusting the output state of the control motor drive module 10. In other words, the power distribution module 30 is actually an actuator electrically connected to the control module 40, which is used to execute the control instructions of the control module 40. Generally, the control module 40 is the central control unit of the vehicle.

[0117] The electrical connection may be a wired connection such as a CAN (Controller Area Network) communication connection or a hard-wired connection, or a wireless connection such as a Wi-Fi (Wireless Fidelity) communication or a Bluetooth connection.

[0118] Furthermore, the tarpaulin control system further includes a tarpaulin status detection module, which is disposed on the vehicle and is used to detect the current status of the tarpaulin; wherein the tarpaulin status detection module is electrically connected to the control module 40 .

[0119] The tarpaulin status detection module enhances the closed-loop control capabilities of the tarpaulin control system, ensuring accurate deployment and retraction of the tarpaulin. By monitoring the tarpaulin's current state in real time, the system can promptly adjust the motor's operating status, preventing damage caused by excessive deployment or retraction. This improves system safety and extends the service life of the tarpaulin and its drive motor 20. For example, when the tarpaulin is fully deployed, the control module immediately stops the motor to prevent overstretching.

[0120] Specifically, the tarpaulin status detection module includes a plurality of inductive detection switches, which are used to generate an inductive detection signal when a tarpaulin bracket is detected, wherein the tarpaulin bracket is arranged on the tarpaulin support rod, and the tarpaulin bracket is arranged to move synchronously with the tarpaulin.

[0121] The induction detection switch enables the system to monitor the tarpaulin's movement in real time. The induction detection switch can be a photoelectric sensor, a magnetic sensor, or other sensor. When the induction detection switch detects the tarpaulin support, it generates an induction detection signal, notifying the control module 40. This allows the control module 40 to promptly adjust the output state of the motor drive module 10, ensuring safe and stable operation of the tarpaulin in unmanned environments.

[0122] Furthermore, the plurality of inductive detection switches include a covering detection switch 51 and a stowing detection switch 52 . The covering detection switch 51 is arranged at the rear of the vehicle cargo box; the stowing detection switch 52 is arranged at the head of the vehicle cargo box.

[0123] The arrangement of the cover detection switch 51 and the retraction detection switch 52 further refines the detection of the tarpaulin's status. The cover detection switch 51 generates a signal when the tarpaulin is fully extended, ensuring that the tarpaulin is fully covered at the rear of the cargo compartment. The retraction detection switch 52 generates a signal when the tarpaulin is retracted, ensuring that the tarpaulin is fully retracted to the front of the cargo compartment. This arrangement prevents damage to the tarpaulin during operation, ensuring the vehicle's safety and reliability in complex operating environments.

[0124] For example, when the tarpaulin begins to fold up, the control module 40 switches the motor drive module 10 to the first output state, and the tarpaulin drive motor 20 rotates forward until the tarpaulin is completely folded up. At this time, the folding detection switch 52 detects the tarpaulin support rod and generates a signal, and the control module 40 controls the motor drive module 10 to stop output.

[0125] Optionally, the control module 40 is electrically connected to the autonomous driving domain controller 60, and the control module 40 generates control instructions based on control signals from the autonomous driving domain controller 60. The autonomous driving domain controller 60 is typically used to process and coordinate various sensor data and control decisions in the autonomous driving vehicle, such as making driving decisions and controlling the vehicle's driving state. The control module 40 generates control instructions based on signals from the autonomous driving domain controller 60, allowing the tarpaulin to be automatically deployed and retracted based on the vehicle's driving state, etc., without manual intervention, thereby improving operational efficiency.

[0126] Optionally, the control module 40 is electrically connected to a remote control terminal 70, and the control module 40 generates control instructions based on remote control signals from the remote control terminal 70. Access to the remote control terminal 70 enables manual intervention in emergency situations, enhances the flexibility and safety of the system, and enables remote control of the tarpaulin control system.

[0127] Preferably, an overcurrent protection unit is provided at the output end of the motor driving module 10 .

[0128] The overcurrent protection unit effectively prevents motor overload, protecting the motor and the entire tarpaulin control system. This unit can be a fuse, circuit breaker, or current sensor. When it detects that the motor's drive current exceeds a preset threshold, it automatically cuts off the current, preventing damage from overload. This not only extends the motor's lifespan but also improves system safety by preventing system failures caused by motor overload.

[0129] Specifically, the motor drive module 10 has an input terminal, a ground terminal, a first output terminal, and a second output terminal. The tarpaulin drive motor 20 is connected in series between the first output terminal and the second output terminal. When the motor drive module 10 is in a first output state, the first output terminal is connected to the input terminal, and the second output terminal is connected to the ground terminal to provide a first preset current to the tarpaulin drive motor 20. When the motor drive module 10 is in a second output state, the first output terminal is connected to the ground terminal, and the second output terminal is connected to the input terminal to provide a second preset current to the tarpaulin drive motor 20. The motor drive module 10 in this embodiment can change the direction of the current passing through the tarpaulin drive motor 20 by controlling the connection state of the first output terminal, the second output terminal, the input terminal, and the ground terminal, thereby controlling the forward and reverse rotation of the motor.

[0130] For example, when the system needs to unfold the tarpaulin, the control module 40 will send an instruction to put the motor drive module 10 in the first output state, output forward current, and drive the motor forward; conversely, when the tarpaulin needs to be folded, the control module 40 will send an instruction to put the motor drive module 10 in the second output state, output reverse current, and drive the motor to reverse.

[0131] Furthermore, the input terminal includes a first input terminal and a second input terminal, and the ground terminal includes a first ground terminal and a second ground terminal. The first output terminal can be selectively connected to either the first input terminal or the first ground terminal, and the second output terminal can be selectively connected to either the second input terminal or the second ground terminal. This configuration can simplify external control. That is, the first input terminal and the second input terminal can be marked as a forward control terminal and a reverse control terminal, respectively, to facilitate distinction and improve control efficiency.

[0132] In an exemplary embodiment of the present application, the motor drive module 10 includes a covering relay unit 11 and a retracting relay unit 12, the covering relay unit 11 has a first input terminal, a first ground terminal and a first output terminal; the retracting relay unit 12 has a second input terminal, a second ground terminal and a second output terminal; wherein the covering relay unit 11 and the retracting relay unit 12 are arranged independently of each other.

[0133] like Figure 4 As shown, the covering relay unit 11 and the stowing relay unit 12 can be composed of identical components, each having interface 87a, interface 87, interface 86, interface 85, and interface 90. Interfaces 87a and 85 are both grounded, interface 87 forms the input of the motor drive module 10, and interface 90 forms the output of the motor drive module 10. Interface 86 is connected to the power distribution module 30, with a resistor connected in series with interface 85. Interfaces 87a, 87, and 90 form a switch with two connection states. When powered on, interface 87 connects to interface 90; when powered off, interface 87a connects to interface 90. The power distribution module 30 can adjust the power supply status of the two interfaces 87 as needed, thereby controlling the direction of the current output to the tarpaulin drive motor 20. For example, when interface 87 of the covering relay unit 11 is energized, the tarpaulin drive motor 20 drives the tarpaulin to unfold. When interface 87 of the stowing relay unit 12 is energized, the tarpaulin drive motor 20 drives the tarpaulin to retract.

[0134] It should be noted that, in some embodiments, the covering relay unit 11 and the retracting relay unit 12 may also be designed in an integrated manner. The present application also provides a preferred embodiment of a tarpaulin control system and a control method thereof, which are mainly applied to unmanned mining trucks.

[0135] To more clearly illustrate the technical solution of this embodiment, the following describes the tarpaulin control system for unmanned mining trucks. Unmanned mining trucks are equipped with a tarpaulin for dust protection, which requires automatic adjustment of the tarpaulin's position. When the vehicle reaches the loading area, the tarpaulin automatically retracts and covers the vehicle after loading is complete. When the vehicle reaches the unloading area, the tarpaulin automatically retracts and covers the vehicle after unloading is complete. Currently, tarpaulin control systems rely on human control. When a person presses "ON" or "OFF" on a remote control, the remote receiver directly controls the operation of a relay via hardwires to raise and lower the tarpaulin. This process relies primarily on the operator's visual observation to determine whether the tarpaulin has reached its target position, resulting in a low level of automation. Furthermore, tarpaulin motor failures cannot be detected. Due to the lack of a control interface, this system cannot be used on unmanned vehicles.

[0136] In summary, tarpaulin control systems generally have the following two problems: (1) they cannot meet the requirements of automatic control; and (2) they lack necessary fault diagnosis. The tarpaulin control system of this embodiment adopts an intelligent design to achieve automatic covering or retracting of the tarpaulin.

[0137] Specifically, combined Figure 4 As shown, the tarpaulin control system in this embodiment includes a control module 40, a remote control receiver 81, an induction detection switch, an autonomous driving domain controller 60 (hereinafter referred to as ADC, Autonomous Driving Controller), a power distribution module 30, a covering relay unit 11, a stowing relay unit 12, a battery 82 and a receiving antenna 83, wherein the control module 40 is a VCU (Vehicle Control Unit).

[0138] Among them, the induction detection switches are arranged in front and behind the cargo box, respectively serving as the "covering detection switch 51" and the "folding detection switch 52". Since the vehicle is unmanned, a failure of the induction detection switch will cause the VCU to determine that the vehicle tarpaulin cannot be covered or folded normally, and the vehicle is prohibited from driving. Therefore, the induction detection switch needs to adopt an anti-smashing design. Specifically, the induction detection switch adopts an internally sunken design.

[0139] like Figure 5 As shown, the induction switch 92 (i.e., the aforementioned induction detection switch) is set on the cargo box side panel 96, and a slide 95 and a steel wire rope 93 are set on the cargo box side panel 96. The pulley 94 can move along the steel wire rope 93 to drive the tarpaulin to move. The induction bracket 91 moves synchronously with the tarpaulin. When the induction bracket 91 moves along the steel wire rope 93 to the detection range of the induction switch 92, the induction switch 92 generates a corresponding signal.

[0140] The tarpaulin control system in this embodiment can be manually operated. Due to the addition of the VCU controller, it supports automatic control and its intelligence is greatly improved.

[0141] The manual operation process is as follows:

[0142] 1. Press the "ON" button on the remote control (i.e., the aforementioned remote control terminal 70). The remote control receiver 81 sends a 24V high level to the VCU. After the VCU detects 24V+, it sends the "tarpaulin cover" command to the "power distribution module 30";

[0143] 2. After receiving the "tarpaulin covering" command, the power distribution module 30 drives the tarpaulin covering relay (i.e., the aforementioned covering relay unit 11) to close, and the tarpaulin motor (i.e., the aforementioned tarpaulin driving motor 20) starts to work, pulling the tarpaulin to gradually cover the material in the carriage;

[0144] 3. When the VCU detects the “cover detection switch” signal, it sends a “stop covering” command to the power distribution module 30;

[0145] 4. After receiving the "stop covering" signal, the power distribution module 30 disconnects the tarpaulin covering relay and the tarpaulin stops moving;

[0146] 5. Press the "OFF" button on the remote control switch. The remote control receiver 81 sends a low level (0V) to the VCU. After detecting the low level, the VCU sends the "tarpaulin retracted" command to the power distribution module 30.

[0147] 6. After receiving the "tarpaulin retracting" command, the power distribution module 30 drives the tarpaulin closing relay (i.e., the aforementioned retracting relay unit 12) to close, and the tarpaulin motor starts to work, pulling the tarpaulin to gradually retract;

[0148] 7. When the VCU detects the “stow detection switch” signal, it sends the “stop stowage” signal to the power distribution module 30;

[0149] 8. After receiving the "stop retracting" signal, the power distribution module 30 disconnects the tarpaulin retracting relay and the tarpaulin stops moving;

[0150] 9. Due to the addition of the power distribution module 30, its output interface has an overcurrent protection function. When the motor is overloaded, it can feedback to the VCU through the bus to cut off the power, thereby protecting the motor. At the same time, it reports the fault and prompts the maintenance personnel so that it can continue to be used after repair.

[0151] The automatic control process is as follows:

[0152] 1. After receiving the "tarpaulin cover" command from the ADC, the VCU forwards the "tarpaulin cover" command to the power distribution module 30;

[0153] 2. After receiving the "tarpaulin cover" command, the power distribution module 30 drives the tarpaulin cover relay to close, and the tarpaulin motor starts to work, pulling the tarpaulin to gradually cover the materials in the carriage;

[0154] 3. When the VCU detects the “cover detection switch” signal, it sends a “stop covering” command to the power distribution module 30;

[0155] 4. After receiving the "stop covering" signal, the power distribution module 30 disconnects the tarpaulin covering relay and the tarpaulin stops moving;

[0156] 5. After receiving the "tarpaulin retracting" command from the ADC, the VCU sends the "tarpaulin retracting" command to the power distribution module 30;

[0157] 6. After receiving the "tarpaulin retracting" command, the power distribution module 30 drives the tarpaulin retracting relay to close, and the tarpaulin motor starts to work, pulling the tarpaulin to gradually retract;

[0158] 7. When the VCU detects the "stow detection switch" signal, it sends the "stop stowage" signal to the power distribution module 30;

[0159] 8. After receiving the "stop retracting" signal, the power distribution module 30 disconnects the tarpaulin retracting relay and the tarpaulin stops moving;

[0160] 9. Due to the addition of the power distribution module 30, its output interface has an overcurrent protection function. When the motor is overloaded, it can feedback to the VCU through the bus, thereby cutting off the power, thereby protecting the motor, and reporting the fault to the maintenance personnel so that it can be repaired and continued to be used.

[0161] Among them, ADC sends the tarpaulin opening or closing instruction to VCU through CAN bus, and VCU controls the opening and closing of the tarpaulin through CAN instruction; the bracket on the tarpaulin support pole will move with the tarpaulin. When it moves into place, the bracket will be within the sensing range of the non-contact detection switch. After the induction detection switch detects the bracket, the internal output signal will be modulated from high level 12V to low level 0V; after detecting the signal change, VCU determines that the tarpaulin is in place, and controls the motor to stop working; when the power distribution module 30 detects an abnormal increase in output current during movement, the current is ≥25A for a short time, and the detection time is ≥50ms, it is determined that the drive motor is blocked, and the control module stops supplying power to the motor; after stopping for 1s, the tarpaulin is controlled to move in the reverse direction for 5s, and then the motor is controlled to stop working. After 1s, the motor is controlled to return to the forward direction and continue working. When the abnormal increase in current is detected again, the motor is controlled to stop working and the fault is reported.

[0162] An embodiment of the present invention further provides a storage medium storing a computer program, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

[0163] Optionally, in this embodiment, the storage medium may be configured to store a computer program for performing the following steps:

[0164] Step S1, obtaining vehicle information of a first target vehicle;

[0165] Step S2, determining a target tarpaulin state of the first target vehicle based on the vehicle information of the first target vehicle, wherein the target tarpaulin state includes an unfolded state and a retracted state;

[0166] Step S3, determining a target operating mode of the tarpaulin drive motor based on the target tarpaulin state;

[0167] Step S4: Based on the target operation mode, a motor drive instruction is generated. The motor drive instruction is used to control the tarpaulin drive motor to operate in the target operation mode to drive the tarpaulin to move in the target direction until the tarpaulin is switched to the target tarpaulin state.

[0168] Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

[0169] An embodiment of the present invention further provides a processor, which is configured to run a computer program to execute the steps in any of the above method embodiments.

[0170] Optionally, in this embodiment, the processor may be configured to execute the following steps through a computer program:

[0171] Step S1, obtaining vehicle information of a first target vehicle;

[0172] Step S2, determining a target tarpaulin state of the first target vehicle based on the vehicle information of the first target vehicle, wherein the target tarpaulin state includes an unfolded state and a retracted state;

[0173] Step S3, determining a target operating mode of the tarpaulin drive motor based on the target tarpaulin state;

[0174] Step S4: Based on the target operation mode, a motor drive instruction is generated. The motor drive instruction is used to control the tarpaulin drive motor to operate in the target operation mode to drive the tarpaulin to move in the target direction until the tarpaulin is switched to the target tarpaulin state.

[0175] According to another specific embodiment of the present application, a vehicle is provided, which is controlled by the tarpaulin control method of the vehicle in the above embodiment.

[0176] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0177] In addition to the above, it should be noted that references to "one embodiment," "another embodiment," "an embodiment," and the like in this specification refer to specific features, structures, or characteristics described in conjunction with that embodiment as included in at least one embodiment generally described in this application. The appearance of the same expression in multiple places in the specification does not necessarily refer to the same embodiment. Furthermore, when a specific feature, structure, or characteristic is described in conjunction with any embodiment, it is intended that such feature, structure, or characteristic, when implemented in conjunction with other embodiments, also falls within the scope of the present invention.

[0178] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0179] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A method for controlling a tarpaulin of a vehicle, characterized in that: The method comprises: Obtaining vehicle information of a first target vehicle; Determining a target tarpaulin state of the first target vehicle based on the vehicle information of the first target vehicle, wherein the target tarpaulin state includes an unfolded state and a retracted state; determining a target operating mode of a tarpaulin drive motor based on the target tarpaulin state; Based on the target operating mode, a motor drive instruction is generated, and the motor drive instruction is used to control the tarpaulin drive motor to operate in the target operating mode to drive the tarpaulin to move in the target direction until the tarpaulin is switched to the target tarpaulin state.

2. The method according to claim 1, characterized in that The method further comprises: Get tarpaulin status detection information; Determining a current state of the tarpaulin based on the tarpaulin state detection information; In response to the current state being the target tarpaulin state, the tarpaulin drive motor is controlled to stop moving.

3. The method according to claim 1, characterized in that The method further comprises: Obtain the working condition information of the tarpaulin control system; Based on the operating condition information, determining whether the tarpaulin control system has a fault; In response to a fault occurring in the tarpaulin control system, the tarpaulin control system is controlled to execute a fault handling process based on the fault type of the tarpaulin control system, where the fault handling process is set corresponding to the fault type.

4. The method according to claim 1, wherein Determining a target tarpaulin state of the first target vehicle based on the vehicle information of the first target vehicle includes: Determining a current location and a current service node of the first target vehicle based on the vehicle information of the first target vehicle; A target tarpaulin state of the first target vehicle is determined according to a current position and a current service node of the first target vehicle.

5. The method according to claim 4, characterized in that Determining a target tarpaulin state of the first target vehicle according to a current position and a current service node of the first target vehicle includes: In response to the current position being a loading area and the current service node being a loading preparation node, determining that the target tarpaulin state is the stowed state; and / or, In response to the current position being a loading zone and the current service node being a loading completion node, determining that the target tarpaulin state is the unfolded state; and / or, In response to the current position being a unloading area and the current service node being an unloading preparation node, determining that the target tarpaulin state is the retracted state; and / or, In response to the current position being the unloading area and the current service node being the unloading completion node, the target tarpaulin state is determined to be the unfolded state.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Determining a target driving strategy for a second target vehicle based on a current state of the tarpaulin of the first target vehicle, wherein the second target vehicle is a vehicle that is close to the first target vehicle; In response to the vehicle information of the second target vehicle meeting the first execution condition, the second target vehicle is controlled to execute the target driving strategy.

7. The method according to claim 6, characterized in that Determining a target driving strategy for a second target vehicle based on a current state of a tarpaulin of the first target vehicle comprises the following steps: In response to the current state of the tarpaulin of the first target vehicle being the retracted state, determining that the target driving strategy of the second target vehicle is the first driving strategy, the first driving strategy includes: increasing the safety distance between the second target vehicle and the first target vehicle and keeping the second target vehicle in a following state; or, In response to the tarpaulin of the first target vehicle being in the retracted state, determining that the target driving strategy of the second target vehicle is a second driving strategy, the second driving strategy comprising: changing the driving route of the second target vehicle so that the second target vehicle exits the following state; The following vehicle state is used to indicate a state in which the second target vehicle follows the first target vehicle.

8. The method according to any one of claims 1 to 5, characterized in that The method further comprises: determining a target operating mode of a perception system of a second target vehicle based on a current state of the tarpaulin of the first target vehicle; In response to the vehicle information of the second target vehicle meeting the second execution condition, the perception system of the second target vehicle is controlled to switch to the target operating mode.

9. The method according to claim 8, characterized in that Determining a target operating mode of a perception system of a second target vehicle based on a current state of a tarpaulin of the first target vehicle includes: In response to the tarpaulin of the first target vehicle being in a retracted state, determining that a target operating mode of the perception system of the second target vehicle is a high-precision mode; Among them, the perception system of the second target vehicle has multiple working modes, and the multiple working modes include at least a low-precision mode and a high-precision mode. The perception accuracy of the perception system in the high-precision mode is higher than the perception accuracy of the perception system in the low-precision mode.

10. A vehicle, characterized in that: The vehicle is controlled by the tarpaulin control method for a vehicle according to any one of claims 1 to 9.

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