Vehicle, control method and control device thereof and readable storage medium

Abstract

The invention discloses a vehicle, a control method and device of the vehicle and a readable storage medium, and relates to the technical field of vehicle engineering. The vehicle comprises a main body; the anti-falling system is arranged at at least one end of the main body, and the anti-falling system is used for generating a collision signal under the condition that the anti-falling system is in contact with an obstacle; the power system is arranged on the main body; the braking system is arranged on the main body; the control system is arranged on the main body and is electrically connected with the anti-falling system, the power system and the braking system; wherein the control system is used for detecting gear information of the power system under the condition that a collision signal sent by the anti-falling system is received, controlling the power system to stop providing driving force under the condition that the gear information is a first gear, and controlling the braking system to brake the vehicle. According to the vehicle control method, when the vehicle is controlled to stop, it can be effectively avoided that when the vehicle reports the accelerator power supply voltage value to be lower than the lower limit value, the vehicle breaks down, an alarm is given, and the vehicle quits the automatic driving state.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle engineering, in particular to a vehicle and a control method, a control device and a readable storage medium thereof. BACKGROUND

[0002] In the process of running in the mining area, the unmanned wide-body vehicle needs to back up to the edge of the unloading area and unload. In order to prevent the wide-body vehicle from falling from the unloading area due to excessive back-up, a 0.6-0.8m high retaining wall is usually built at the edge of the unloading area. The vehicle stops near the retaining wall and unloads.

[0003] In the related art, in order to prevent the vehicle from falling, the vehicle controller will automatically disconnect the throttle switch when the vehicle backs up and detects that it contacts the retaining wall, thereby disconnecting the drive of the vehicle. However, the direct disconnection of the throttle switch will cause the control system of the vehicle to report that the throttle power supply voltage value is lower than the lower limit value, thereby causing the vehicle to issue a fault alarm and exit the automatic driving state, which cannot realize subsequent unmanned driving control. SUMMARY

[0004] The present application aims to at least solve the technical problem in the prior art that backing up and detecting contact with the retaining wall will cause the vehicle to directly exit the automatic driving state.

[0005] To this end, a first aspect of the present application provides a vehicle.

[0006] A second aspect of the present application provides a control method of a vehicle.

[0007] A third aspect of the present application provides a control device of a vehicle.

[0008] A fourth aspect of the present application provides a readable storage medium.

[0009] Therefore, a first aspect of the present application provides a vehicle, comprising: a main body; an anti-falling system arranged at least one end of the main body, the anti-falling system being configured to generate a collision signal in the case of contacting an obstacle; a power system arranged in the main body; a braking system arranged in the main body; and a control system arranged in the main body and electrically connected to the anti-falling system, the power system and the braking system; wherein the control system is configured to detect gear information of the power system in the case of receiving the collision signal generated by the anti-falling system, and to control the power system to stop providing driving force and control the braking system to brake the vehicle in the case of the gear information being a first gear.

[0010] The vehicle provided by the present application, in the process of reversing the vehicle, when the control system receives the collision signal sent by the anti-falling system, the control system detects that the gear information of the power system is in the first gear, and controls the power system to stop providing driving force for the vehicle, and controls the brake system to brake the vehicle, so as to stop the vehicle from continuing to reverse and avoid the vehicle from falling. Compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle can effectively avoid reporting that the throttle power supply voltage value is lower than the lower limit value, so as to cause the vehicle to have a fault alarm and cause the vehicle to exit the automatic driving state and be unable to realize subsequent unmanned driving control.

[0011] In some technical solutions, optionally, the anti-falling system comprises: a support arranged at least one end of the main body; a rocker arm assembly rotationally connected with the support; and a trigger device arranged on the support and electrically connected with the control system; wherein the rocker arm assembly is used to rotate relative to the support in the case of contacting the obstacle, and the trigger device generates the collision signal in the case that the relative position between the rocker arm assembly and the trigger device is in the first position.

[0012] In this technical solution, the anti-falling system can comprise a support, a rocker arm assembly and a trigger device, wherein the support is arranged at one end of the main body of the vehicle, and specifically can be arranged at the rear end of the main body of the vehicle, the rocker arm assembly is arranged on the support and rotationally connected with the support, in the process of reversing the vehicle, the rocker arm assembly first contacts the obstacle, so that the rocker arm assembly can rotate relative to the support when contacting the obstacle, avoiding the support or the main body of the vehicle directly colliding with the obstacle rigidly, and further avoiding the support or the main body of the vehicle from being damaged.

[0013] Further, the trigger device is arranged on the support, when the rocker arm assembly contacts the obstacle, the rocker arm assembly rotates relative to the support, that is, the rocker arm assembly can move relative to the trigger device on the support, when the relative position between the rocker arm assembly and the trigger device is in the first position, the trigger device can generate the collision signal, and the trigger device is electrically connected with the control system of the vehicle, when the trigger device generates the collision signal, the collision signal can be transmitted to the control system, at this time, the control system can detect the gear information of the power system of the vehicle, and control the vehicle to stop reversing according to the gear information.

[0014] In some technical solutions, optionally, the rocker arm assembly comprises: a rotating shaft arranged on the support; a rocker arm rotationally connected with the rotating shaft, the rocker arm extends from the rotating shaft to the bottom of the main body in the vertical direction; and a baffle connected with the rocker arm; wherein the rocker arm is used to rotate relative to the support in the case of contacting the obstacle, and drive the baffle to rotate, and the trigger device generates the collision signal in the case that the relative position between the baffle and the trigger device is in the first position.

[0015] In the technical solution, the rocker arm assembly can include a rotating shaft and a rocker arm, wherein the rotating shaft is arranged on the support, and the rocker arm is rotationally connected with the rotating shaft. Specifically, the rocker arm can extend towards the bottom of the vehicle in the vertical direction. It can be understood that the height of the retaining wall of the unloading area edge is usually 0.6-0.8m and is arranged on the ground. The rocker arm extends towards the bottom of the vehicle, that is, towards the ground, which can ensure that the rocker arm can first contact the retaining wall during the reversing of the vehicle, thereby ensuring that the collision signal can be triggered in time.

[0016] Further, the rocker arm assembly can further include a baffle, which is used in cooperation with the trigger device arranged on the support to enable the trigger device to generate a collision signal. Specifically, the baffle is connected with the rocker arm. When the rocker arm contacts the obstacle during the reversing of the vehicle, the rocker arm can rotate relative to the support through the rotating shaft, and since the baffle is connected with the rocker arm, the rocker arm can drive the baffle to move relative to the support during the rotation, that is, the baffle can move relative to the trigger device on the support. When the relative position between the baffle and the trigger device is in the first position, the trigger device can generate a collision signal, thereby transmitting the collision signal to the control system.

[0017] In some technical solutions, the anti-falling system further includes a guard plate arranged on the support, wherein the guard plate is located at the top of the trigger device in the vertical direction.

[0018] In the technical solution, the anti-falling system can further include a guard plate, which can be used to protect the trigger device, thereby avoiding damage to the trigger device during the unloading or other operation of the vehicle.

[0019] In some technical solutions, the vehicle further includes wheels, and the power system includes a gearbox connected to the wheels for transmitting driving force to the wheels; wherein the control system is configured to control the gearbox to switch to the second gear position to stop the gearbox from providing driving force to the wheels when the gear position information is the first gear position.

[0020] In the technical solution, the vehicle can include wheels, and correspondingly, the power system of the vehicle can include a gearbox, which can be used to transmit the driving force generated by the power system to the wheels to drive the wheels to rotate, thereby driving the vehicle. Specifically, the gearbox can include multiple gear positions, such as multiple forward gear positions, neutral gear, and reverse gear, etc. The gearbox can be electrically connected with the control system of the vehicle, thereby enabling the control system to detect and control the gear position information of the gearbox.

[0021] Specifically, the first gear position can correspond to a reverse gear of the gearbox, and when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear position of the gearbox is the first gear position, that is, the reverse gear, at this time, the control system can control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and at the same time, the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. Specifically, the second gear position can be a neutral gear position of the gearbox.

[0022] In some embodiments, the power system further comprises an engine connected to the gearbox for providing driving force, and the control system is further configured to control the engine to reduce the rotation speed before the gearbox switches to the second gear position.

[0023] In this embodiment, the power system further comprises an engine, which can be understood as a power source for driving the vehicle. During the rotation of the output shaft of the engine, the rotation torque is transmitted to the wheels of the vehicle through the gearbox, so as to drive the wheels to rotate and thus drive the vehicle to move.

[0024] Further, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear position of the gearbox is the first gear position, that is, the reverse gear, at this time, the control system can first control the engine to reduce the rotation speed, and then control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and at the same time, the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. It can be understood that in the case that the rotation speed of the engine is high, the gearbox may not be able to shift gears normally, and even a failure of the gearbox may occur. Therefore, when the control system needs to control the vehicle to stop reversing, the engine needs to be controlled to reduce the rotation speed first, so as to ensure that the gearbox can switch from the first gear position to the second gear position, and thus ensure that the vehicle can stop reversing normally.

[0025] In some embodiments, the vehicle further comprises an anti-collision beam arranged at at least one end of the main body, and the anti-falling system is arranged on the anti-collision beam.

[0026] In this embodiment, the vehicle further comprises an anti-collision beam arranged at at least one end of the main body. When the vehicle collides with an obstacle, the impact force can be reduced by the anti-collision beam, so as to avoid damage to the main body of the vehicle and ensure the service life of the vehicle.

[0027] Further, the anti-falling system can be arranged on the anti-collision beam, and in the process of driving the vehicle, the anti-falling system first contacts the obstacle and sends a collision signal, so that the control system can control the vehicle to stop driving according to the collision signal, at this time, if the vehicle does not stop in time, the anti-collision beam will first collide with the obstacle, so as to absorb the collision energy through the anti-collision beam, and avoid damage to the main body of the vehicle.

[0028] According to a second aspect of the present application, a control method of a vehicle is provided for controlling the vehicle according to any one of the above technical solutions, and the control method of the vehicle comprises: detecting gear information of the power system in the case that a collision signal sent by the anti-falling system is received; controlling the power system to stop providing driving force for the vehicle in the case that the gear information is first gear; and controlling the braking system to brake the vehicle.

[0029] The control method of the vehicle provided by the present application can control the vehicle to stop reversing when the control system receives the collision signal sent by the anti-falling system in the process of reversing the vehicle, and the control system controls the power system to stop providing driving force for the vehicle when detecting that the gear information of the power system is first gear, and controls the braking system to brake the vehicle, so as to realize the control of the vehicle to stop reversing, thereby avoiding the falling of the vehicle. Compared with the control method of directly disconnecting the throttle power supply in the related art, the vehicle can effectively avoid reporting that the throttle power supply voltage value is lower than the lower limit value, so as to cause the vehicle to appear a fault alarm and lead to the vehicle exiting the automatic driving state and being unable to realize subsequent unmanned driving control.

[0030] In some technical solutions, in the case that the gear information is first gear, the control of the power system to stop providing driving force for the vehicle comprises: in the case that the gear information is first gear, controlling the gearbox of the power system to switch to second gear, so as to make the gearbox stop providing driving force for the wheels.

[0031] In this technical solution, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear of the gearbox is first gear, that is, the reverse gear, at this time, the control system can control the gear of the gearbox to switch to second gear, so as to make the gearbox stop providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle, so as to avoid the vehicle continuing to reverse. Specifically, the first gear can correspond to the reverse gear of the gearbox, and the second gear can be the neutral gear of the gearbox.

[0032] In some technical solutions, before the control of the gearbox to switch to second gear, the control method further comprises: controlling the engine of the power system to reduce the rotating speed.

[0033] In the technical solution, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear position of the gearbox is the first gear position, that is, the reverse gear position, at this time, the control system can first control the engine to reduce the rotating speed, and then control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. It can be understood that in the case that the rotating speed of the engine is relatively high, the gearbox may not be able to normally shift gears, and even a fault of damage to the gearbox may occur. Therefore, when the control system needs to control the vehicle to stop reversing, the engine needs to be controlled to reduce the rotating speed first, so as to ensure that the gearbox can switch from the first gear position to the second gear position, and then ensure that the vehicle can normally stop reversing.

[0034] According to a third aspect of the present application, a control device of a vehicle is provided for the vehicle according to any one of the above technical solutions. The control device of the vehicle comprises: a detection unit configured to detect gear position information of a power system in the case of receiving a collision signal sent by an anti-falling system; and a control unit configured to control the power system to stop providing driving force for the vehicle in the case of the gear position information being a first gear position, and control a braking system to brake the vehicle.

[0035] The control device of the vehicle provided by the present application, when the control system receives the collision signal sent by the anti-falling system during the reversing process of the vehicle, the control system controls the power system to stop providing driving force for the vehicle and controls the braking system to brake the vehicle when it is detected that the gear position information of the power system is the first gear position, so as to control the vehicle to stop reversing and avoid the vehicle falling. Compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle can effectively avoid reporting that the throttle power supply voltage value is lower than the lower limit value, so that the vehicle generates a fault alarm, the vehicle exits the automatic driving state, and subsequent unmanned driving control cannot be implemented.

[0036] In some technical solutions, the control unit is specifically configured to: in the case of the gear position information being the first gear position, control the gearbox of the power system to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle.

[0037] In the technical solution, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear position of the gearbox is the first gear position, that is, the reverse gear position, at this time, the control system can control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. Specifically, the first gear position can correspond to the reverse gear position of the gearbox, and the second gear position can be the neutral gear position of the gearbox.

[0038] In some embodiments, the control unit is further configured to control the engine of the power system to reduce the rotating speed before the control unit controls the gearbox to switch to the second gear.

[0039] In this embodiment, when the control system receives the collision signal from the anti-falling system, if it is detected that the gear of the gearbox is the first gear, i.e., the reverse gear, the control system can first control the engine to reduce the rotating speed, and then control the gear of the gearbox to switch to the second gear, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. It can be understood that, in the case that the rotating speed of the engine is relatively high, the gearbox may not be able to normally shift gears, and even a fault of damage to the gearbox may occur. Therefore, when the control system needs to control the vehicle to stop reversing, the engine needs to be controlled to reduce the rotating speed first, so as to ensure that the gearbox can switch from the first gear to the second gear, and thus ensure that the vehicle can normally stop reversing.

[0040] According to a fourth aspect of the present application, a readable storage medium is provided, and the readable storage medium stores a program or instructions, and the program or instructions are executed by a processor to implement the steps of the control method of the vehicle according to the second aspect.

[0041] Additional aspects and advantages of the present application will become apparent from the following description, or will be learned by practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0042] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description, and from the claims, by pointing out the embodiments of the present application, wherein:

[0043] Figure 1 Fig. 1 shows a structural schematic diagram of a vehicle according to an embodiment of the present application;

[0044] Figure 2 Fig. 2 shows a structural schematic diagram of a vehicle according to another embodiment of the present application;

[0045] Figure 3 Fig. 3 shows a structural schematic diagram of a vehicle according to still another embodiment of the present application;

[0046] Figure 4 Fig. 4 shows a structural schematic diagram of an anti-falling system of a vehicle according to an embodiment of the present application;

[0047] Figure 5 Fig. 5 shows a structural schematic diagram of an anti-falling system of a vehicle according to another embodiment of the present application;

[0048] Figure 6 Fig. 6 shows a flowchart of a control method of a vehicle according to an embodiment of the present application;

[0049] Figure 7A structural block diagram of a control device of a vehicle according to an embodiment of the present application is shown.

[0050] Reference signs:

[0051] 100 vehicle, 102 body, 104 anti-falling system, 106 power system, 108 braking system, 110 control system, 112 support, 114 rocker assembly, 116 triggering device, 118 rotating shaft, 120 rocker, 122 baffle, 124 guard, 126 gearbox, 128 engine, 130 anti-collision beam, 132 wheel, 700 control device of a vehicle, 702 detection unit, 704 control unit. DETAILED DESCRIPTION

[0052] In order to enable a more clear understanding of the above-mentioned objects, features and advantages of the present application, the following drawings and specific embodiments further describe the present application. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0053] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can be practiced in other manners different from those described herein, and therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0054] The following refers to Figures 1 to 7 A vehicle and a control method, control device and readable storage medium thereof according to some embodiments of the present application are described.

[0055] As Figure 1 , Figure 2 and Figure 3 shown, according to one embodiment of the present application, a vehicle 100 is provided, comprising: a body 102; an anti-falling system 104 arranged at at least one end of the body 102, the anti-falling system 104 being configured to generate a collision signal in the case of contacting an obstacle; a power system 106 arranged on the body 102; a braking system 108 arranged on the body 102; a control system 110 arranged on the body 102 and electrically connected with the anti-falling system 104, the power system 106 and the braking system 108; wherein the control system 110 is configured to, in the case of receiving the collision signal generated by the anti-falling system 104, detect gear information of the power system 106, and in the case of the gear information being a first gear, control the power system 106 to stop providing driving force and control the braking system 108 to brake the vehicle 100.

[0056] The vehicle 100 provided by the application comprises a main body 102 and an anti-falling system 104 arranged on the main body 102. It can be understood that the anti-falling system 104 can be arranged at least at one end of the vehicle 100, that is, the anti-falling system 104 can be arranged at the rear end in the driving direction of the vehicle 100, so that when the vehicle 100 needs to back up for unloading, a collision signal can be sent out in the case that the anti-falling system 104 contacts an obstacle, so as to prompt the vehicle 100 to stop backing up in time and avoid falling of the vehicle 100. Correspondingly, the anti-falling system 104 can also be arranged at the front end in the driving direction of the vehicle 100, so that when the vehicle 100 is in the automatic driving mode, a collision signal can be sent out in time by the anti-falling system 104 when the front end contacts an obstacle, so as to avoid damage of the vehicle 100 caused by collision with the obstacle.

[0057] Further, the vehicle 100 further comprises a power system 106, a braking system 108 and a control system 110, and the power system 106, the braking system 108 and the control system 110 can be arranged on the main body 102 of the vehicle 100. The power system 106 is used to provide driving force for the vehicle 100, so as to drive the vehicle 100 to travel, and the braking system 108 can provide braking force for the vehicle 100 during the travel of the vehicle 100, so as to ensure that the vehicle 100 can stop in time. The control system 110 is electrically connected with the power system 106 and the braking system 108, and through the control system 110, the power system 106 and the braking system 108 can be controlled, so as to realize the automatic driving process of the vehicle 100. It can be understood that the control system 110 can also comprise other corresponding functions for assisting the automatic driving of the vehicle 100, such as a vision system used to detect the positions of objects around the vehicle 100, so as to ensure that the vehicle 100 can avoid in time during the travel process, a navigation system which can realize navigation for the travel process of the vehicle 100, so as to ensure that the vehicle 100 can travel according to the specified route, and the like.

[0058] Further, the control system 110 can also be electrically connected with the anti-falling system 104, so that the collision signal generated by the anti-falling system 104 when contacting an obstacle can be transmitted to the control system 110, so that the control system 110 can control the power system 106 and the braking system 108 to operate in time when the collision signal is received, so as to ensure that the vehicle 100 can stop in time and avoid falling or damage of the vehicle 100 caused by collision with the obstacle. Specifically, the collision signal can be a high-level signal or a low-level signal, that is, when the electrical signal received by the control system 110 from the anti-falling system 104 is converted from a low-level signal to a high-level signal or from a high-level signal to a low-level signal, it can be determined that the collision signal is received.

[0059] Specifically, in the case that the control system 110 receives the collision signal sent by the anti-falling system 104, first, the gear information of the power system 106 is detected, if the control system 110 detects that the gear information of the power system 106 is the first gear, at this time, the power system 106 can be controlled to stop providing driving force for the vehicle 100, and the brake system 108 is controlled to brake the vehicle 100, so that the vehicle 100 stops running immediately, avoiding the vehicle 100 falling.

[0060] It should be noted that the first gear can be the reverse gear of the vehicle 100, that is, when the vehicle 100 needs to back up to the edge of the unloading area for unloading, if the anti-falling system 104 of the vehicle 100 contacts the retaining wall of the edge of the unloading area, a collision signal is sent, at this time, when the control system 110 detects that the gear information of the power system 106 is the reverse gear, it indicates that the vehicle 100 still has driving force for reversing at this time, if the vehicle 100 continues to reverse, there will be a risk of falling, at this time, the control system 110 needs to control the power system 106 so that the power system 106 no longer provides driving force for the vehicle 100, specifically, the control system 110 can control the power system 106 to switch to other gears instead of staying in the reverse gear, to ensure that the vehicle 100 no longer has driving force for reversing, or the control system 110 can control the power system 106 to reduce the throttle opening to reduce the driving force that the power system 106 can provide, to reduce the speed of the vehicle 100 reversing. At the same time, the control system 110 can also control the brake system 108 to provide braking force for the vehicle 100, to ensure that the vehicle 100 can brake in time to avoid the vehicle 100 continuing to reverse. That is, in the process of controlling the vehicle 100 to stop, the vehicle 100 is controlled to stop reversing by controlling the power system 106 to reduce the throttle opening or switch gears, and controlling the brake system 108 to brake the vehicle 100, compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle 100 can be effectively prevented from reporting that the throttle power supply voltage value is lower than the lower limit value, so that the vehicle 100 has a fault alarm, causing the vehicle 100 to exit the automatic driving state and unable to realize subsequent unmanned driving control.

[0061] In addition, it should be noted that when the control system 110 receives the collision signal sent by the anti-falling system 104, the control system 110 can also avoid false control of the vehicle 100 by detecting the gear information of the vehicle 100. It can be understood that during the operation of the vehicle 100 in the mine area, due to the complex environment of the mine area, it is inevitable that the anti-falling system 104 collides with obstacles such as gravel in the mine area during the normal driving of the vehicle 100, or the anti-falling system 104 generates a collision signal due to the jolt caused by the vehicle 100 crushing the gravel. However, at this time, the vehicle 100 is in the normal driving process, and the vehicle 100 does not need to be braked. Therefore, if the control system 110 detects that the gear information of the power system 106 is not in the first gear, that is, the vehicle 100 is not in the reversing process at this time, the vehicle 100 does not need to be stopped, thereby avoiding false control of the control system 110 to stop the vehicle 100.

[0062] The vehicle 100 provided by the present application can realize the control of the vehicle 100 to stop reversing to avoid the falling of the vehicle 100 when the control system 110 receives the collision signal sent by the anti-falling system 104 during the reversing of the vehicle 100, and the control system 110 detects that the gear information of the power system 106 is in the first gear. At this time, the control system 110 controls the power system 106 to stop providing driving force for the vehicle 100, and controls the brake system 108 to brake the vehicle 100, thereby realizing the control of the vehicle 100 to stop reversing. Compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle 100 can effectively avoid reporting that the throttle power supply voltage value is lower than the lower limit value, thereby causing the vehicle 100 to generate a fault alarm and causing the vehicle 100 to exit the automatic driving state, so that the subsequent unmanned driving control cannot be realized.

[0063] In some embodiments, as shown in Figure 4 and Figure 5 The anti-falling system 104 includes a bracket 112, a rocker assembly 114, and a triggering device 116. The bracket 112 is arranged at least one end of the main body 102. The rocker assembly 114 is rotationally connected with the bracket 112. The triggering device 116 is arranged on the bracket 112 and is electrically connected with the control system 110. The rocker assembly 114 is used to rotate relative to the bracket 112 when contacting the obstacle. When the relative position between the rocker assembly 114 and the triggering device 116 is in the first position, the triggering device 116 generates a collision signal.

[0064] In this embodiment, the fall arrest system 104 can include a bracket 112, a rocker assembly 114, and a trigger device 116, wherein the bracket 112 is arranged at one end of the main body 102 of the vehicle 100, specifically at the rear end of the main body 102 of the vehicle 100, the rocker assembly 114 is arranged on the bracket 112 and is rotationally connected with the bracket 112, and in the process of reversing the vehicle 100, the rocker assembly 114 first contacts the obstacle, so that the rocker assembly 114 can rotate relative to the bracket 112 when contacting the obstacle, thereby avoiding rigid collision between the bracket 112 or the main body 102 of the vehicle 100 and the obstacle, and further avoiding damage to the bracket 112 or the main body 102 of the vehicle 100.

[0065] Further, the trigger device 116 is arranged on the bracket 112, when the rocker assembly 114 contacts the obstacle, the rocker assembly 114 rotates relative to the bracket 112, that is, the rocker assembly 114 can move relative to the trigger device 116 on the bracket 112, when the relative position between the rocker assembly 114 and the trigger device 116 is in the first position, the trigger device 116 can generate a collision signal, and the trigger device 116 is electrically connected with the control system 110 of the vehicle 100, when the trigger device 116 generates the collision signal, the collision signal can be transmitted to the control system 110, at this time, the control system 110 can detect the gear information of the power system 106 of the vehicle 100, and control the vehicle 100 to stop reversing according to the gear information.

[0066] Specifically, the trigger device 116 can be a proximity switch, for example, a contact switch device, when the rocker assembly 114 and the contact switch device are in the first position, the rocker assembly 114 contacts the contact switch, so that the contact switch generates a collision signal. Alternatively, the trigger device 116 can also be a photoelectric switch, when the rocker assembly 114 and the contact switch device are in the first position, the rocker assembly 114 blocks the light received by the photoelectric switch, so that the photoelectric switch generates a collision signal.

[0067] In some embodiments, as shown in Figure 4 and Figure 5 , the rocker assembly 114 includes a rotating shaft 118, a rocker 120, and a baffle 122, wherein the rotating shaft 118 is arranged on the bracket 112; the rocker 120 is rotationally connected with the rotating shaft 118, and in the vertical direction, the rocker 120 extends from the rotating shaft 118 towards the bottom of the main body 102; the baffle 122 is connected with the rocker 120; wherein the rocker 120 is used to rotate relative to the bracket 112 when contacting the obstacle, and drives the baffle 122 to rotate, when the relative position between the baffle 122 and the trigger device 116 is in the first position, the trigger device 116 generates a collision signal.

[0068] In this embodiment, the rocker assembly 114 can include a pivot shaft 118 and a rocker 120, wherein the pivot shaft 118 is arranged on the bracket 112, and the rocker 120 is rotationally connected with the pivot shaft 118. Specifically, the rocker 120 can extend towards the bottom of the vehicle 100 in the vertical direction. It can be understood that the height of the retaining wall of the unloading area edge is usually 0.6-0.8 m and is arranged on the ground. The rocker 120 extends towards the bottom of the vehicle 100, that is, towards the ground, so that the rocker 120 can first contact the retaining wall during the reversing process of the vehicle 100, thereby ensuring that the collision signal can be triggered in time.

[0069] Further, the rocker assembly 114 can further include a baffle 122, which is used in cooperation with the trigger device 116 arranged on the bracket 112 to enable the trigger device 116 to generate a collision signal. Specifically, the baffle 122 is connected with the rocker 120. When the rocker 120 contacts the obstacle during the reversing of the vehicle 100, the rocker 120 can rotate relative to the bracket 112 through the pivot shaft 118, and since the baffle 122 is connected with the rocker 120, the rocker 120 can drive the baffle 122 to move relative to the bracket 112 during the rotation, that is, the baffle 122 can move relative to the trigger device 116 on the bracket 112. When the relative position between the baffle 122 and the trigger device 116 is in the first position, the trigger device 116 can generate a collision signal, thereby transmitting the collision signal to the control system 110.

[0070] Specifically, when the trigger device 116 is a contact switch, the rocker 120 drives the baffle 122 to move after contacting the obstacle, and the contact switch can generate a collision signal when the baffle 122 contacts the contact switch. Alternatively, when the trigger device 116 is a photoelectric switch, the rocker 120 drives the baffle 122 to move after contacting the obstacle, and the photoelectric switch can generate a collision signal when the baffle 122 shields the light-in path of the photoelectric switch.

[0071] In some embodiments, as shown in Figure 4 and Figure 5 illustrated, the fall protection system 104 further includes a guard plate 124 arranged on the bracket 112, wherein the guard plate 124 is located at the top of the trigger device 116 in the vertical direction.

[0072] In this embodiment, the fall protection system 104 can further include the guard plate 124, which can be used to protect the trigger device 116, thereby avoiding damage to the trigger device 116 during the unloading or other operation of the vehicle 100.

[0073] Specifically, the guard plate 124 can be arranged on the support 112 and arranged at the top of the triggering device 116 in the vertical direction. It can be understood that, in the process of unloading the vehicle 100 at the edge of the unloading area, since the anti-falling system 104 is arranged at the bottom of the main body 102 of the vehicle 100, the material falls from the main body 102 of the vehicle 100, that is, the material falls from the top of the anti-falling system 104 to the bottom, therefore, arranging the guard plate 124 at the top of the triggering device 116 can effectively avoid the collision between the material and the triggering device 116 in the falling process, that is, avoid the damage of the material to the triggering device 116.

[0074] In some embodiments, as shown in Figure 1 The vehicle 100 further includes wheels 132, and correspondingly, the power system 106 includes a gearbox 126 connected to the wheels 132 for transmitting driving force to the wheels 132; wherein the control system 110 is configured to control the gearbox 126 to switch to a second gear position when the gear position information is a first gear position, so as to stop the gearbox 126 from providing driving force to the wheels 132.

[0075] In this embodiment, the vehicle 100 can include wheels 132, and correspondingly, the power system 106 of the vehicle 100 can include a gearbox 126, which can be used to transmit driving force generated by the power system 106 to the wheels 132 to drive the wheels 132 to rotate, thereby driving the vehicle 100. Specifically, the gearbox 126 can include multiple gear positions, such as multiple forward gear positions, a neutral gear position, and a reverse gear position. The gearbox 126 can be electrically connected to the control system 110 of the vehicle 100, so that the control system 110 can detect and control the gear position information of the gearbox 126.

[0076] Specifically, the first gear position can correspond to the reverse gear position of the gearbox 126. When the control system 110 receives the collision signal sent by the anti-falling system 104, if it is detected that the gear position of the gearbox 126 is the first gear position, that is, the reverse gear position, at this time the control system 110 can control the gear position of the gearbox 126 to switch to a second gear position, so that the gearbox 126 stops providing driving force for the vehicle 100 to reverse, and at the same time the control system 110 controls the braking system 108 of the vehicle 100 to brake the vehicle 100, so as to avoid the vehicle 100 continuing to reverse. Specifically, the second gear position can be the neutral gear position of the gearbox 126.

[0077] In some embodiments, as shown in Figure 1 The power system 106 further includes an engine 128 connected to the gearbox 126 for providing driving force; wherein the control system 110 is further configured to control the engine 128 to reduce the speed before the gearbox 126 switches to the second gear position.

[0078] In this embodiment, the power system 106 further comprises an engine 128, which can be understood as a power source for the vehicle 100 to move. During the rotation of the output shaft of the engine 128, the rotation torque is transmitted to the wheels 132 of the vehicle 100 through the gearbox 126, so as to drive the wheels 132 to rotate, and thus the vehicle 100 to move.

[0079] Further, when the control system 110 receives the collision signal sent by the anti-falling system 104, if it is detected that the gear position of the gearbox 126 is the first gear, that is, the reverse gear, at this time, the control system 110 can first control the engine 128 to reduce the rotation speed, and then control the gear position of the gearbox 126 to switch to the second gear, so that the gearbox 126 stops providing the driving force for the vehicle 100 to move in reverse, and at the same time, the control system 110 controls the braking system 108 of the vehicle 100 to brake the vehicle 100, so as to avoid the vehicle 100 continuing to move in reverse. It can be understood that in the case that the rotation speed of the engine 128 is relatively high, it may cause the gearbox 126 to fail to normally shift gears, or even cause the gearbox 126 to be damaged. Therefore, when the control system 110 needs to control the vehicle 100 to stop moving in reverse, it is necessary to first control the engine 128 to reduce the rotation speed, so as to ensure that the gearbox 126 can switch from the first gear to the second gear, and thus ensure that the vehicle 100 can normally stop moving in reverse.

[0080] Specifically, the control system 110 can control the vehicle 100 to reduce the throttle opening, so as to reduce the oil supply to the engine 128, and thus reduce the rotation speed of the engine 128.

[0081] In some embodiments, optionally, as shown in Figure 2 The vehicle 100 further comprises an anti-collision beam 130 arranged at at least one end of the main body 102, wherein the anti-falling system 104 is arranged on the anti-collision beam 130.

[0082] In this embodiment, the vehicle 100 further comprises an anti-collision beam 130 arranged at at least one end of the main body 102. Through the arrangement of the anti-collision beam 130, when the vehicle 100 collides with an obstacle, the impact force can be reduced by the anti-collision beam 130, so as to avoid damage to the main body 102 of the vehicle 100, and ensure the service life of the vehicle 100.

[0083] Further, the anti-falling system 104 can be arranged on the anti-collision beam 130, and in the process of driving the vehicle 100, the anti-falling system 104 can first contact the obstacle and send a collision signal, so that the control system 110 can control the vehicle 100 to stop driving according to the collision signal, at this time, if the vehicle 100 does not stop in time, the anti-collision beam 130 will first collide with the obstacle, so as to absorb the collision energy through the anti-collision beam 130, and avoid damage to the main body 102 of the vehicle 100.

[0084] In some embodiments, as shown in Figure 6 A control method of a vehicle is provided for controlling the vehicle of any one of the above embodiments, the control method of the vehicle comprising:

[0085] S602, in the case of receiving the collision signal sent by the anti-falling system, detecting gear information of the power system;

[0086] S604, in the case of the gear information being the first gear, controlling the power system to stop providing driving force for the vehicle;

[0087] S606, controlling the braking system to brake the vehicle.

[0088] The control method of the vehicle provided by the present application, in the process of reversing the vehicle, when the control system receives the collision signal sent by the anti-falling system, the control system detects that the gear information of the power system is the first gear, and controls the power system to stop providing driving force for the vehicle, and controls the braking system to brake the vehicle, thereby realizing the control of the vehicle to stop reversing, so as to avoid the vehicle from falling, compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle can effectively avoid reporting that the throttle power supply voltage value is lower than the lower limit value, thereby causing the vehicle to appear a fault alarm, leading to the vehicle exiting the automatic driving state and being unable to realize subsequent unmanned driving control.

[0089] In some embodiments, optionally, in the case of the gear information being the first gear, controlling the power system to stop providing driving force for the vehicle comprises: in the case of the gear information being the first gear, controlling the gearbox of the power system to switch to the second gear, so as to make the gearbox stop providing driving force for the wheels.

[0090] In this embodiment, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear of the gearbox is the first gear, that is, the reverse gear, at this time, the control system can control the gear of the gearbox to switch to the second gear, so as to make the gearbox stop providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle, so as to avoid the vehicle from continuing to reverse. Specifically, the first gear can correspond to the reverse gear of the gearbox, and the second gear can be the neutral gear of the gearbox.

[0091] In some embodiments, before controlling the gearbox to switch to the second gear, the control method further comprises: controlling the engine of the power system to reduce the rotation speed.

[0092] In this embodiment, when the control system receives the collision signal sent by the anti-falling system, if it is detected that the gear of the gearbox is the first gear, that is, the reverse gear, the control system can first control the engine to reduce the rotation speed, and then control the gear of the gearbox to switch to the second gear, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. It can be understood that in the case that the rotation speed of the engine is fast, the gearbox may not be able to normally shift gears, and even a failure of the gearbox may occur. Therefore, when the control system needs to control the vehicle to stop reversing, the engine needs to be controlled to reduce the rotation speed first, so as to ensure that the gearbox can switch from the first gear to the second gear, and thus ensure that the vehicle can normally stop reversing.

[0093] In some embodiments, as shown in Figure 7 A control device 700 of a vehicle is provided for controlling the vehicle according to any one of the above embodiments, and the control device 700 of the vehicle comprises: a detection unit 702 configured to detect gear information of a power system in a case where a collision signal sent by an anti-falling system is received; and a control unit 704 configured to control the power system to stop providing driving force for the vehicle in a case where the gear information is a first gear, and control a braking system to brake the vehicle.

[0094] The control device 700 of the vehicle provided in the present application, when the control system receives the collision signal sent by the anti-falling system during the reversing of the vehicle, the control system controls the power system to stop providing driving force for the vehicle when it is detected that the gear information of the power system is the first gear, and controls the braking system to brake the vehicle, so as to control the vehicle to stop reversing to avoid the vehicle falling. Compared with the control mode of directly disconnecting the throttle power supply in the related art, the vehicle can effectively avoid reporting that the voltage value of the throttle power supply is lower than the lower limit value, so as to cause the vehicle to generate a fault alarm, cause the vehicle to exit the automatic driving state, and cannot realize subsequent unmanned driving control.

[0095] In some embodiments, the control unit 704 is specifically configured to: in a case where the gear information is the first gear, control a gearbox of the power system to switch to the second gear, so as to stop the gearbox from providing driving force for the wheels 132.

[0096] In this embodiment, when the control system receives the collision signal sent by the fall protection system, if it is detected that the gear position of the gearbox is the first gear position, i.e. the reverse gear position, the control system can control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. Specifically, the first gear position can correspond to the reverse gear position of the gearbox, and the second gear position can be the neutral gear position of the gearbox.

[0097] In some embodiments, optionally, before controlling the gearbox to switch to the second gear position, the control system controls the engine of the power system to reduce the rotating speed.

[0098] In this embodiment, when the control system receives the collision signal sent by the fall protection system, if it is detected that the gear position of the gearbox is the first gear position, i.e. the reverse gear position, the control system can first control the engine to reduce the rotating speed, and then control the gear position of the gearbox to switch to the second gear position, so that the gearbox stops providing driving force for the vehicle to reverse, and the control system controls the braking system of the vehicle to brake the vehicle to avoid the vehicle continuing to reverse. It can be understood that in the case that the rotating speed of the engine is relatively high, it may cause the gearbox to fail to shift gears normally, or even cause the gearbox to fail. Therefore, when the control system needs to control the vehicle to stop reversing, the engine needs to be controlled to reduce the rotating speed first, so as to ensure that the gearbox can switch from the first gear position to the second gear position, and thus ensure that the vehicle can stop reversing normally.

[0099] According to an embodiment of the present application, a readable storage medium is provided, and the readable storage medium stores programs or instructions. When the programs or instructions are executed by a processor, the steps of the control method of the vehicle according to any one of the above embodiments are implemented.

[0100] The readable storage medium provided by the present application stores programs or instructions. When the programs or instructions are executed by a processor, the steps of the control method of the vehicle according to any one of the above embodiments are implemented. Therefore, the readable storage medium has all the beneficial effects of the steps of the control method of the vehicle, which will not be described here.

[0101] In the present application, the term "a plurality of" refers to at least two or at least more than two, unless otherwise explicitly limited. The terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense. For example, "connecting" can be fixed connection, or detachable connection, or integral connection; "connecting" can be direct connection, or indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0102] In the description of the specification, the description of the terms "one embodiment", "some embodiments", "certain embodiments", and the like is intended to indicate that the embodiment or example described is included in at least one embodiment or example of the present application. In the description of the specification, the illustrative expression of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0103] The above merely describes the preferred embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A vehicle characterized by comprising: The vehicle comprises: a main body; a fall-preventing system arranged at at least one end of the main body, the fall-preventing system being configured to generate a collision signal in the event of contacting an obstacle; a power system arranged in the main body; a braking system arranged in the main body; a control system arranged in the main body and electrically connected to the fall-preventing system, the power system and the braking system; wherein the control system is configured to, in the event of receiving the collision signal generated by the fall-preventing system, detect gear information of the power system, and in the event of the gear information being a first gear, control the power system to stop providing driving force and control the braking system to brake the vehicle.

2. The vehicle of claim 1, wherein The fall-preventing system comprises: a support arranged at at least one end of the main body; a rocker arm assembly rotatably connected to the support; a trigger device arranged in the support and electrically connected to the control system; wherein the rocker arm assembly is configured to rotate relative to the support in the event of contacting an obstacle, and in the event of a relative position between the rocker arm assembly and the trigger device being a first position, the trigger device generates the collision signal.

3. The vehicle of claim 2, wherein The rocker arm assembly comprises: a rotating shaft arranged in the support; a rocker arm rotatably connected to the rotating shaft and extending from the rotating shaft towards a bottom of the main body in a vertical direction; a baffle connected to the rocker arm; wherein the rocker arm is configured to rotate relative to the support in the event of contacting an obstacle and drive the baffle to rotate, and in the event of a relative position between the baffle and the trigger device being the first position, the trigger device generates the collision signal.

4. The vehicle of claim 2, wherein The fall-preventing system further comprises: a guard plate arranged in the support, wherein the guard plate is located at a top of the trigger device in a vertical direction.

5. The vehicle of any one of claims 1-4, wherein, The vehicle further comprises a wheel, and the power system comprises: a gearbox connected to the wheel and configured to transmit driving force to the wheel; wherein the control system is configured to, in the event of the gear information being the first gear, control the gearbox to switch to a second gear so that the gearbox stops providing driving force to the wheel.

6. The vehicle of claim 5, wherein, The power system further comprises: an engine connected to the gearbox and configured to provide driving force; wherein the control system is further configured to control the engine to reduce a rotating speed before the gearbox switches to the second gear.

7. The vehicle of any one of claims 1-4, wherein, The vehicle further comprises: a crash beam arranged at at least one end of the main body, wherein the fall-preventing system is arranged in the crash beam.

8. A control method of a vehicle for controlling the vehicle according to any one of claims 1 to 7, characterized by, The control method comprises: detecting gear information of the power system in the event of receiving a collision signal generated by the fall-preventing system; controlling the power system to stop providing driving force to the vehicle in the event of the gear information being a first gear; controlling the braking system to brake the vehicle.

9. The control method according to claim 8, characterized by, The controlling the power system to stop providing driving force to the vehicle in the event of the gear information being the first gear comprises: controlling a gearbox of the power system to switch to a second gear so that the gearbox stops providing driving force to a wheel of the vehicle in the event of the gear information being the first gear.

10. The control method according to claim 9, characterized by Before the control of the gearbox of the power system switches to the second gear, the control method further comprises: controlling an engine of the power system to reduce a rotating speed.

11. A control device of a vehicle for controlling the vehicle according to any one of claims 1 to 7, characterized by The control device comprises: a detection unit configured to detect gear information of the power system in a case where the collision signal from the anti-falling system is received; a control unit configured to control the power system to stop providing driving force for the vehicle in a case where the gear information is the first gear; and controlling the brake system to brake the vehicle.

12. A readable storage medium, characterized by, The readable storage medium stores programs or inputs, which are executed by the processor to implement the steps of the control method of the vehicle according to any one of claims 8 to 10.

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