Vehicle control method, vehicle, computer program product, and storage medium

Abstract

A vehicle control method, a vehicle, a computer program product, and a storage medium. The method comprises: when a vehicle (200) obtains a power-off instruction, controlling a drive motor (210) of the vehicle to switch between a first state and a second state, wherein the first state is that the drive motor has no power output to wheels (220) of the vehicle, and the second state is that the drive motor has power output to the wheels; and when the drive motor is in the first state and the corresponding speed of the vehicle is less than or equal to a first speed threshold, controlling the vehicle to power off. By controlling the drive motor to switch between the first state and the second state, the wheels intermittently switch between an uncontrolled state and a controlled state, so that the speed of the vehicle is effectively controlled, and the vehicle powers off until the drive motor is in the first state and the corresponding speed of the vehicle is less than or equal to the first speed threshold, thereby ensuring the safety of the vehicle after power off.

Description

Vehicle control methods, vehicles, computer program products and storage media

[0001] This application claims priority to Chinese Patent Application No. 202410991104.7, filed on July 23, 2024, entitled "Vehicle Control Method, Vehicle and Computer Program Product", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle technology, and in particular to a vehicle control method, a vehicle, a computer program product, and a storage medium. Background Technology

[0003] A lawnmower, also known as a lawn mower, lawn trimmer, or lawn mower, is a mechanical tool used to trim lawns, vegetation, etc., saving lawn workers' time and reducing manpower. With the development of artificial intelligence technology, intelligent outdoor tools such as lawnmower robots have gradually emerged, further improving outdoor work efficiency.

[0004] When it's time to stop outdoor lawnmower operation, the user can send a shutdown command. Since the lawnmower's wheels can roll freely after shutdown (the wheels are in a freely rotating state), if the lawnmower is shut off on a slope, it's prone to sliding downhill due to gravity, potentially causing safety issues. For example, as shown in Figure 1, if the lawnmower slides downhill too quickly or too far, it can easily collide with nearby people or objects, or even run off the lawn into the road, creating a traffic hazard. Summary of the Invention

[0005] This application provides a vehicle control method, a vehicle, a computer program product, and a storage medium that can ensure the safety of the vehicle after it is powered off.

[0006] In a first aspect, this application provides a vehicle control method, which includes: when the vehicle receives a shutdown command, controlling the drive motor to switch between a first state and a second state, wherein the first state is that the drive motor has no power output to the wheels, and the second state is that the drive motor has power output to the wheels; and controlling the vehicle to shut down when the drive motor is in the first state and the corresponding speed of the vehicle is less than or equal to a first speed threshold.

[0007] It should be understood that in the first state, the drive motor provides no power to the wheels, leaving them uncontrolled. In the second state, the drive motor provides power to the wheels, placing them in a controlled state and thus reducing vehicle speed. This solution controls the drive motor to switch between the first and second states, allowing the wheels to alternate between uncontrolled and controlled states. This effectively controls the vehicle's speed until the drive motor is in the first state and the vehicle's speed is less than or equal to a first speed threshold (indicating the vehicle is in a relatively flat position, making shutdown relatively safe and avoiding the risk of rolling backward). Only then will the vehicle shut down, ensuring safety after shutdown and preventing damage to surrounding people or property.

[0008] Based on the first aspect, in a possible implementation, when the drive motor is in the first state and the vehicle meets the braking conditions, the drive motor is controlled to switch from the first state to the second state; when the drive motor is in the second state and the vehicle meets the wheel release conditions, the drive motor is controlled to switch from the second state to the first state.

[0009] Based on the first aspect, in possible implementations, the braking conditions include at least one of the following:

[0010] 1) The duration of the drive motor being in the first state is greater than or equal to the first duration threshold;

[0011] 2) The vehicle's speed is greater than or equal to the second speed threshold.

[0012] Based on the first aspect, in a possible implementation, the speed corresponding to the vehicle is obtained by a sensor within a second time-duration threshold, which is less than the first time-duration threshold.

[0013] Based on the first aspect, in possible implementations, the wheel release conditions include at least one of the following:

[0014] 1) The duration of the drive motor being in the second state is greater than or equal to the third duration threshold;

[0015] 2) The vehicle's speed is less than or equal to the third speed threshold.

[0016] Based on the first aspect, in a possible implementation, the speed corresponding to the vehicle is the vehicle speed or the rotational speed of the wheels.

[0017] Based on the first aspect, in a possible implementation, the direction of the power output by the drive motor to the wheel in the second state is the same as or opposite to the direction of the wheel's steering.

[0018] Based on the first aspect, in a possible implementation, before controlling the drive motor to switch between the first state and the second state, the method further includes: controlling the drive motor to enter the first state when the vehicle receives a shutdown command.

[0019] Based on the first aspect, in a possible implementation, before controlling the drive motor to switch between the first state and the second state, the method further includes: controlling the cutter head of the vehicle to descend when the vehicle receives a shutdown command.

[0020] Secondly, this application also provides a vehicle control device, including units and / or modules for performing methods as described in the first aspect or any possible implementation thereof.

[0021] Thirdly, this application also provides a vehicle including a drive motor and wheels, the vehicle being used to perform the method as described in the first aspect or any possible implementation thereof.

[0022] Fourthly, this application also provides a vehicle including a processor and a memory, the processor being configured to execute instructions stored in the memory to cause the vehicle to perform a method as described in the first aspect or any possible implementation thereof.

[0023] Fifthly, this application also provides a computer program product containing instructions that, when executed on a vehicle, cause the vehicle to perform a method as described in the first aspect or any possible implementation thereof.

[0024] Sixthly, this application also provides a readable storage medium including computer program instructions. When the computer program instructions are executed by a vehicle, the vehicle performs the method as described in the first aspect or any possible implementation thereof.

[0025] In a seventh aspect, this application also provides a vehicle, which includes a drive motor and wheels. The drive motor is used to provide power to the wheels. The drive motor has a first state and a second state. The first state is a state in which the drive motor does not output power to the wheels, and the second state is a state in which the drive motor outputs power to the wheels. Before the vehicle is turned off, the drive motor is configured to automatically switch between the first state and the second state until the speed of the vehicle corresponding to the drive motor in the first state is less than or equal to a first speed threshold.

[0026] Based on the embodiments provided in the above aspects, this application can be further combined to provide more embodiments. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments are briefly introduced below.

[0028] Figure 1 is a schematic diagram of a lawnmower sliding down a slope according to an embodiment of this application;

[0029] Figure 2 is a structural schematic diagram of a vehicle provided in an embodiment of this application;

[0030] Figure 3 is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0031] Figure 4 is a structural schematic diagram of a vehicle control device provided in an embodiment of this application;

[0032] Figure 5 is a schematic diagram of another vehicle structure provided in an embodiment of this application. Detailed Implementation

[0033] To facilitate understanding of the technical solution of this application, a vehicle 200 involved in this application will be introduced below.

[0034] Please refer to Figure 2, which is a structural schematic diagram of a vehicle 200 provided in an embodiment of this application, including a drive motor 210 and wheels 220.

[0035] The drive motor 210 is used to provide power to the wheels 220. For example, the drive motor 210 can transmit power (torque) to the wheels 220 through a transmission system (not shown in Figure 2) to control the rotation of the wheels 220, thereby affecting the speed of the vehicle 200. Torque is a physical quantity that describes the rotational effect produced when an object is subjected to a torque, usually represented by the symbol T, and its unit is Newton-meter (N·m).

[0036] The magnitude of the current in the drive motor 210 (such as the current output from the drive board to the drive motor 210) affects the strength of the electromagnetic field generated by the drive motor 210, and thus affects the torque output by the drive motor 210. Generally speaking, the larger the current, the stronger the electromagnetic field generated by the drive motor 210, and the greater the output torque. Conversely, when the current decreases, the torque output by the drive motor 210 also decreases.

[0037] For example, when vehicle 200 needs to be speed-limited, the current of drive motor 210 can be reduced to weaken the electromagnetic field generated by drive motor 210, thereby reducing the torque output of drive motor 210 and limiting the rotational speed of wheel 220, keeping vehicle 200 within the set speed range. When vehicle 200 needs to be decelerated, the current of drive motor 210 can be further reduced, or even the drive motor 210 can be reversed to generate reverse torque, thereby slowing down the rotational speed of wheel 220 and achieving deceleration or stopping of vehicle 200.

[0038] It should be understood that when the drive motor 210 outputs power to the wheels 220, the wheels 220 are subjected to the torque transmitted by the drive motor 210 (the wheels 220 are in a controlled state), thereby generating power to propel the vehicle 200. Specifically, under forward control, the torque generated by the drive motor 210 (i.e., forward torque) is in the same direction as the wheels 220, propelling the vehicle 200 forward. Under reverse control, the torque generated by the drive motor 210 (i.e., reverse torque) is in the opposite direction to the wheels 220, causing the vehicle 200 to decelerate or reverse. When the drive motor 210 does not output power to the wheels 220, the wheels 220 are not under the drive control of the drive motor 210, and therefore the wheels 220 are in a freely rotating state (the wheels 220 can roll freely, in an uncontrolled state), similar to a car coasting in neutral.

[0039] It should be noted that the free rotation of wheel 220 does not necessarily mean that wheel 220 is rotating. Whether wheel 220 rotates in a free-rotating state depends on the forces acting on it. For example, when wheel 220 is in a free-rotating state and is located on a slope with a large gradient and / or low friction, since wheel 220 is not controlled by drive motor 210 and is affected by gravity, it will generate a downward force along the slope, so wheel 220 will roll down the slope, and usually rolls faster and faster. When wheel 220 is in a free-rotating state and is located on a slope with a relatively small gradient and / or high friction, wheel 220 may be in equilibrium, and in this case, wheel 220 will not rotate. When wheel 220 is in a free-rotating state and is on flat ground, since there is no control from drive motor 210 and the forces acting on wheel 220 are in equilibrium on flat ground, wheel 220 will not rotate.

[0040] It should also be noted that the structure of vehicle 200 shown in Figure 2 is only an example and does not constitute a specific limitation. In actual scenarios, vehicle 200 may include more components. For example, assuming vehicle 200 is a lawnmower, in addition to drive motor 210 and wheels 220, the lawnmower also includes a blade for cutting grass. The lawnmower can stop vehicle 200 by controlling the blade to descend and come into contact with the ground to generate resistance (e.g., when vehicle 200 is on a slope, the blade is brought into contact with the ground to stop vehicle 200 on the slope). This application does not make specific limitations on the number, type, positional relationship, or connection relationship of drive motor 210 and wheels 220 of vehicle 200.

[0041] For example, vehicle 200 may have four wheels 220, each wheel 220 may have a corresponding drive motor 210, the drive motor 210 may be a hub motor or other type of motor, and each drive motor 210 may be used to control the rotation of the corresponding wheel 220. Of course, it is also possible that only some wheels 220 have corresponding drive motors 210, while other wheels 220 do not have corresponding drive motors 210.

[0042] This application does not specifically limit the type of vehicle 200. For example, vehicle 200 can be a lawnmower, sweeper, ground sprayer, autonomous vehicle, or other wheeled machine.

[0043] Based on the vehicle 200 shown in Figure 2, this application provides a vehicle control method. When the vehicle 200 receives a shutdown command, the method first controls the drive motor 210 to switch between a first state and a second state. The vehicle 200 will only be shut down when the drive motor 210 is in the first state and the corresponding speed of the vehicle 200 is less than or equal to a first speed threshold, thereby ensuring the safety of the vehicle 200 after shutdown. Specifically, the first state is when the drive motor 210 provides no power output to the wheels 220, and the second state is when the drive motor 210 provides power output to the wheels 220.

[0044] The following is a detailed introduction to the vehicle control method.

[0045] Please refer to Figure 3. Figure 3 shows a vehicle control method provided in an embodiment of this application. The method is executed by vehicle 200 and includes the following steps S301 to S302.

[0046] S301. When the vehicle 200 receives a shutdown command, the drive motor 210 is controlled to switch between a first state and a second state. In the first state, the drive motor 210 has no power output to the wheels 220, and in the second state, the drive motor 210 has power output to the wheels 220.

[0047] It should be understood that the above shutdown refers to turning off the power supply of vehicle 200 (power off), so that vehicle 200 does not work.

[0048] The aforementioned shutdown command is used to instruct vehicle 200 to perform a shutdown operation. This application does not specifically limit the method for obtaining the shutdown command.

[0049] For example, a user can send a power-off command to vehicle 200 (near or long range) via remote control, and vehicle 200 will receive the power-off command. The device used for remote control can be a smartphone, computer, remote control, etc., and this application does not specifically limit it.

[0050] For example, users can operate on vehicle 200 (such as clicking buttons on vehicle 200, operating the touch screen, etc.) to input a power-off command to vehicle 200.

[0051] For example, vehicle 200 is equipped with a timed shutdown policy. When the shutdown time set in the timed shutdown policy is reached, vehicle 200 will automatically generate a shutdown command.

[0052] The first state mentioned above refers to the drive motor 210 not outputting power to the wheel 220, and the second state refers to the drive motor 210 outputting power to the wheel 220. Referring to Figure 2, when the drive motor 210 is in the first state (no power output to the wheel 220), the wheel 220 is not driven by the drive motor 210, and therefore can rotate freely (or roll). However, when the drive motor 210 is in the second state (power output to the wheel 220), the wheel 220 is under control due to the electromagnetic field / torque generated by the drive motor 210, thus limiting its rolling and causing the vehicle 200's speed to gradually decrease, even to zero. Therefore, step S301 controls the drive motor 210 to switch between the first and second states, thereby controlling the speed of the wheel 220 to a certain extent, and consequently controlling the speed of the vehicle 200. In other words, regardless of whether the wheel 200 is on flat ground or a slope, by executing the switching mechanism between the first and second states described above, the speed of the vehicle 200 can be guaranteed not to be too fast, thereby ensuring the safety of people and objects around it.

[0053] It should be noted that when vehicle 200 receives the shutdown command, vehicle 200 may be in either state one or state two. Switching between state one and state two can be either from state one to state two or vice versa, including the following scenarios:

[0054] Scenario 1: If vehicle 200 receives the shutdown command while in the first state, and the speed of vehicle 200 is less than or equal to the first speed threshold, it indicates that vehicle 200 is in a relatively flat location (such as flat ground or a gentle slope). In this case, vehicle 200 can be directly shut down according to the provisions of step S302, and there is no need to perform the action of controlling drive motor 210 to switch between the first and second states in step S301.

[0055] Scenario 2: If vehicle 200 is in the first state when it receives the shutdown command, and the speed of vehicle 200 is greater than the first speed threshold, then when vehicle 200 meets the braking conditions later, the drive motor 210 can be controlled to switch from the first state to the second state.

[0056] Scenario 3: If vehicle 200 is in the second state when it receives the shutdown command, and the speed of vehicle 200 is greater than the first speed threshold, then when vehicle 200 meets the wheel release condition, the drive motor 210 can be controlled to switch from the second state to the first state.

[0057] It should also be noted that the switching process between the first state and the second state may be executed only once or multiple times. The condition for ending this switching process is as described in step S302: "the drive motor 210 is in the first state and the speed of the vehicle 200 is less than or equal to the first speed threshold." In other words, the vehicle 200 will only be shut down when the above conditions are met, thereby ensuring the safety of the vehicle 200 after shutdown.

[0058] In some embodiments, the direction of the power output by the drive motor 210 to the wheel 220 in the second state is the same as or opposite to the direction of the wheel 220's steering.

[0059] As described in Figure 2 above, under forward control, the torque (power) generated by the drive motor 210 is in the same direction as the wheel 220. Under reverse control, the torque (power) generated by the drive motor 210 is in the opposite direction to the wheel 220, meaning the torque generated by the drive motor 210 produces a reverse rotational effect (reverse torque), which is equivalent to applying additional resistance to the wheel 220, thus causing the wheel 220 to decelerate or stop rotating. In contrast, forward control reduces vehicle speed by decreasing the forward torque output by the drive motor 210, while reverse control utilizes the effect of reverse torque to counteract the original inertia of the wheel 220, thereby decelerating the vehicle 200 more quickly. In practical applications, the drive motor 210 can be instructed to perform forward or reverse control in the second state based on deceleration requirements (such as the current vehicle speed or wheel 220 rotation speed). In the second state, only one of forward and reverse control can be used, or both can be used.

[0060] For example, when braking conditions are met, if the speed of vehicle 200 is greater than a first threshold, the drive motor 210 can be preferentially controlled to reverse the rotation of wheel 220, so that the rotational speed of wheel 220 decreases as quickly as possible. The first threshold can be set according to usage requirements, and this application does not specifically limit it. Only when the vehicle speed decreases to the first threshold is the drive motor 210 controlled to forward the rotation of wheel 220 to reduce the deceleration of wheel 220. Of course, if the wheel release condition is met before the vehicle speed decreases to the first threshold, then forward control of wheel 220 will not be performed; instead, control of wheel 220 will be released (i.e., the drive motor 210 switches from the second state to the first state).

[0061] In some embodiments, when the vehicle 200 receives a shutdown command, the drive motor 210 can be controlled to a first state, that is, the wheel 220 is made to be in a freely rotatable state before the vehicle 200 is shut down, so as to detect whether the wheel 220 is rotating in the freely rotatable state, and then the drive motor 210 is controlled to switch between the first state and the second state.

[0062] In one possible implementation, step S301 may include: when the drive motor 210 is in a first state and the vehicle 200 meets the braking conditions, controlling the drive motor 210 to switch from the first state to a second state. When the drive motor 210 is in the second state and the vehicle 200 meets the wheel release conditions, controlling the drive motor 210 to switch from the second state to the first state.

[0063] The aforementioned braking conditions refer to the conditions that require controlling the vehicle to decelerate by 200 km / h, and may include at least one of the following:

[0064] (1) The duration of the drive motor 210 in the first state is greater than or equal to the first duration threshold;

[0065] (2) The speed of vehicle 200 is greater than or equal to the second speed threshold.

[0066] The first duration threshold and the second speed threshold can be set according to actual usage requirements, and this application does not impose any restrictions on them.

[0067] In some embodiments, the speed corresponding to the vehicle 200 may be the vehicle speed or the rotational speed of the wheel 220, and this application does not limit it.

[0068] It should be understood that there is a simple mathematical relationship between vehicle speed and the rotational speed of wheel 220. Vehicle speed can be calculated using the diameter and rotational speed of wheel 220. For example, assuming the diameter of wheel 220 is D (in meters) and the rotational speed is RPM (Revolutions Per Minute), then the vehicle speed V can be calculated using the following formula:

[0069] V = π × D × RPM × 60

[0070] Where π is the mathematical constant pi, and 60 is the conversion factor for converting the rotational speed from revolutions per minute to revolutions per hour. The derivation of this formula is based on the relationship between the circumference of wheel 220 and the vehicle speed, that is, the distance traveled by wheel 220 per minute is equal to the circumference of wheel 220 multiplied by the rotational speed, and the circumference of wheel 220 is equal to the diameter of wheel 220 multiplied by π.

[0071] In some embodiments, the speed of the vehicle 200 can be detected by a sensor. The sensor can be a magnetic encoder, a photoelectric sensor, or other types of sensor. Appropriate sensors can be installed on some or all of the wheels 220 of the vehicle 200; this application does not impose any specific limitations.

[0072] For example, assuming a magnetic encoder is used, the principle of detecting whether wheel 220 is rotating is to install a magnet on wheel 220. When wheel 220 rotates, the magnet also rotates. The magnetic encoder can detect changes in the magnetic field, thereby determining whether wheel 220 is rotating. This method can be used to measure the rotational speed of wheel 220 and then calculate the speed of vehicle 200.

[0073] For example, assuming a photoelectric sensor is used, the photoelectric sensor can measure the rotational speed of wheel 220 by detecting reflective marks installed on wheel 220. When the mark or encoder passes by the photoelectric sensor, a signal change is generated, which allows the rotational speed of wheel 220 to be calculated.

[0074] In some embodiments, a sensor can be used to detect the vehicle speed of the vehicle 200 or the rotational speed of the wheels 220 within a second duration threshold. The second duration threshold is less than the first duration threshold, so that braking conditions are not triggered when the sensor detects the vehicle speed of the vehicle 200 or the rotational speed of the wheels 220.

[0075] For example, suppose the first duration threshold is set to 15 seconds, the second duration threshold is set to 10 seconds, and the first speed threshold is 0.01 rpm (revolutions per minute). When the vehicle 200 receives a shutdown command, the vehicle 200 controls the drive motor 210 to be in the first state so that the wheels 220 are in a freely rotating state, and the sensor begins to detect the rotational speed of the wheels 220.

[0076] If the rotational speed of wheel 220 is detected to be greater than or equal to 0.01 rpm for 10 consecutive seconds, it indicates that wheel 220 is rotating. Then, when the duration of drive motor 210 in the first state reaches 15 seconds, the braking condition is met, thereby controlling drive motor 210 to switch from the first state to the second state.

[0077] If the rotational speed of wheel 220 is detected to be less than 0.01 rpm for 10 consecutive seconds, it means that wheel 220 is not rotating. At this time, the shutdown condition in step S302 is met: "drive motor 210 is in the first state and the speed of vehicle 200 is less than or equal to the first speed threshold". Therefore, vehicle 200 is controlled to shut down.

[0078] The aforementioned wheel release conditions refer to the conditions under which control of wheel 220 needs to be stopped, allowing wheel 220 to enter a freely rotating state, and may include at least one of the following:

[0079] (1) The duration of the drive motor 210 in the second state is greater than or equal to the second duration threshold;

[0080] (2) The speed of vehicle 200 is less than or equal to the third speed threshold.

[0081] The first duration threshold and the second speed threshold can be set according to actual usage requirements, and this application does not impose any restrictions on them.

[0082] In some embodiments, the third speed threshold in the wheel release condition is less than the second speed threshold in the braking condition.

[0083] For example, suppose the first speed threshold is set to 30 rpm (revolutions per minute) and the second speed threshold is set to 10 rpm. When vehicle 200 receives a shutdown command, vehicle 200 controls drive motor 210 to be in a first state so that wheels 220 are in a freely rotating state, and sensors begin to detect the rotational speed of wheels 220. If the detected rotational speed of wheels 220 is greater than 30 rpm, then vehicle 200 meets the braking conditions, so drive motor 210 is controlled to be in a second state, and wheels 220 are in a controlled state and begin to decelerate. Subsequently, when the sensors detect that the rotational speed of wheels 220 has decreased to 10 rpm, the wheel release condition is met, so drive motor 210 is controlled to switch from the second state to the first state.

[0084] In some embodiments, when the vehicle 200 receives a shutdown command, in addition to controlling the drive motor 210 to switch between a first state and a second state, the cutter head of the vehicle 200 can also be controlled to descend. After descending, the cutter head can touch the ground, thereby stopping the vehicle 200. This application does not specifically limit the degree of descent or the descent time of the cutter head, and these can be adjusted according to usage requirements. For example, when the vehicle 200 receives a shutdown command, the cutter head is first controlled to descend to touch the ground. If the vehicle 200 can stop at this time (by detecting the corresponding speed of the vehicle 200), then the vehicle 200 can be controlled to shut down. If the vehicle 200 does not stop, then the drive motor 210 can be controlled to switch between a first state and a second state until the drive motor 210 is in the first state (i.e., the wheels 220 are in a freely rotating state) and the corresponding speed of the vehicle 200 is less than or equal to a first speed threshold, at which point the vehicle 200 will be controlled to shut down.

[0085] S302. When the drive motor 210 is in the first state and the speed of the vehicle 200 is less than or equal to the first speed threshold, control the vehicle 200 to shut down.

[0086] Regarding the first speed threshold, this application does not impose a specific limitation, and it can be reasonably set according to actual usage requirements. It should be understood that after the vehicle 200 is turned off, neither the braking condition nor the wheel release condition in step S302 will be triggered, and the drive motor 210 will no longer switch between the first state and the second state.

[0087] For example, the first speed threshold can be set to 0. In this case, if the drive motor 210 is in the first state (meaning that the wheel 220 is in a state where it can rotate freely) and the speed of the vehicle 200 is equal to 0 (meaning that the vehicle 200 is not moving and the wheel 220 is not rotating), then the vehicle 200 can be controlled to shut down, so as to achieve safe shutdown of the vehicle 200 without any safety hazards.

[0088] For example, the first speed threshold can be set to a value slightly greater than 0 (such as 0.01 rpm). If the rotational speed of wheel 220 is detected to be less than or equal to the first speed threshold, the vehicle speed will be relatively slow, thus having little impact on surrounding people or objects, and people can avoid it in time. At this point, vehicle 200 can be shut down.

[0089] In summary, in the vehicle 200 control method provided in this application, when the vehicle 200 receives a shutdown command, the drive motor 210 is switched between a first state and a second state (i.e., the wheels 220 switch between a freely rotating state and a controlled state) to control the corresponding speed of the vehicle 200 (the vehicle speed or the rotational speed of the wheels 220). The vehicle 200 will only be shut down when the drive motor 210 is in the first state and the corresponding speed of the vehicle 200 is less than or equal to a first speed threshold (indicating that the vehicle 200 is in a relatively flat position). This ensures the safety of the vehicle 200 after shutdown and avoids various risks that may occur due to the vehicle 200 shutting down on a slope (such as the risk of rolling downhill, or the risk of colliding with surrounding people or objects, etc.).

[0090] This application also provides a vehicle control device 400, including an acquisition module 410 and a control module 420.

[0091] The acquisition module 410 is used to: acquire a shutdown command, which is used to instruct the vehicle 200 to shut down.

[0092] The control module 420 is used to: when the acquisition module 410 acquires a shutdown command, control the drive motor 210 of the vehicle 200 to switch between a first state and a second state, wherein the first state is that the drive motor 210 has no power output to the wheels 220, and the second state is that the drive motor 210 has power output to the wheels 220.

[0093] The control module 420 is also used to: control the vehicle 200 to shut down when the drive motor 210 is in the first state and the speed of the vehicle 200 is less than or equal to the first speed threshold.

[0094] In some embodiments, the control module 420 may be used to: control the drive motor 210 to switch from the first state to the second state when the drive motor 210 is in the first state and the vehicle 200 meets the braking conditions; and control the drive motor 210 to switch from the second state to the first state when the drive motor 210 is in the second state and the vehicle 200 meets the wheel release conditions.

[0095] In some embodiments, the braking conditions include at least one of the following:

[0096] 1) The duration of the drive motor 210 being in the first state is greater than or equal to the first duration threshold;

[0097] 2) The speed of vehicle 200 is greater than or equal to the second speed threshold.

[0098] In some embodiments, the speed corresponding to the vehicle 200 is obtained by a sensor within a second time threshold, which is less than a first time threshold.

[0099] In some embodiments, the wheel release condition includes at least one of the following:

[0100] 1) The duration of the drive motor 210 being in the second state is greater than or equal to the third duration threshold;

[0101] 2) The speed of vehicle 200 is less than or equal to the third speed threshold.

[0102] In some embodiments, the speed corresponding to vehicle 200 is the vehicle speed of vehicle 200 or the rotational speed of wheel 220.

[0103] In some embodiments, the direction of the power output by the drive motor 210 to the wheel 220 in the second state is the same as or opposite to the direction of the wheel 220's steering.

[0104] In some embodiments, before the control module 420 controls the drive motor 210 to switch between the first state and the second state, the control module 420 is further configured to: control the drive motor 210 to enter the first state when the vehicle 200 receives a shutdown command.

[0105] In some embodiments, the vehicle 200 further includes a cutter head. Before the control module 420 controls the drive motor 210 to switch between the first state and the second state, the control module 420 is also configured to: control the cutter head to descend when the vehicle 200 receives a shutdown command.

[0106] It should be noted that the vehicle control device 400 in Figure 4 is only exemplarily divided into an acquisition module 410 and a control module 420 based on function. In reality, the vehicle control device 400 in Figure 4 can also contain more or fewer modules. For example, one of the above modules can be split into multiple functional modules, or two or more of the above modules can be merged into one functional module. Other functional modules can also be added to the vehicle control device 400 in Figure 4. This application does not limit this. Both the acquisition module 410 and the control module 420 can be implemented by software or by hardware.

[0107] It should also be noted that the vehicle control device 400 can be deployed in the vehicle 200 described above to control the vehicle 200 to execute the vehicle control method of Figure 3. For details, please refer to the previous introduction, which will not be repeated here.

[0108] Referring to Figure 5, this application also provides another structural schematic diagram of a vehicle 200, including a bus 502, a processor 504, a memory 506, and a communication interface 508. The processor 504, the memory 506, and the communication interface 508 communicate with each other via the bus 502. This application does not limit the number of processors 504 and memories 506 in the vehicle 200.

[0109] Bus 502 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one line is used in Figure 5, but this does not imply that there is only one bus or one type of bus. Bus 502 can include pathways for transmitting information between various components of vehicle 200 (e.g., memory 506, processor 504, communication interface 508).

[0110] Processor 504 may include any one or more processors such as a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0111] Memory 506 may include volatile memory, such as random access memory (RAM). Processor 504 may also include non-volatile memory, such as read-only memory (ROM), flash memory, hard disk drive (HDD), or solid state drive (SSD).

[0112] The memory 506 stores executable program code. The processor 504 executes the executable program code to implement the functions of the acquisition module 410 and the control module 420 in FIG4, respectively, thereby implementing the operation steps in the vehicle control method of FIG3 of this application.

[0113] The communication interface 508 uses transceiver modules, such as, but not limited to, network interface cards and transceivers, to enable communication between the vehicle 200 and other devices or communication networks.

[0114] This application also provides another vehicle 200, which includes a drive motor 210 and wheels 220. This vehicle 200 can correspond to the vehicle 200 in FIG2 for performing the vehicle control method of the embodiment of FIG3, as can be seen from the description of FIG2 and FIG3, which will not be repeated here.

[0115] This application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that the vehicle 200 can store / use. This available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state drive), etc. The computer-readable storage medium includes instructions that can be used to instruct the vehicle 200 to execute the vehicle control method of the embodiment of FIG3.

[0116] This application also provides a computer program product containing instructions. The computer program product may be a software or program product containing instructions, capable of running on a vehicle 200 or stored on any available medium. When the computer program product runs on the vehicle 200, it causes the vehicle 200 to execute the vehicle control method of the embodiment in FIG3.

[0117] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications or arbitrary combinations can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this application.

Claims

1. A vehicle control method characterized by, The vehicle comprises a drive motor and a wheel, and the method comprises: In a case where the vehicle obtains a shutdown instruction, the drive motor is controlled to switch between a first state and a second state, wherein the first state is that the drive motor has no power output to the wheel, and the second state is that the drive motor has power output to the wheel; In a case where the drive motor is in the first state and the vehicle corresponds to a speed less than or equal to a first speed threshold, the vehicle is controlled to shut down.

2. The method of claim 1, wherein, The control of the drive motor to switch between the first state and the second state comprises: In a case where the drive motor is in the first state and the vehicle satisfies a braking condition, the drive motor is controlled to switch from the first state to the second state; In a case where the drive motor is in the second state and the vehicle satisfies a wheel release condition, the drive motor is controlled to switch from the second state to the first state.

3. The method of claim 2, wherein, The braking condition comprises at least one of: The drive motor is in the first state for a time length greater than or equal to a first time length threshold; The vehicle corresponds to a speed greater than or equal to a second speed threshold.

4. The method of claim 3, wherein, The speed of the vehicle is detected by a sensor within a second time length threshold, and the second time length threshold is less than the first time length threshold.

5. The method according to any one of claims 2 to 4, characterized in that, The wheel release condition comprises at least one of: The drive motor is in the second state for a time length greater than or equal to a third time length threshold; The vehicle corresponds to a speed less than or equal to a third speed threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The speed of the vehicle is a vehicle speed or a rotational speed of the wheel.

7. The method according to any one of claims 1 to 6, characterized in that, The direction of the power output by the drive motor to the wheel in the second state is the same as or opposite to the steering direction of the wheel.

8. The method according to any one of claims 1 to 7, characterized in that, Before the control of the drive motor to switch between the first state and the second state, the method further comprises: In a case where the vehicle obtains the shutdown instruction, the drive motor is controlled to enter the first state.

9. The method according to any one of claims 1 to 8, characterized in that, The vehicle further comprises a cutter head, and before the control of the drive motor to switch between the first state and the second state, the method further comprises: In a case where the vehicle obtains the shutdown instruction, the cutter head is controlled to descend.

10. A vehicle characterized by comprising: The vehicle comprises a drive motor and a wheel, and the vehicle is configured to perform the method of any one of claims 1 to 9.

11. A computer program product comprising instructions, characterized in that, When the instructions are run on a vehicle, the vehicle is caused to perform the method of any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, The computer program instructions are configured to cause a vehicle to perform the method of any one of claims 1 to 9 when the computer program instructions are executed by the vehicle.

13. A vehicle characterized by comprising: The vehicle comprises a drive motor and a wheel, and the drive motor is configured to provide power to the wheel, the drive motor has a first state and a second state, the first state is that the drive motor has no power output to the wheel, and the second state is that the drive motor has power output to the wheel; Before the vehicle is shut down, the drive motor is configured to automatically switch between the first state and the second state until a speed of the vehicle corresponding to the drive motor being in the first state is less than or equal to a first speed threshold.

14. The vehicle of claim 13, wherein In a case where the drive motor is in the first state and the vehicle satisfies a braking condition, the drive motor is configured to switch from the first state to the second state. In a case where the drive motor is in the second state and the vehicle satisfies a wheel release condition, the drive motor is configured to switch from the second state to the first state.

15. The vehicle of claim 13 or 14, wherein, The drive motor is configured to output power to the wheel in the second state in a same direction or an opposite direction as a steering direction of the wheel.

16. The vehicle of any one of claims 13 to 15, wherein, Before the vehicle is shut down, the drive motor is configured to enter the first state.

17. The vehicle of any one of claims 13 to 16, wherein, The vehicle further includes a cutterhead, and before the vehicle is shut down, the cutterhead is configured to be lowered.

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