CN113200050B - Control method of engineering vehicle, engineering vehicle and readable storage medium - Google Patents
Control method of engineering vehicle, engineering vehicle and readable storage medium Download PDFInfo
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- CN113200050B CN113200050B CN202110667695.9A CN202110667695A CN113200050B CN 113200050 B CN113200050 B CN 113200050B CN 202110667695 A CN202110667695 A CN 202110667695A CN 113200050 B CN113200050 B CN 113200050B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
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Abstract
The invention provides a control method of an engineering vehicle, the engineering vehicle and a readable storage medium. The engineering vehicle comprises a first processor, a second processor and a third processor, the first processor is connected with the second processor, the second processor is connected with the third processor, and the control method of the engineering vehicle comprises the following steps: controlling the first processor to forward the driving control instruction to the second processor; and determining that the engineering vehicle is in a safe operation mode, controlling the second processor to forward the driving control instruction to the third processor, so that the third processor controls the engineering vehicle to enter a driving mode corresponding to the driving control instruction according to the driving control instruction. Under the condition that the first processor is in fault, the user still can exit the driving mode corresponding to the driving control instruction through the second processor in an emergency, the problem that intelligent driving cannot be closed in an emergency due to the fault of the first processor is avoided, and the problem that the controllability of the intelligent driving function of the vehicle in the related technology is poor is solved.
Description
Technical Field
The invention belongs to the technical field of engineering vehicles, and particularly relates to a control method of an engineering vehicle, the engineering vehicle and a readable storage medium.
Background
The intelligent driving vehicle needs to switch modes of full automatic driving, partial execution unit automatic driving and manual driving according to the use scene of a user, and the intelligent driving vehicle adapts to the functional requirements of the user under different working conditions.
In the prior art, the vehicle controls the intelligent driving function only by data interaction between the upper layer controller and the lower layer controller. When the upper controller breaks down, the intelligent driving function of the vehicle is easily out of control, and potential safety hazards exist.
Disclosure of Invention
The present invention is directed to solving one of the technical problems of the prior art or the related art.
To this end, a first aspect of the invention proposes a control method of a work vehicle.
A second aspect of the invention proposes an engineering vehicle.
A third aspect of the invention provides an engineering vehicle.
A fourth aspect of the invention proposes a readable storage medium.
In view of the above, according to a first aspect of the present invention, a method for controlling a working vehicle is provided, the working vehicle including a first processor, a second processor and a third processor, the first processor being connected to the second processor, the second processor being connected to the third processor, the method for controlling the working vehicle including: controlling the first processor to forward the driving control instruction to the second processor; and determining that the engineering vehicle is in a safe operation mode, controlling the second processor to forward the driving control instruction to the third processor, so that the third processor controls the engineering vehicle to enter a driving mode corresponding to the driving control instruction according to the driving control instruction.
The control method of the engineering vehicle is used for controlling the engineering vehicle, the engineering vehicle comprises a control device, a first processor, a second processor and a third processor, wherein the first processor is connected with the control device, the control device can directly send the control instruction to the first processor, the first processor is configured as an upper controller, i.e., the upper level controller is directly connected to the control device, the third processor is configured as a lower level processor, the lower level controller is directly connected to the controlled load, namely, the lower-layer controller can directly control the operation of the controlled load, the second processor is configured as a middle-layer controller and is connected with the first processor and the third processor, the second processor can forward the control instruction sent by the first processor, and the second processor is also connected with the control device, namely the second processor can receive the control instruction sent by the control device. When the engineering vehicle is controlled to run, the first processor is controlled to send the control instruction to the second processor, the control instruction is processed by the second processor and then forwarded to the third processor, the third processor controls the controlled load to execute the control instruction, and the control device can directly send the control instruction to the second processor due to the fact that the second processor is connected with the control device, and therefore the situation that the engineering vehicle cannot be controlled when the first processor fails is avoided.
It should be noted that the driving mode corresponding to the driving control command is an intelligent driving mode, and the intelligent driving mode includes, but is not limited to, an automatic steering control mode, an automatic speed control mode, an automatic braking control mode, an automatic throttle control mode, and a full automatic control mode.
The control method of the engineering vehicle specifically comprises the following steps: and under the condition that the engineering vehicle needs to be controlled to enter the intelligent driving mode, the user sends a driving control instruction to the first processor through the control equipment. And after receiving the driving control instruction, the first processor forwards the driving control instruction to the second processor. After the second processor receives the driving control instruction, whether the engineering vehicle is in the safe operation mode at present is judged through the second processor, if the engineering vehicle is judged to be in the safe operation mode, the second processor forwards the driving control instruction to the third processor, and after the third processor receives the driving control instruction, the corresponding hardware load is controlled to operate according to the control parameters in the driving control instruction, so that the engineering vehicle is controlled to enter the driving mode corresponding to the driving control instruction. And if the engineering vehicle is judged not to be in the safe operation mode or the intelligent driving mode is forbidden by the user, the second processor is controlled by the control equipment to stop forwarding the driving control command, so that the second processor cannot forward the driving control command even if receiving the driving control command sent by the first processor.
In the intelligent driving mode of the engineering vehicle, under the condition that the first processor is in failure, a user still can exit the driving mode corresponding to the driving control instruction through the second processor in an emergency, the problem that the intelligent driving cannot be closed in an emergency due to failure of the first processor is avoided, and the problem that the controllability of the intelligent driving function of the vehicle in the related technology is poor is solved. In addition, according to the control method of the construction vehicle in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in a possible design, the step of determining that the engineering vehicle is in the safe operation mode specifically includes: and determining that the engineering vehicle is in a safe operation mode according to the first set signal receiving state of the second processor.
In this design, before controlling the second processor to forward the driving control instruction, it is necessary to determine whether the engineering vehicle is in the safe operation mode. And continuously detecting whether the second processor receives the first setting signal or not, and judging whether the engineering vehicle is in a safe operation mode or not according to the receiving state of whether the second processor receives the first setting signal or not.
According to the engineering vehicle driving mode monitoring system and method, whether the first setting signal is received or not is continuously monitored through the second processor, namely, the user can control whether the second processor forwards the driving control instruction to the third processor or not by sending the first setting signal to the second processor, and even if the first processor breaks down, the user can still control the driving mode of the engineering vehicle through the second processor.
Specifically, when the second processor receives the first setting signal, that is, the second processor is in a state of receiving the first setting signal, it is determined that the engineering vehicle is not in the safe operation mode, and the second processor is controlled not to continue forwarding the driving control instruction to the third processor. And when the second processor is in a state of not receiving the first setting signal, namely the second processor is in a state of not receiving the first setting signal, judging that the engineering vehicle is in a safe operation mode, and controlling the second processor to transmit the driving control instruction sent by the first processor to the third server, so that the engineering vehicle is controlled to enter a driving mode corresponding to the driving control instruction.
It will be appreciated that the first setting signal may alternatively be sent to the second processor by the user via the control device and/or the second processor may be directly acquired by the signal acquisition means.
In one possible design, the first setting signal includes: an emergency brake signal and disabling the first processor signal.
In this design, when the second processor receives the emergency braking signal, it is determined that the work vehicle is in the emergency braking state. Specifically, the control device comprises a brake device, a user sends an emergency brake signal to the second processor through the brake device, and after receiving the emergency brake signal, the second processor judges that the engineering vehicle is in an emergency brake state and is not in a safe operation mode, so that the driving control instruction sent by the first processor is stopped being forwarded. When the second processor receives the signal of forbidding the first processor, the related functions of the intelligent driving of the engineering vehicle are judged to be forbidden, and the engineering vehicle is not in the safe operation mode. Specifically, the user can control the second processor not to forward the driving control instruction of the first processor by sending a signal for disabling the first processor to the second processor according to own intention and actual needs.
After the second processor receives the signal for forbidding the first processor, the second processor can be directly disconnected from the first processor, and does not receive the driving control instruction sent by the first processor any more.
It will be appreciated that the second processor is capable of monitoring in real time whether the work vehicle is in an emergency braking condition and is also capable of disabling the functions associated with intelligent driving of the work vehicle in response to a disable first processor signal sent by a user via the control device. The intelligent driving system has the advantages that under the condition that the first processor is in fault, a user can control related functions of intelligent driving through the second processor, and dangers caused by the fact that the intelligent driving function is out of control are reduced.
It is worth mentioning that the control device includes a brake pedal, an operation lever, an operation panel, an accelerator pedal, and the like.
The user sends an emergency braking signal to the second processor through the brake pedal, and sends a signal for disabling the first processor to the second processor through the operation panel.
The second processor is used as a safety guarantee processor and can detect whether the vehicle is in a safe running mode or not. The second processor is connected to the enabling switch of the related function of intelligent driving, namely, the communication with the first processor can be cut off through the enabling switch, so that the related function of intelligent driving can be emergently stopped through the second processor, and the safety of auxiliary driving of the engineering vehicle is improved.
When the enabling switch of the related functions of intelligent driving is turned on, the second processor acquires the chassis information and the emergency braking signal to match whether the system enters an emergency stop mode or a failure mode. If the emergency braking mode or the fault mode is not entered, the instruction checking module in the second processor verifies the compliance of the driving control instruction sent by the first processor, and then sends the driving control instruction to the third processor.
In a possible design, the step of controlling the first processor to forward the driving control instruction to the second processor specifically includes: and sending the control parameters to the first processor so that the first processor finds the corresponding driving control instruction according to the control parameters, and forwarding the driving control instruction to the second processor.
In this design, the different control devices of the user send control parameters to the first processor, which determines the corresponding driving mode according to the control parameters. For example: and the second processor forwards the driving control instruction to the third processor, so that the third processor can control the operation of the engineering vehicle according to the driving control instruction.
In some embodiments, the control device includes, but is not limited to, a voice, a button, a UI interface, a gesture, and other command recognition device, and the control device is capable of collecting the requirements of the related functions of the intelligent driving of the user and generating the corresponding driving control command. And a pattern matching module is arranged in the first processor, and a corresponding driving control instruction is searched through user function selection and instruction information. The first processor is also internally provided with an instruction and vehicle state checking module for checking the correctness and reasonableness of the instruction information output by the algorithm functional module, including but not limited to format check, instruction content compliance check and the like. And sending the driving control instruction to the second processor after verification.
In one possible design, the driving modes include: the automatic control system comprises a steering automatic control mode, a speed automatic control mode, a braking automatic control mode, an accelerator automatic control mode and a full automatic control mode.
In one possible design, the control method of the engineering vehicle further includes: and controlling the third processor to acquire the running state information of the engineering vehicle, and controlling the engineering vehicle in the driving mode corresponding to the driving control instruction by the third processor according to the running state information.
In the design, a plurality of different sensing units are arranged in the engineering vehicle, and the sensing units are used for acquiring running state information of the engineering vehicle in the running process, such as parameters of running speed, vehicle turning angle, running direction and the like.
After entering a driving mode corresponding to the driving control instruction, namely entering an intelligent driving mode, the third processor acquires driving state information acquired by a plurality of different sensing units and automatically controls the engineering vehicle according to the driving state information, so that an intelligent driving function is realized.
It is worth mentioning that when the third processor detects that the sensing unit is in the deactivation state or the fault state, the engineering vehicle is controlled to exit from the current driving mode, so that the related functions of automatically controlling the engineering vehicle to exit from the intelligent driving when the sensing unit is in the deactivation state or the fault state are realized, and the artificial driving mode is switched.
In one possible design, the control method of the engineering vehicle further includes: and controlling the third processor to determine that the engineering vehicle is in a manual operation intervention state according to the running state information and the driving control instruction, and controlling the engineering vehicle to exit the current driving mode through the third processor.
In this design, the third processor can determine whether the engineering vehicle has human operation intervention. And the third processor acquires the current running state information of the engineering vehicle, compares the current running state information with the preset running information in the driving control instruction, judges that the engineering vehicle is not in a manual operation intervention state at the moment when detecting that the current running state information is the same as the preset running information in the driving control instruction, and continuously controls the engineering vehicle to be kept in the current driving mode through the third processor. And when the current form state information is detected to be different from the preset running information in the auxiliary instruction, judging that the engineering vehicle is in a manual operation intervention state, and controlling the engineering vehicle to exit the current driving mode through the third processor. In the driving process of the engineering vehicle, a user can forcibly quit the current driving function in a manual intervention control mode, so that the conflict between the current driving function and manual control is avoided, and the safety of related functions of intelligent driving of the engineering vehicle is further improved.
In some embodiments, the third processor can receive a manual intervention instruction, and control the engineering vehicle to exit the current driving mode according to the manual intervention instruction.
The third processor collects manual operation intervention information through a manual operation intervention information collection device, the built-in mode matching module matches the manual intervention operation information with a current vehicle driving mode and confirms whether to enter the manual intervention mode, and if the manual intervention mode is entered, the human-computer interaction device prompts a vehicle-mounted driver or a remote driver to confirm that the vehicle is taken over.
In one possible design, before the step of controlling the second processor to forward the driving control instruction to the third processor, the control method of the work vehicle further includes:
controlling the first processor and/or the second processor to detect a matching state of the driving control instruction;
controlling the first processor and/or the second processor to stop sending the driving control instruction based on the driving control instruction being in the unmatched state;
and controlling the first processor and/or the second processor to continue sending the driving control instruction based on the fact that the driving control instruction is in the matching state.
The matching state of the driving control instruction includes: an instruction format matching state and an instruction content matching state.
In the design, the engineering vehicle needs to verify the driving control instruction in the process of forwarding the driving control instruction. And if the verification is passed, continuing to forward the driving control instruction, and if the verification is not passed, stopping forwarding the driving control instruction. According to the method and the device, the driving control instruction is sent to the second processor through the first processor, and the second processor conducts verification operation on the driving control instruction before sending the driving control instruction to the third processor, so that the problem that the engineering vehicle executes the driving control instruction is avoided.
In some embodiments, before the third processor controls the engineering vehicle according to the driving control instruction, a matching state of the driving control instruction is detected, when the driving control instruction is detected to be in the matching state, the engineering vehicle is controlled to execute the driving control instruction, the engineering vehicle is controlled to enter a related function of intelligent driving corresponding to the driving control instruction, and otherwise, the engineering vehicle stops entering the related function of intelligent driving.
According to a second aspect of the present invention, there is provided an engineering vehicle comprising: a control device; the first processor is connected with the control equipment; the second processor is connected with the first processor and the control equipment; the third processor is connected with the second processor and the control equipment; and the power system is connected with the third processor and can operate in response to the instruction sent by the third processor.
In this design, the work vehicle includes a control device, a first processor, a second processor, a third processor, and a powertrain.
The first processor is connected with the control device, the control device can directly send the control instruction to the first processor, the first processor is configured as an upper layer controller, namely the upper layer controller is directly connected with the control device, the third processor is configured as a lower layer processor, the lower layer controller is directly connected with the controlled load, namely the lower layer controller can directly control the operation of the controlled load, the second processor is configured as a middle layer controller, the second processor is connected with the first processor and the third processor, the second processor can forward the control instruction sent by the first processor, and the second processor is further connected with the control device, namely the second processor can receive the control instruction sent by the control device. When the engineering vehicle is controlled to run, the first processor is controlled to send the control instruction to the second processor, the control instruction is processed by the second processor and then forwarded to the third processor, the third processor controls the controlled load to execute the control instruction, and the control device can directly send the control instruction to the second processor due to the fact that the second processor is connected with the control device, so that the situation that related functions of intelligent driving of the engineering vehicle cannot be controlled when the first processor fails is avoided. And the power system of the engineering vehicle is connected with the third processor, and the third processor can control the operation of the power system according to the received instruction, so that the engineering vehicle is controlled to run.
According to a third aspect of the present invention, there is provided a construction vehicle comprising: a memory for storing programs or instructions and a processor; the processor is configured to execute a program or instructions which, when executed by the processor, implement the steps of the control method of the construction vehicle according to any one of the first aspect. Therefore, the control method of the engineering vehicle has all the beneficial effects of the control method of the engineering vehicle, and redundant description is not repeated herein.
In addition, according to the engineering vehicle in the above technical solution provided by the present invention, the following additional technical features may be further provided:
in one possible design, the engineering vehicle further comprises a frame, a chassis and a power system.
According to a fourth aspect of the present invention, a readable storage medium is provided, on which a program or instructions are stored, which when executed by a processor implement the steps of the control method of a work vehicle as in any one of the possible designs described above. Therefore, the control method of the engineering vehicle in any possible design has all the beneficial technical effects, and redundant description is not repeated herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 shows one of schematic flowcharts of a control method of a working vehicle in a first embodiment of the invention;
fig. 2 shows a second schematic flow chart of a control method of a working vehicle in the first embodiment of the invention;
fig. 3 shows a third schematic flowchart of a control method of a working vehicle in the first embodiment of the invention;
fig. 4 shows a fourth schematic flowchart of a control method of a working vehicle in the first embodiment of the invention;
fig. 5 shows a fifth schematic flowchart of a control method of a working vehicle in the first embodiment of the invention;
fig. 6 shows a sixth schematic flowchart of a control method of a working vehicle in the first embodiment of the invention;
fig. 7 shows one of the schematic block diagrams of a working vehicle in a second embodiment of the invention;
fig. 8 shows a second schematic block diagram of a working vehicle in a second embodiment of the invention;
fig. 9 shows a schematic block diagram of a working vehicle in a third embodiment of the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
A control method of a work vehicle, and a readable storage medium according to some embodiments of the present invention are described below with reference to fig. 1 to 9.
The first embodiment is as follows:
as shown in fig. 1, a first embodiment of the present invention provides a control method for a work vehicle, where the work vehicle includes a first processor, a second processor and a third processor, the first processor is connected to the second processor, and the second processor is connected to the third processor.
The control method of the engineering vehicle comprises the following steps:
102, controlling a first processor to forward a driving control instruction to a second processor;
and 104, determining that the engineering vehicle is in a safe operation mode, and controlling the second processor to forward the driving control instruction to the third processor so that the third processor controls the engineering vehicle to enter a driving mode corresponding to the driving control instruction according to the driving control instruction.
The control method of the engineering vehicle provided by the embodiment is used for controlling the engineering vehicle, the engineering vehicle comprises a control device, a first processor, a second processor and a third processor, wherein the first processor is connected with the control device, the control device can directly send the control instruction to the first processor, the first processor is configured as an upper controller, i.e., the upper level controller is directly connected to the control device, the third processor is configured as a lower level processor, the lower level controller is directly connected to the controlled load, namely, the lower-layer controller can directly control the operation of the controlled load, the second processor is configured as a middle-layer controller and is connected with the first processor and the third processor, the second processor can forward the control instruction sent by the first processor, and the second processor is also connected with the control device, namely the second processor can receive the control instruction sent by the control device. When the engineering vehicle is controlled to run, the first processor is controlled to send the control instruction to the second processor, the control instruction is processed by the second processor and then forwarded to the third processor, the third processor controls the controlled load to execute the control instruction, and the control device can directly send the control instruction to the second processor due to the fact that the second processor is connected with the control device, and therefore the situation that the engineering vehicle cannot be controlled when the first processor fails is avoided.
It should be noted that the driving mode corresponding to the driving control command is an intelligent driving mode, and the intelligent driving mode includes, but is not limited to, an automatic steering control mode, an automatic speed control mode, an automatic braking control mode, an automatic throttle control mode, and a full automatic control mode.
The control method of the engineering vehicle specifically comprises the following steps: and under the condition that the engineering vehicle needs to be controlled to enter the intelligent driving mode, the user sends a driving control instruction to the first processor through the control equipment. And after receiving the driving control instruction, the first processor forwards the driving control instruction to the second processor. After the second processor receives the driving control instruction, whether the engineering vehicle is in the safe operation mode at present is judged through the second processor, if the engineering vehicle is judged to be in the safe operation mode, the second processor forwards the driving control instruction to the third processor, and after the third processor receives the driving control instruction, the corresponding hardware load is controlled to operate according to the control parameters in the driving control instruction, so that the engineering vehicle is controlled to enter the driving mode corresponding to the driving control instruction. And if the engineering vehicle is judged not to be in the safe operation mode or the intelligent driving mode is forbidden by the user, the second processor is controlled by the control equipment to stop forwarding the driving control command, so that the second processor cannot forward the driving control command even if receiving the driving control command sent by the first processor.
In the control of the intelligent driving mode of the engineering vehicle, if the first processor is in a fault, the user still can exit the driving mode corresponding to the driving control instruction through the second processor in an emergency, the problem that the intelligent driving cannot be closed in an emergency due to the fault of the first processor is avoided, and the problem that the controllability of the intelligent driving function of the vehicle in the related technology is poor is solved.
As shown in fig. 2, the step of determining that the engineering vehicle is in the safe operation mode specifically includes:
and step 204, determining that the engineering vehicle is in a safe operation mode according to the first setting signal receiving state of the second processor.
In this embodiment, before controlling the second processor to forward the driving control instruction, it is necessary to determine whether the engineering vehicle is in the safe operation mode. Whether the second processor receives the first setting signal or not is continuously detected, and whether the engineering vehicle is in a safe operation mode or not is judged according to the receiving state of whether the second processor receives the first setting signal or not.
According to the engineering vehicle driving mode monitoring system and method, whether the first setting signal is received or not is continuously monitored through the second processor, namely, the user can control whether the second processor forwards the driving control instruction to the third processor or not by sending the first setting signal to the second processor, and even if the first processor breaks down, the user can still control the driving mode of the engineering vehicle through the second processor.
Specifically, when the second processor receives the first setting signal, that is, the second processor is in a state of receiving the first setting signal, it is determined that the engineering vehicle is not in the safe operation mode, and the second processor is controlled not to continue forwarding the driving control instruction to the third processor. When the second processor does not receive the first setting signal, namely the second processor is in a state of not receiving the first setting signal, it is determined that the engineering vehicle is in a safe operation mode, and the second processor is controlled to transmit the driving control instruction sent by the first processor to the third server, so that the engineering vehicle is controlled to enter a driving mode corresponding to the driving control instruction.
It will be appreciated that the first setting signal may alternatively be sent to the second processor by the user via the control device and/or the second processor may be directly acquired by the signal acquisition means.
In any of the above embodiments, the first setting signal includes: an emergency brake signal and disabling the first processor signal.
In this embodiment, when the second processor receives the emergency braking signal, it is determined that the work vehicle is in the emergency braking state. Specifically, the control device comprises a brake device, a user sends an emergency brake signal to the second processor through the brake device, and after receiving the emergency brake signal, the second processor judges that the engineering vehicle is in an emergency brake state and is not in a safe operation mode, so that the driving control instruction sent by the first processor is stopped being forwarded. When the second processor receives the signal of forbidding the first processor, the related functions of intelligent driving of the engineering vehicle are judged to be forbidden, and the engineering vehicle is not in the safe operation mode. Specifically, the user can control the second processor not to forward the driving control instruction of the first processor by sending a signal for disabling the first processor to the second processor according to own intention and actual needs.
After the second processor receives the signal for forbidding the first processor, the second processor can be directly disconnected from the first processor, and does not receive the driving control instruction sent by the first processor any more.
It will be appreciated that the second processor is capable of monitoring in real time whether the work vehicle is in an emergency braking condition and is also capable of disabling the functions associated with intelligent driving of the work vehicle in response to a disable first processor signal sent by a user via the control device. The intelligent driving system has the advantages that under the condition that the first processor is in fault, a user can control related functions of intelligent driving through the second processor, and dangers caused by the fact that the intelligent driving function is out of control are reduced.
It is worth mentioning that the control device includes a brake pedal, an operation lever, an operation panel, an accelerator pedal, and the like.
The user sends an emergency braking signal to the second processor through the brake pedal, and sends a signal for disabling the first processor to the second processor through the operation panel.
The second processor is used as a safety guarantee processor and can detect whether the vehicle is in a safe running mode or not. The second processor is connected to the enabling switch of the related function of intelligent driving, namely, the communication with the first processor can be cut off through the enabling switch, so that the related function of intelligent driving can be emergently stopped through the second processor, and the safety of auxiliary driving of the engineering vehicle is improved.
When the enabling switch of the related functions of intelligent driving is turned on, the second processor acquires the chassis information and the emergency braking signal to match whether the system enters an emergency stop mode or a failure mode. If the emergency braking mode or the fault mode is not entered, the instruction checking module in the second processor verifies the compliance of the driving control instruction sent by the first processor, and then sends the driving control instruction to the third processor.
As shown in fig. 3, the step of controlling the first processor to forward the driving control instruction to the second processor specifically includes:
In this embodiment, the control device of the user's difference sends the control parameter to the first processor, which determines the corresponding driving mode according to the control parameter. For example: and the second processor forwards the driving control instruction to the third processor, so that the third processor can control the operation of the engineering vehicle according to the driving control instruction.
In some embodiments, the control device includes, but is not limited to, command recognition means such as voice, button, UI interface, gesture, etc., and the control device can collect the requirements of the related functions of the intelligent driving of the user and generate the corresponding driving control command. And a pattern matching module is arranged in the first processor, and a corresponding driving control instruction is searched through user function selection and instruction information. The first processor is also internally provided with an instruction and vehicle state checking module for checking the correctness and reasonableness of the instruction information output by the algorithm functional module, including but not limited to format check, instruction content compliance check and the like. And sending the driving control instruction to the second processor after verification.
In any of the above embodiments, the driving mode includes: the automatic control system comprises a steering automatic control mode, a speed automatic control mode, a braking automatic control mode, an accelerator automatic control mode and a full automatic control mode.
As shown in fig. 4, the control method of the work vehicle further includes:
and step 404, controlling the third processor to control the engineering vehicle in the driving mode corresponding to the driving control instruction according to the running state information.
In the embodiment, the engineering vehicle is provided with a plurality of different sensing units, and the sensing units are used for acquiring running state information of the engineering vehicle in the running process, such as parameters of running speed, vehicle turning angle, running direction and the like.
After entering a driving mode corresponding to the driving control instruction, namely entering an intelligent driving mode, the third processor acquires driving state information acquired by a plurality of different sensing units and automatically controls the engineering vehicle according to the driving state information, so that an intelligent driving function is realized.
It is worth mentioning that when the third processor detects that the sensing unit is in the deactivation state or the fault state, the engineering vehicle is controlled to exit from the current driving mode, so that the related functions of automatically controlling the engineering vehicle to exit from the intelligent driving when the sensing unit is in the deactivation state or the fault state are realized, and the artificial driving mode is switched.
As shown in fig. 5, the control method of the work vehicle further includes:
and step 504, controlling the engineering vehicle to exit the current driving mode through the third processor.
In this embodiment, the third processor is capable of determining whether the engineering vehicle has human intervention. And the third processor acquires the current running state information of the engineering vehicle, compares the current running state information with the preset running information in the driving control instruction, judges that the engineering vehicle is not in a manual operation intervention state at the moment when detecting that the current running state information is the same as the preset running information in the driving control instruction, and continuously controls the engineering vehicle to be kept in the current driving mode through the third processor. And when the current form state information is detected to be different from the preset running information in the auxiliary instruction, judging that the engineering vehicle is in a manual operation intervention state, and controlling the engineering vehicle to exit the current driving mode through the third processor. In the driving process of the engineering vehicle, a user can forcibly quit the current driving function in a manual intervention control mode, so that the conflict between the current driving function and manual control is avoided, and the safety of related functions of intelligent driving of the engineering vehicle is further improved.
In some embodiments, the third processor can receive a manual intervention instruction, and control the engineering vehicle to exit the current driving mode according to the manual intervention instruction.
The third processor collects manual operation intervention information through a manual operation intervention information collection device, the built-in mode matching module matches the manual intervention operation information with a current vehicle driving mode and confirms whether to enter the manual intervention mode, and if the manual intervention mode is entered, the human-computer interaction device prompts a vehicle-mounted driver or a remote driver to confirm that the vehicle is taken over.
As shown in fig. 6, before the step of controlling the second processor to forward the driving control instruction to the third processor, the method for controlling a work vehicle further includes:
and step 606, controlling the first processor and/or the second processor to stop sending the driving control instruction.
In this embodiment, the engineering vehicle needs to verify the driving control instruction in the process of forwarding the driving control instruction. And if the verification is passed, continuing to forward the driving control instruction, and if the verification is not passed, stopping forwarding the driving control instruction. According to the method and the device, the driving control instruction is sent to the second processor through the first processor, and the second processor conducts verification operation on the driving control instruction before sending the driving control instruction to the third processor, so that the problem that the engineering vehicle executes the driving control instruction is avoided.
In some embodiments, before the third processor controls the engineering vehicle according to the driving control instruction, a matching state of the driving control instruction is detected, when the driving control instruction is detected to be in the matching state, the engineering vehicle is controlled to execute the driving control instruction, the engineering vehicle is controlled to enter a related function of intelligent driving corresponding to the driving control instruction, and otherwise, the engineering vehicle stops entering the related function of intelligent driving.
Example two:
as shown in fig. 7, a third embodiment of the present invention provides a work vehicle 700 including: a control device 702, a first processor 704, a second processor 706, a third processor 708, and a power system 710.
The first processor 704 is connected to the control device 702; the second processor 706 is coupled to the first processor 704 and the control device 702; the third processor 708 is coupled to the second processor 706 and the control device 702; a powered system 710 is coupled to the third processor 708, the powered system 710 being capable of operating in response to instructions sent by the third processor 708.
In this design, the work vehicle includes a control device 702, a first processor 704, a second processor 706, a third processor 708, and a powertrain 710.
The first processor 704 is connected to the control device 702, the control device 702 can directly send control instructions to the first processor 704, the first processor 704 is configured as an upper controller, that is, the upper controller is directly connected to the control device 702, the third processor 708 is configured as a lower processor, the lower controller is directly connected to a controlled load, that is, the lower controller can directly control the operation of the controlled load, the second processor 706 is configured as a middle controller, the second processor 706 is connected to the first processor 704 and the third processor 708, the second processor 706 can forward the control instructions sent by the first processor 704, and the second processor 706 is further connected to the control device 702, that is, the second processor 706 can receive the control instructions sent by the control device 702. When the engineering vehicle is controlled to run, the first processor 704 is controlled to send a control instruction to the second processor 706, the control instruction is processed by the second processor 706 and then forwarded to the third processor 708, the third processor 708 controls the controlled load to execute the control instruction, and as the second processor 706 is further connected with the control device 702, the control device 702 can directly send the control instruction to the second processor 706, so that the situation that related functions of intelligent driving of the engineering vehicle cannot be controlled when the first processor 704 fails is avoided. The power system 710 of the engineering vehicle is connected with the third processor 708, and the third processor 708 can control the operation of the power system 710 according to the received instruction, so as to control the engineering vehicle to run.
As shown in fig. 8, the control device 702 includes a first control device 7022 and a second control device 7024. The second processor 706 can receive a disable signal and an emergency brake signal, the third processor 708 can receive a manual access command, and the third processor 708 is coupled to a power system 710.
Example three:
as shown in fig. 9, a third embodiment of the present invention provides a work vehicle 900 including: a memory 902 and a processor 904, the memory 902 for storing programs or instructions; the processor 904 is used for executing a program or instructions, and the program or instructions when executed by the processor 904 implement the steps of the control method of the engineering vehicle as in the first embodiment. Therefore, the control method of the engineering vehicle has all the beneficial effects of the control method of the engineering vehicle, and redundant description is not repeated herein.
The work vehicle 900 further includes: the engineering vehicle also comprises a frame, a chassis and a power device.
In some embodiments, the work vehicle 900 is selected as a blender vehicle, and the upper system includes an upper motor controller, an upper motor, a blending drum, and the like.
Example four:
a fourth embodiment of the present invention provides a readable storage medium on which a program is stored, the program, when executed by a processor, implementing the control method of the construction vehicle as in any one of the above embodiments, thereby having all the advantageous technical effects of the control method of the construction vehicle as in any one of the above embodiments.
The readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It is to be understood that, in the claims, the specification and the drawings of the specification of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the terms "upper", "lower", and the like indicate orientations or positional relationships based on those shown in the drawings, and are used merely for the purpose of more conveniently describing the present invention and simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have the particular orientation described, be constructed in a particular orientation, and be operated, and thus the description should not be construed as limiting the present invention; the terms "connect," "mount," "secure," and the like are to be construed broadly, and for example, "connect" may refer to a fixed connection between multiple objects, a removable connection between multiple objects, or an integral connection; the multiple objects may be directly connected to each other or indirectly connected to each other through an intermediate. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art from the above data specifically.
In the claims, specification and drawings of the specification, the description of the term "one embodiment," "some embodiments," "specific embodiments," and the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In the claims, specification and drawings of the present application, schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (11)
1. A control method of a working vehicle is characterized in that the working vehicle comprises a first processor, a second processor and a third processor, the first processor is connected with the second processor, the second processor is connected with the third processor, and the control method of the working vehicle comprises the following steps:
controlling the first processor to forward driving control instructions to a second processor;
and determining that the engineering vehicle is in a safe operation mode, and controlling the second processor to forward the driving control instruction to the third processor so that the third processor controls the engineering vehicle to enter a driving mode corresponding to the driving control instruction according to the driving control instruction.
2. The method for controlling the engineering vehicle according to claim 1, wherein the step of determining that the engineering vehicle is in the safe operation mode specifically comprises:
and determining that the engineering vehicle is in a safe operation mode according to the first set signal receiving state of the second processor.
3. The control method of a working vehicle according to claim 2,
the first setting signal includes: an emergency brake signal and disabling the first processor signal.
4. The method for controlling the engineering vehicle according to claim 1, wherein the step of controlling the first processor to forward the driving control command to the second processor specifically comprises:
and sending a control parameter to the first processor so that the first processor finds the corresponding driving control instruction according to the control parameter, and forwards the driving control instruction to the second processor.
5. The control method of a work vehicle according to claim 1,
the driving mode includes: the automatic control system comprises a steering automatic control mode, a speed automatic control mode, a braking automatic control mode, an accelerator automatic control mode and a full automatic control mode.
6. The control method of a work vehicle according to any one of claims 1 to 5, characterized by further comprising:
and controlling the third processor to acquire running state information of the engineering vehicle, and enabling the third processor to control the engineering vehicle in a driving mode corresponding to the driving control instruction according to the running state information.
7. The control method of a work vehicle according to claim 6, characterized by further comprising:
and controlling the third processor to determine that the engineering vehicle is in a manual operation intervention state according to the running state information and the driving control instruction, and controlling the engineering vehicle to exit the current driving mode through the third processor.
8. The method according to any one of claims 1 to 5, wherein before the step of controlling the second processor to forward the driving control instruction to the third processor, the method further comprises:
controlling the first processor and/or the second processor to detect a matching state of the driving control instruction;
controlling the first processor and/or the second processor to stop sending the driving control instruction based on the driving control instruction being in an unmatched state;
controlling the first processor and/or the second processor to continue sending the driving control instruction based on the driving control instruction being in a matching state;
the matching state of the driving control instruction comprises the following steps: an instruction format matching state and an instruction content matching state.
9. A work vehicle, characterized by comprising:
a control device;
the first processor is connected with the control equipment;
the second processor is connected with the first processor and the control equipment;
the third processor is connected with the second processor and the control equipment;
the power system is connected with the third processor and can operate in response to the instruction sent by the third processor;
under the condition that the engineering vehicle needs to be controlled to enter an intelligent driving mode, a user sends a driving control instruction to the first processor through the control equipment; after receiving the driving control instruction, the first processor forwards the driving control instruction to the second processor; after the second processor receives the driving control instruction, whether the engineering vehicle is in a safe operation mode at present is judged through the second processor, if the engineering vehicle is judged to be in the safe operation mode, the second processor forwards the driving control instruction to the third processor, and after the third processor receives the driving control instruction, the corresponding hardware load is controlled to operate according to control parameters in the driving control instruction.
10. A work vehicle, characterized by comprising:
a memory for storing programs or instructions;
a processor for executing the program or instructions, which when executed by the processor, implement the steps of the control method of a work vehicle of any one of claims 1 to 8.
11. A readable storage medium, characterized in that the readable storage medium stores thereon a program or instructions which, when executed by a processor, implement the steps of the control method of a work vehicle according to any one of claims 1 to 8.
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