High-voltage winch control method, device, vehicle and medium integrating terrain recognition

Abstract

This invention discloses a high-voltage winch control method, device, vehicle, and medium involving terrain recognition in the field of winch control technology. The method includes: acquiring multi-source state information related to high-voltage winch traction control; fusing the multi-source state information to determine the terrain type corresponding to the current working condition; generating target winch traction parameters matching the current working condition based on the identified terrain type; controlling the high-voltage winch to perform traction operations based on the target winch traction parameters, and acquiring the execution status of the high-voltage winch in real time during the traction operation, and performing closed-loop adaptive adjustment of the target winch traction parameters based on the execution status. This method can improve the efficiency of getting out of trouble under complex terrain conditions, reduce the risk of abnormal shutdown, and significantly enhance the reliability and adaptability of winch traction operations.

Description

Technical Field

[0001] This invention relates to the field of winch control technology, and in particular to a high-voltage winch control method, device, vehicle, and medium that integrates terrain recognition. Background Technology

[0002] High-voltage winches, as an important traction actuator, are widely used in off-road vehicles, emergency rescue vehicles, and various special-operation equipment to provide auxiliary traction when vehicles are obstructed, stuck, or require external towing. Related technologies typically use physical buttons or mechanical levers as the primary human-machine interface, outputting fixed torque curves and linear velocity parameters through pre-set programs, and relying on a single parameter such as motor current for overload protection during operation. In normal operating environments with minimal changes in working conditions, this type of control can fulfill basic traction requirements.

[0003] However, in practical applications, the operating environment of vehicles is often highly uncertain and complex. With varying surface conditions and operating conditions, a fixed traction control method cannot consistently match the actual operating conditions, potentially leading to reduced traction efficiency or increased load fluctuations. Furthermore, control strategies often employ static parameters or simple threshold judgment mechanisms, making it difficult to effectively respond to changes in operating states such as output power and traction speed during traction.

[0004] Furthermore, in terms of safety control, high-voltage winch systems in related technologies typically rely on current thresholds as the primary, or even sole, basis for risk assessment. When local operating conditions change abruptly, this can easily trigger direct power outages or emergency shutdowns, posing potential risks to the mechanical structure and operational safety. At the same time, high-voltage winch control is mostly based on independent operation, lacking a coordinated control mechanism with vehicle control, drive execution, and other components, which restricts the winch's adaptability and overall traction performance under complex operating conditions. Summary of the Invention

[0005] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the objective of this invention is to propose a high-voltage winch control method, device, vehicle, and medium that integrates terrain recognition, in order to improve the traction adaptability, control accuracy, and operational safety of high-voltage winches under different operating conditions.

[0006] To achieve the above objectives, a first aspect of the present invention proposes a high-voltage winch control method integrating terrain recognition, comprising: Acquire multi-source status information related to high-voltage winch traction control; The multi-source state information is fused to determine the terrain type corresponding to the current working condition; Based on the identified terrain type, target winch traction parameters matching the current operating conditions are generated; The high-voltage winch is controlled to perform traction operations based on the target winch traction parameters, and the execution status of the high-voltage winch is acquired in real time during the traction operation. The target winch traction parameters are then adjusted in a closed-loop adaptive manner based on the execution status.

[0007] In addition, the method of the above embodiments of the present invention may also have the following additional technical features: According to an embodiment of the present invention, the step of fusing the multi-source state information to determine the terrain type corresponding to the current working condition includes: The multi-source state information is fused to identify the adhesion characteristics and physical properties of the ground cover under the current working conditions; Based on the matching relationship between the attachment characteristics and physical properties and the preset terrain feature template, the current terrain is matched to the preset terrain type label.

[0008] According to one embodiment of the present invention, generating target winch traction parameters that match the current operating conditions based on the identified terrain type includes: Based on the identified terrain type, a preset terrain strategy library is retrieved to obtain the adhesion calculation model corresponding to the current terrain type. Using the adhesion calculation model, combined with the current working condition parameters determined by the multi-source state information and the terrain type, the maximum traction adhesion under the current terrain type is calculated; The target winch traction parameters are generated based on the maximum traction adhesion force.

[0009] According to one embodiment of the present invention, generating target winch traction parameters that match the current operating conditions based on the identified terrain type further includes: Obtain ambient temperature and terrain slope data corresponding to the current working conditions; When generating the target winch traction parameters, the ambient temperature data and the terrain slope data are used as constraint factors to compensate for the deviation of the target winch traction parameters.

[0010] According to an embodiment of the present invention, the step of dynamically adjusting the target winch traction parameters based on the execution state includes: When at least one of the following is detected to reach the corresponding preset risk judgment threshold during the traction operation: high-voltage winch tension change, motor current change, motor temperature change, or vehicle posture change, a multi-level safety arbitration process is initiated to perform graded downgrade correction on the target winch traction parameters.

[0011] According to one embodiment of the present invention, the multi-level security arbitration process includes: When the traction load is determined to exceed the preset safety tension threshold, the output power of the high-voltage winch is reduced according to a preset ratio. When the motor is determined to be in an abnormal heat load accumulation state, a shutdown and cooling strategy is executed. When the battery's state of charge is determined to be below the preset safe battery threshold, the energy-saving mode is activated.

[0012] According to one embodiment of the present invention, controlling the high-voltage winch to perform traction operations based on the target winch traction parameters includes: Based on the target winch traction parameters, determine the vehicle drive traction requirements that match the current working conditions; Based on the vehicle's driving traction requirements, the output torque of at least one drive motor is adjusted to ensure that the vehicle's traction force and the high-voltage winch traction force are coordinated in terms of traction direction and traction strength.

[0013] To achieve the above objectives, a second aspect of the present invention provides a high-voltage winch control device integrating terrain recognition, comprising: The multi-source sensing module is used to acquire multi-source status information related to the high-voltage winch traction control; The terrain recognition module is used to fuse the multi-source state information and determine the terrain type corresponding to the current working condition. The control parameter optimization module is used to generate target winch traction parameters that match the current working conditions based on the identified terrain type. The execution module is used to control the high-voltage winch to perform traction operations based on the target winch traction parameters; The closed-loop feedback control module is used to acquire the execution status of the high-voltage winch in real time during traction operations, and to perform closed-loop adaptive adjustment of the target winch traction parameters based on the execution status.

[0014] To achieve the above objectives, a third aspect of the present invention provides a vehicle including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described high-voltage winch control method with fused terrain recognition.

[0015] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed, implements the steps of the above-described high-voltage winch control method with integrated terrain recognition.

[0016] The high-voltage winch control method, device, vehicle, and medium integrating terrain recognition in this invention introduce a comprehensive acquisition and fusion processing mechanism of multi-source state information during the high-voltage winch traction control process. This enables the control process to effectively determine the terrain type based on the current operating conditions and generate traction control parameters that match the actual operating conditions, thus avoiding the problem of insufficient adaptability of fixed parameter control methods under complex terrain conditions. Simultaneously, during traction operation, by acquiring the high-voltage winch's execution status in real time and constructing a closed-loop adaptive adjustment process, the traction parameters can be continuously corrected according to changes in operating conditions, which helps improve the stability and control accuracy of the traction process. This control method, while ensuring traction efficiency, helps reduce abnormal load impacts and operational risks, improving the overall reliability and safety of the high-voltage winch in complex operating environments. Attached Figure Description

[0017] Figure 1 This is a flowchart illustrating a high-voltage winch control method that integrates terrain recognition in one embodiment. Figure 2 This is a schematic diagram illustrating the data processing of multi-source state information in one embodiment; Figure 3 This is a schematic diagram of the terrain type determination process in one embodiment; Figure 4 This is a schematic diagram of the data flow for generating target winch traction parameters in one embodiment. Figure 5 This is a schematic diagram of a multi-level security arbitration process in one embodiment; Figure 6 This is a schematic diagram of the entire application logic of a high-voltage winch control method in one embodiment; Figure 7 This is a schematic diagram of the functional architecture of a high-voltage winch control method that integrates terrain recognition in one embodiment. Figure 8 This is a structural block diagram of a high-voltage winch control device that integrates terrain recognition in one embodiment. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] To facilitate understanding and implementation of the method of this invention by those skilled in the art, the following will describe the relevant functional components and their cooperative relationships in conjunction with a functional architecture for executing the method of this invention, followed by a detailed explanation of the specific method steps. The high-voltage winch control method integrating terrain recognition of this invention can be... Figure 7The functional architecture shown is implemented.

[0020] The functional architecture for implementing the method of the present invention can be organized in a hierarchical manner, with each layer corresponding to a different stage of the functional processing flow in the method of the present invention, including a multi-source signal sensing layer, an intelligent decision-making layer, and an execution control layer. Each layer is used to complete the functional processing of different stages in the method of the present invention. The multi-source signal sensing layer is used to perform the multi-source state information acquisition step in the method of the present invention. Its acquisition objects may include data output by millimeter-wave radar, lidar, surround-view camera, inertial navigation system (IMU) and winch tension sensor, etc., to form a multi-source state information set to characterize ground characteristics, environmental conditions, vehicle attitude and winch load, providing the input data basis for subsequent method steps.

[0021] The intelligent decision-making layer executes the analysis and decision-making process based on multi-source state information in the method of this invention, including terrain identification processing and traction control parameter generation processing. The terrain identification processing fuses and analyzes multi-source state information to determine the terrain type corresponding to the current operating condition. Subsequently, the traction control parameter generation processing determines the traction control parameters matching the current operating condition based on the terrain type and the current operating condition. Simultaneously, this layer can also incorporate closed-loop feedback control logic to monitor overload, thermal anomalies, and battery status in real time, and make hierarchical control decisions accordingly.

[0022] The execution control layer is used to execute the specific execution steps of the traction control parameters in the method of the present invention. Based on the aforementioned decision processing results, it controls the traction torque and speed of the high-voltage winch and feeds back the execution status to the aforementioned processing flow during the traction operation to achieve coordinated control of the traction process.

[0023] Through the closed-loop method flow consisting of the above-mentioned perception, decision-making, execution and feedback, the present invention can achieve adaptive control of the winch traction process under complex terrain conditions, thereby improving the problems of insufficient perception and fixed parameters in traditional winch control, and improving the safety and stability of traction operations.

[0024] The implementation details of the technical solutions of the embodiments of the present invention are described in detail below.

[0025] In one embodiment, such as Figure 1 The diagram shows a flowchart of a high-voltage winch control method that integrates terrain recognition. This method may include the following steps: Step S101: Obtain multi-source status information related to the high-voltage winch traction control.

[0026] Multi-source state information can be obtained by collecting various types of sensor data. The collection targets are selected from objective working condition factors that directly affect the traction force output capacity, traction speed stability, and operational safety during the high-voltage winch traction control process. The collected multi-source state information is used to provide a raw description of the current traction operation environment and vehicle operating status, serving as the basic input for subsequent terrain recognition and traction control calculations. Figure 2 This diagram illustrates the data processing of multi-source state information. Figure 2 In this context, multi-source state information may include radar sensing data acquired by millimeter-wave radar, distance or point cloud data acquired by lidar, image data acquired by environmental image acquisition unit, and attitude and motion state data acquired by inertial measurement unit.

[0027] In practical applications, the collection of various sensing data can be carried out before the start of high-voltage winch traction operations or before the traction control parameters are determined. By acquiring and aggregating the sensing data, a set of multi-source state information is formed for subsequent processing, which can comprehensively characterize the terrain environment features, vehicle attitude features and winch load features under the current traction operation conditions.

[0028] Step S102: Perform fusion processing on the multi-source state information to determine the terrain type corresponding to the current working condition.

[0029] After acquiring multi-source state information, the terrain recognition processing flow is initiated. (Reference) Figure 2 As shown, state information from different sensing sources is fused and analyzed to form a comprehensive description of the current working environment. During the fusion process, the multi-source state information is first synchronized in time and spatially correlated, enabling data from different sensing sources to form corresponding relationships under the same working conditions. Based on this, information reflecting ground medium characteristics, spatial structure features, surface cover features, and vehicle attitude status from the multi-source state information can be jointly analyzed using preset rule-based analysis methods or model-based reasoning methods.

[0030] Through the aforementioned fusion analysis, multi-source state information is transformed into a comprehensive judgment result that reflects the surface cover state and environmental structure characteristics. This determines the terrain type corresponding to the current operating condition, characterizing the environmental category of the high-voltage winch traction operation and providing a basis for the generation of subsequent traction control parameters. The terrain type, used to characterize the environmental category of the high-voltage winch traction operation, may include, but is not limited to, mountainous, snowy, muddy, sandy, rocky, and water-crossing terrain.

[0031] In one embodiment, Figure 3 The diagram illustrates the process for determining terrain type, which may include the following steps: Step S201: Perform feature fusion on the multi-source state information to identify the attachment characteristics and physical properties of the surface cover under the current working conditions.

[0032] Feature parameters characterizing the land surface state are extracted from multi-source state information. (Reference) Figure 2 As shown, the reflectivity variation characteristics of the surface medium can be extracted based on millimeter-wave radar data to characterize changes in ground hardness or water depth under wading conditions. Topographic relief, slope continuity, and obstacle distribution characteristics can be extracted based on lidar data to characterize the spatial structural attributes of the surface and construct a three-dimensional spatial structure of the traction path and surrounding terrain. Surface texture roughness, color distribution, and cover morphology characteristics can be extracted based on image data to characterize surface looseness, slipperiness, or cover type. Furthermore, vehicle attitude variation characteristics can be extracted based on inertial measurement unit data to reflect the impact of terrain slope and unevenness on traction conditions.

[0033] After extracting the aforementioned feature parameters, a fusion analysis is performed to form a feature set that comprehensively describes the state of the ground cover. Based on this feature set, the adhesion characteristics and physical properties of the ground cover under the current operating conditions are identified. Adhesion characteristics reflect the mechanical interaction between the ground surface and the traction object, directly affecting the upper limit of the transferable traction force. Physical properties reflect the structural stability and morphological characteristics of the ground medium, distinguishing between different ground conditions such as loose, slippery, hard, or discontinuous surfaces.

[0034] Step S202: Based on the matching relationship between the attachment characteristics and physical attributes and the preset terrain feature template, the current terrain is matched to the preset terrain type label.

[0035] Terrain feature templates are used to describe the combination of features of different terrain types in terms of adhesion, structural stability, and surface morphology. These templates can be preset using empirical rules or obtained by summarizing historical operational data. During the matching process, the identified adhesion characteristics and physical attribute parameters can be compared with the corresponding feature ranges in each preset terrain feature template to analyze their similarity or degree of conformity.

[0036] When the matching results of the attachment characteristics and physical properties with a certain terrain feature template meet the preset judgment conditions, the terrain type label corresponding to the current working condition is determined. In practical applications, if there is a matching relationship with multiple terrain feature templates, the candidate terrain types can be sorted based on the degree of matching, and the terrain type with the highest degree of matching can be selected as the current terrain type label.

[0037] Through the above matching process, the terrain type of the current working condition can be determined, so that the terrain type label can reflect the impact characteristics of the current surface conditions on the high-voltage winch traction operation.

[0038] Step S103: Based on the identified terrain type, generate target winch traction parameters that match the current working conditions.

[0039] Since different terrain types have significant differences in surface bearing capacity, adhesion characteristics and structural stability, using uniform or fixed traction parameters can easily lead to risks such as decreased traction efficiency, slippage or structural impact under low adhesion or unstable terrain conditions. Therefore, it is necessary to adapt the traction parameters to the terrain type.

[0040] In this embodiment, terrain type is used as the core constraint in the traction parameter generation process. Based on the traction characteristic requirements corresponding to different terrain types, the target winch traction parameters are set differently to ensure that the traction output capacity is coordinated with the bearing capacity and adhesion capacity under the current surface conditions. This satisfies the traction requirements while avoiding exceeding the safe working boundaries allowed by the terrain. Figure 2 As shown, if the determined terrain type is mountainous, then target winch traction parameters adapted to the mountainous terrain are generated.

[0041] The target winch traction parameters may include a set of parameters characterizing traction output capability and execution characteristics. This parameter set ensures the controllability and stability of the traction process under current terrain conditions. In practical applications, the target winch traction parameters may include traction torque parameters, traction speed parameters, output frequency parameters, and drive distribution strategy parameters. Specifically, the traction torque parameter limits the upper limit or target level of the traction output torque to match the terrain adhesion capability. The traction speed parameter controls the winch's deployment and retraction speeds during traction, avoiding abrupt traction changes in soft or slippery terrain. The output frequency parameter adjusts the dynamic response characteristics of the traction output, making the traction process smoother. The drive distribution strategy parameters describe how the traction force is distributed across different drive execution paths to adapt to the force requirements under different terrain conditions.

[0042] In one embodiment, Figure 4 A schematic diagram of the data flow for generating target winch traction parameters is shown. Generating target winch traction parameters may include the following steps: Based on the identified terrain type, a pre-defined terrain strategy library is retrieved to obtain the adhesion calculation model corresponding to the current terrain type. The terrain strategy library is a pre-built database that stores traction strategy information for different terrain types, including adhesion ranges, surface characteristics, structural stability, and recommended traction parameter reference values ​​for each type of terrain. By querying the terrain strategy library, traction control references for different terrain types can be quickly obtained, ensuring the relevance and safety of traction parameter generation.

[0043] By calling the corresponding strategy information in the terrain strategy library, an adhesion calculation model is obtained to characterize the adhesion capability of the terrain. This adhesion calculation model is used to couple terrain features such as surface adhesion characteristics and structural stability with working condition variables related to traction operations to output traction bearing capacity assessment results that can be used for traction control constraints.

[0044] In the process of generating the target winch traction parameters, the current operating condition parameters are further determined by combining the acquired multi-source state information and terrain type. Then, the maximum traction adhesion force that can be withstood under the current terrain conditions is calculated using an adhesion calculation model. The current operating condition parameters are a set of parameters for traction control calculations obtained after analyzing and calculating multi-source state information and terrain type, used to quantitatively describe the key constraints in the traction parameter generation process. Specifically, the current operating condition parameters may include, but are not limited to, attitude stability parameters reflecting the vehicle's attitude stability, equivalent load parameters reflecting the current traction load level, and operating condition limit parameters constraining the traction force output capability.

[0045] Based on this, using an adhesion calculation model and combining current operating parameters, the maximum traction adhesion force that the winch can safely output under the current terrain and operating conditions is calculated. The maximum traction adhesion force characterizes the safe upper limit of the winch traction force under given terrain conditions and traction constraints, preventing slippage, instability, or overload risks. The obtained maximum traction adhesion force is used as the core constraint in the traction parameter generation process, limiting parameters such as traction torque, traction speed, and output rhythm. This ensures that the generated target winch traction parameters meet the traction operation requirements without exceeding the adhesion capacity range allowed by the terrain conditions.

[0046] By using the above methods, the traction parameters are matched with the terrain conditions, enabling the traction process to have good stability and safety under different terrain conditions.

[0047] In one embodiment, refer to Figure 4 During the process of generating target winch traction parameters based on terrain type, ambient temperature data and terrain slope data corresponding to the current working conditions are acquired simultaneously.

[0048] During the traction parameter generation phase, ambient temperature data and terrain slope data are used as constraint inputs for traction capacity assessment, and together with the adhesion characteristics corresponding to the terrain type, they participate in the calculation process of traction parameters. Ambient temperature is used to correct for potential output attenuation or response changes during traction execution, while terrain slope is used to correct for additional loads that need to be overcome during traction.

[0049] Based on this, parameters such as traction torque, traction speed and output rhythm are comprehensively compensated and adjusted so that the generated target winch traction parameters can adapt to terrain type, slope conditions and ambient temperature factors in the initial determination stage.

[0050] By using the above methods, the target winch traction parameters are made adaptable to the combined effects of the environment and terrain before they are issued for execution, thus avoiding deviation of the traction parameters from the actual working conditions due to modeling based on a single terrain factor.

[0051] Step S104: Control the high-voltage winch to perform traction operation based on the target winch traction parameters, and obtain the execution status of the high-voltage winch in real time during the traction operation, and perform closed-loop adaptive adjustment of the target winch traction parameters according to the execution status.

[0052] When traction operations begin, the traction output of the high-voltage winch is initially set based on the traction torque, traction speed, and output rhythm determined in the target winch traction parameters. Corresponding control commands are continuously applied to the high-voltage winch according to the target winch traction parameters, causing the high-voltage winch to establish traction force according to the expected output sequence and variation pattern. Through coordinated control of the magnitude of the traction torque, changes in traction speed, and output rhythm, the traction force remains under control during startup, maintenance, and adjustment. This ensures that, under the currently identified terrain conditions and operating conditions, an actual traction force output matching the target traction requirements is generated, achieving stable traction, extrication, or displacement control of the towed object, and avoiding slippage, impact, or decreased operating efficiency caused by sudden changes or insufficient matching of traction output.

[0053] During the traction operation of the high-voltage winch according to the target winch traction parameters, the execution status of the high-voltage winch is acquired in real time. The execution status reflects the output response of the high-voltage winch during the actual traction process, and includes at least traction tension, motor current, motor temperature, and vehicle attitude and motion status, which characterize the current traction load changes, power output status, and operational stability.

[0054] Based on the obtained execution status, the execution status is compared and analyzed with the expected output status corresponding to the target winch traction parameters. According to the deviation between the actual output and the expected output during traction, the target winch traction parameters are adjusted in a closed-loop adaptive manner. This allows the traction torque, traction speed, and output rhythm to be corrected accordingly with changes in load, attitude, or working conditions during operation, thereby maintaining the continuity and controllability of traction force output without interrupting the traction operation. In practical applications, during the closed-loop adaptive adjustment process, when the execution status shows an abnormal trend or potential risk exists, the corresponding target winch traction parameter adjustments can be triggered to prevent the traction operation from entering an unsafe state.

[0055] In one embodiment, during the traction operation, the execution status is monitored in real time or periodically, and the detected changes in status are compared with a pre-set risk assessment threshold. When at least one of the following is detected—abnormal increase in high-voltage winch tension, abnormal fluctuation in motor current, continuous increase in motor temperature, or abnormal change in vehicle posture—reaches the corresponding preset risk assessment threshold, the current traction operation is determined to have entered a potential risk state.

[0056] The preset risk assessment threshold is not a fixed value, but rather an adaptive setting based on the currently identified terrain type. Specifically, different terrain types differ in adhesion, load transfer characteristics, and heat accumulation characteristics. Correspondingly, different risk assessment thresholds are set for traction tension, current variation amplitude, temperature rise rate, and allowable range of attitude change, so that the risk identification conditions can match the terrain conditions, thereby avoiding misjudgment problems caused by using a uniform threshold under high or low adhesion terrain.

[0057] Upon determining that a potential risk state has been entered, a multi-level safety arbitration process is triggered to dynamically adjust the currently used target winch traction parameters. This dynamic adjustment is carried out in a tiered, downgraded correction manner, used to limit the traction output intensity without immediately terminating the traction operation, thereby reducing the impact of the risk state on the safety of the traction operation.

[0058] In this way, the target winch traction parameters can be dynamically adjusted based on the execution status during traction operations, enabling the traction control to proactively respond to abnormal working conditions, thereby improving the operational safety and stability during traction operations.

[0059] In one embodiment, a multi-level safety arbitration process is used to implement differentiated safety control strategies for different types of risk states during traction operations. Upon entering the multi-level safety arbitration process, corresponding control measures are sequentially judged and executed according to the source and severity of the risk, following a preset arbitration logic. Figure 5 A schematic diagram of a multi-level safety arbitration process is shown to illustrate the switching relationship of traction control strategies under different risk conditions.

[0060] When the traction load of the traction operation exceeds the preset safety tension threshold based on the execution status (corresponding to...) Figure 5 (Over-tension in the middle) By adjusting the traction output parameters, the output power of the high-voltage winch is reduced according to a preset ratio, so that the traction force gradually falls back to a safe range, thereby avoiding structural damage or traction instability caused by continuous overload.

[0061] When the motor is determined to be in an abnormal heat load accumulation state based on the execution status (corresponding to...) Figure 5(In case of thermal overload), a shutdown and cooling strategy is implemented, traction output is suspended and the motor is cooled to prevent performance degradation or reliability problems caused by overheating.

[0062] When the battery state of charge is determined to be lower than the preset safe battery threshold based on the execution status (corresponding to...) Figure 5 When the battery is low, an energy-saving mode is activated to limit the energy consumption level of traction operations, thereby reducing energy consumption while ensuring basic traction capacity and improving the continuity of the operation.

[0063] When the real-time tension, motor temperature, and battery charge status are all within the corresponding preset safety range based on the execution status (corresponding to...) Figure 5 (If the current working condition is normal), determine that the current working condition is safe, maintain the current target winch traction parameters for continuous output, and ensure the continuity and stability of the traction operation.

[0064] Through the aforementioned multi-level safety arbitration process, targeted control strategies are adopted according to different risk types, ensuring that traction operations remain controllable and safe even under complex working conditions and multiple constraints.

[0065] In one embodiment, during the process of controlling the high-voltage winch to perform traction operations based on the target winch traction parameters, coordinated control of vehicle-driven traction can also be introduced simultaneously to adapt to the requirements of traction stability under complex terrain and high-load traction conditions.

[0066] Specifically, after completing terrain type identification and generating target winch traction parameters, the vehicle drive traction requirements matching the current working conditions can be determined based on the target winch traction parameters, provided that the target traction needs are met. The vehicle drive traction requirements describe the vehicle's active travel capability requirements in the traction direction, ensuring that the vehicle's travel state coordinates with the winch traction process to work together with the towed target.

[0067] After determining the vehicle's driving and traction requirements, the output torque of at least one drive motor is adjusted accordingly. This ensures that the driving traction force generated during vehicle movement is aligned with the traction direction of the high-voltage winch and is appropriately matched in strength. By adjusting the output torque of the drive motors, traction force distribution can be achieved between the front and rear axles or different drive sources, enabling the vehicle's driving traction and the winch traction to work synergistically during the traction process.

[0068] In actual traction operations, the above-mentioned coordinated control method enables the vehicle driving traction force and the high-pressure winch traction force to work together on the traction object, thereby reducing the load pressure borne by a single traction method, reducing the risk of slippage, impact or attitude instability caused by traction force mismatch, and improving the smoothness and controllability of traction operations under complex terrain conditions.

[0069] To facilitate a more intuitive understanding of the full-process control logic of this invention by those skilled in the art, the following description is in conjunction with... Figure 6 This document details the application examples of the present invention in real-world vehicle escaping scenarios.

[0070] When a vehicle gets stuck in complex off-road terrain or requires towing, the user interaction phase begins. The user activates the high-voltage winch function by clicking on the onboard terminal. At this time, the vehicle control unit (VCU) wakes up the entire system, the left domain controller engages the winch relay to provide high-voltage power, and simultaneously issues a voice prompt and confirms that the electronic control system and battery are in a ready state.

[0071] The system then enters the perception and decision-making phase. The Advanced Driver-Assistance System (ADAS) automatically activates, using millimeter-wave radar detection, visual recognition, and lidar modeling to perform a 3D scan and feature extraction of the terrain ahead. Through fusion analysis of the perception data, if identification is successful (e.g., determined to be "muddy"), the system automatically switches to the corresponding VCU terrain mode; if automatic identification is limited, user intervention is supported.

[0072] During the dynamic execution phase, a comprehensive control strategy is generated based on the identified terrain features. This strategy is not limited to the winch alone but achieves four-wheel coordinated control: coordinating the front motor for speed adaptation, the rear motor for torque compensation, and controlling a stable voltage output by the Battery Management System (BMS). Simultaneously, the high-voltage winch controller outputs power based on the generated traction curve. Through real-time coupling of winch traction force and the vehicle's own driving force, the success rate of extricating oneself from extreme terrain is greatly improved.

[0073] Finally, a closed-loop safety monitoring system is implemented throughout the entire traction operation. Temperature, tension, and battery charge status are monitored in real time. If the status is normal, traction force is continuously output until the vehicle is successfully freed; if abnormal feedback is detected, multi-level protection warnings are immediately triggered, executing safety mechanisms including degraded output, alarm signals, and even emergency shutdown to ensure the operational safety of the high-voltage system and mechanical structure.

[0074] This application example demonstrates how the present invention, through hierarchical linkage of perception, decision-making, execution, and safety closed loop, enables the high-voltage winch to evolve from a single manual tool into an intelligent vehicle-wide obstacle-avoidance system.

[0075] In the above embodiments, by acquiring and fusing multi-source state information, the terrain type under the current working conditions can be accurately determined. This allows for the generation of target winch traction parameters that match the working environment. Furthermore, the execution status is collected in real time during traction, and the target parameters are adjusted adaptively in a closed loop. This enables the high-voltage winch's traction output to automatically adjust to changes in terrain, load fluctuations, and vehicle attitude, ensuring the continuity and controllability of the traction process. Using this method, the high-voltage winch's extrication efficiency under complex terrain conditions can be improved by approximately 30%. Simultaneously, due to real-time monitoring and closed-loop adjustment of the execution status, the probability of abnormal system shutdowns is effectively reduced, giving the traction operation greater reliability and adaptability, and enabling stable, safe, and efficient operation in diverse working environments.

[0076] In one embodiment, a high-voltage winch control device incorporating terrain recognition is provided, referenced... Figure 8 As shown, the high-voltage winch control device 800 integrating terrain recognition may include: a multi-source sensing module 801, a terrain recognition module 802, a control parameter optimization module 803, an execution module 804, and a closed-loop feedback control module 805. Among them, The multi-source sensing module 801 is used to acquire multi-source status information related to the high-voltage winch traction control. The terrain recognition module 802 is used to fuse multi-source state information and determine the terrain type corresponding to the current working condition; The control parameter optimization module 803 is used to generate target winch traction parameters that match the current working conditions based on the identified terrain type. Execution module 804 is used to control the high-voltage winch to perform traction operations based on the target winch traction parameters; The closed-loop feedback control module 805 is used to acquire the execution status of the high-voltage winch in real time during traction operations and to make closed-loop adaptive adjustments to the traction parameters of the target winch based on the execution status.

[0077] In one embodiment, the terrain recognition module 802 is specifically used for: Feature fusion of multi-source state information is performed to identify the attachment characteristics and physical properties of surface cover under the current working conditions; Based on the matching relationship between the attachment characteristics and physical properties and the preset terrain feature template, the current terrain is matched to the preset terrain type label.

[0078] In one embodiment, the control parameter optimization module 803 is specifically used for: Based on the identified terrain type, the system retrieves the preset terrain strategy library and obtains the adhesion calculation model corresponding to the current terrain type. Using the adhesion calculation model, combined with the current working condition parameters determined by multi-source state information and terrain type, the maximum traction adhesion under the current terrain type is calculated; The target winch traction parameters are generated based on the maximum traction adhesion.

[0079] In one embodiment, the control parameter optimization module 803 is specifically used for: Obtain ambient temperature and terrain slope data corresponding to the current working conditions; When generating the target winch traction parameters, ambient temperature data and terrain slope data are used as constraint factors to compensate for deviations in the target winch traction parameters.

[0080] In one embodiment, the closed-loop feedback control module 805 is specifically used for: When at least one of the following is detected to reach the corresponding preset risk judgment threshold during the traction operation: high-voltage winch tension change, motor current change, motor temperature change, or vehicle attitude change, a multi-level safety arbitration process is initiated to perform graded downgrade correction on the target winch traction parameters.

[0081] In one embodiment, the closed-loop feedback control module 805 is specifically used for: When the traction load is determined to exceed the preset safety tension threshold, the output power of the high-voltage winch is reduced according to a preset ratio. When the motor is determined to be in an abnormal heat load accumulation state, a shutdown and cooling strategy is executed. When the battery's state of charge is determined to be below the preset safe battery threshold, the energy-saving mode is activated.

[0082] In one embodiment, the execution module 804 is specifically used for: Based on the target winch traction parameters, determine the vehicle drive traction requirements that match the current working conditions; Based on the vehicle's driving traction requirements, the output torque of at least one drive motor is adjusted to ensure that the vehicle's traction force and the high-voltage winch traction force are coordinated in terms of traction direction and traction strength.

[0083] Specific limitations regarding the high-voltage winch control device 800 with integrated terrain recognition can be found in the limitations of the high-voltage winch control method with integrated terrain recognition described above, and will not be repeated here. Each module in the aforementioned high-voltage winch control device 800 with integrated terrain recognition can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0084] In one embodiment, a vehicle is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement a high-voltage winch control method that integrates terrain recognition.

[0085] In one embodiment, a computer storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements a high-voltage winch control method that integrates terrain recognition.

[0086] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0087] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0088] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0090] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A high-voltage winch control method integrating terrain recognition, characterized in that, include: Acquire multi-source status information related to high-voltage winch traction control; The multi-source state information is fused to determine the terrain type corresponding to the current working condition; Based on the identified terrain type, target winch traction parameters matching the current operating conditions are generated; The high-voltage winch is controlled to perform traction operations based on the target winch traction parameters, and the execution status of the high-voltage winch is acquired in real time during the traction operation. The target winch traction parameters are then adjusted in a closed-loop adaptive manner based on the execution status.

2. The high-voltage winch control method integrating terrain recognition according to claim 1, characterized in that, The process of fusing the multi-source state information to determine the terrain type corresponding to the current working condition includes: The multi-source state information is fused to identify the adhesion characteristics and physical properties of the ground cover under the current working conditions; Based on the matching relationship between the attachment characteristics and physical properties and the preset terrain feature template, the current terrain is matched to the preset terrain type label.

3. The high-voltage winch control method integrating terrain recognition according to claim 1, characterized in that, The step of generating target winch traction parameters that match the current operating conditions based on the identified terrain type includes: Based on the identified terrain type, a preset terrain strategy library is retrieved to obtain the adhesion calculation model corresponding to the current terrain type. Using the adhesion calculation model, combined with the current working condition parameters determined by the multi-source state information and the terrain type, the maximum traction adhesion under the current terrain type is calculated; The target winch traction parameters are generated based on the maximum traction adhesion force.

4. The high-voltage winch control method integrating terrain recognition according to claim 3, characterized in that, The step of generating target winch traction parameters that match the current operating conditions based on the identified terrain type further includes: Obtain ambient temperature and terrain slope data corresponding to the current working conditions; When generating the target winch traction parameters, the ambient temperature data and the terrain slope data are used as constraint factors to compensate for the deviation of the target winch traction parameters.

5. The high-voltage winch control method integrating terrain recognition according to claim 1, characterized in that, The step of dynamically adjusting the target winch traction parameters according to the execution state includes: When at least one of the following is detected to reach the corresponding preset risk judgment threshold during the traction operation: high-voltage winch tension change, motor current change, motor temperature change, or vehicle posture change, a multi-level safety arbitration process is initiated to perform graded downgrade correction on the target winch traction parameters.

6. The high-voltage winch control method integrating terrain recognition according to claim 5, characterized in that, The multi-level security arbitration process includes: When the traction load is determined to exceed the preset safety tension threshold, the output power of the high-voltage winch is reduced according to a preset ratio. When the motor is determined to be in an abnormal heat load accumulation state, a shutdown and cooling strategy is executed. When the battery's state of charge is determined to be below a preset safe battery threshold, the energy-saving mode is activated.

7. The high-voltage winch control method integrating terrain recognition according to claim 1, characterized in that, The control of the high-voltage winch to perform traction operations based on the target winch traction parameters includes: Based on the target winch traction parameters, determine the vehicle drive traction requirements that match the current working conditions; Based on the vehicle's driving traction requirements, the output torque of at least one drive motor is adjusted to ensure that the vehicle's traction force and the high-voltage winch traction force are coordinated in terms of traction direction and traction strength.

8. A high-voltage winch control device integrating terrain recognition, characterized in that, include: The multi-source sensing module is used to acquire multi-source status information related to the high-voltage winch traction control; The terrain recognition module is used to fuse the multi-source state information and determine the terrain type corresponding to the current working condition. The control parameter optimization module is used to generate target winch traction parameters that match the current working conditions based on the identified terrain type. The execution module is used to control the high-voltage winch to perform traction operations based on the target winch traction parameters; The closed-loop feedback control module is used to acquire the execution status of the high-voltage winch in real time during traction operations, and to perform closed-loop adaptive adjustment of the target winch traction parameters based on the execution status.

9. A vehicle comprising a memory and a processor, said memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the steps of the high-voltage winch control method with fused terrain recognition as described in any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the high-voltage winch control method with fused terrain recognition as described in any one of claims 1 to 7.

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