CN116279509A - Vehicle control method, device, equipment, vehicle and medium - Google Patents

Vehicle control method, device, equipment, vehicle and medium Download PDF

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Publication number
CN116279509A
CN116279509A CN202310302296.1A CN202310302296A CN116279509A CN 116279509 A CN116279509 A CN 116279509A CN 202310302296 A CN202310302296 A CN 202310302296A CN 116279509 A CN116279509 A CN 116279509A
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China
Prior art keywords
condition
vehicle
preset calibration
voltage output
output waveform
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CN202310302296.1A
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Inventor
王东辉
秦臻
张益智
李国栋
赛立春
张广舒
王智程
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FAW Group Corp
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FAW Group Corp
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Priority to CN202310302296.1A priority Critical patent/CN116279509A/en
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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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/068—Road friction coefficient
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The embodiment of the invention discloses a vehicle control method, a device, equipment, a vehicle and a medium. The method comprises the following steps: acquiring at least three different types of interaction parameters of a vehicle, and determining preset calibration conditions according to each interaction parameter; acquiring a voltage output waveform under the preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform; determining a corresponding road friction coefficient according to the preset calibration conditions, the state parameters and a pre-constructed condition parameter mapping relation; and controlling the running of the vehicle according to the road friction coefficient. According to the scheme, the road friction coefficient is determined, the control of the vehicle is realized according to the road friction coefficient, the vehicle is controlled on the basis of considering the real-time change of the road friction coefficient, and the safety of the vehicle operation control is improved.

Description

Vehicle control method, device, equipment, vehicle and medium
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle control method, a device, equipment, a vehicle and a medium.
Background
Automobiles have taken up an irreplaceable position in life as vehicles for people to travel. With the continuous development of automatic driving and intelligent transportation technologies, how to control the automatically driven vehicles is more and more important.
In the prior art, an automatic driving vehicle mainly depends on technologies such as computer vision and laser radar to acquire parameters for controlling the operation of the vehicle. However, the above solution cannot take road surface information into consideration more completely, so that the safety of the running control of the vehicle is low.
Disclosure of Invention
The invention provides a vehicle control method, a device, equipment, a vehicle and a medium, so as to improve the safety of vehicle operation control.
According to an aspect of the present invention, there is provided a vehicle control method including:
acquiring at least three different types of interaction parameters of a vehicle, and determining preset calibration conditions according to each interaction parameter;
acquiring a voltage output waveform under the preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform;
determining a corresponding road friction coefficient according to the preset calibration conditions, the state parameters and a pre-constructed condition parameter mapping relation;
and controlling the running of the vehicle according to the road friction coefficient.
According to another aspect of the present invention, there is provided a vehicle control apparatus including:
the system comprises a preset calibration condition determining module, a calibration condition determining module and a control module, wherein the preset calibration condition determining module is used for acquiring at least three different types of interaction parameters of a vehicle and determining preset calibration conditions according to the interaction parameters;
the state parameter determining module is used for acquiring the voltage output waveform under the preset calibration condition and determining the state parameter under the preset calibration condition according to the voltage output waveform;
the road friction coefficient determining module is used for determining a corresponding road friction coefficient according to the preset calibration condition, the state parameter and a pre-constructed condition parameter mapping relation;
and the vehicle control module is used for controlling the vehicle to run according to the road friction coefficient.
According to another aspect of the present invention, there is provided an electronic apparatus including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein, the liquid crystal display device comprises a liquid crystal display device,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle control method according to any one of the embodiments of the present invention.
According to another aspect of the present disclosure, there is also provided a vehicle, wherein the vehicle is provided with an electronic device capable of executing any one of the vehicle control methods provided by the embodiments of the present disclosure.
According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute a vehicle control method according to any one of the embodiments of the present invention.
The embodiment of the invention provides a vehicle control scheme, which comprises the steps of obtaining at least three different types of interaction parameters of a vehicle, and determining preset calibration conditions according to each interaction parameter; acquiring a voltage output waveform under a preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform; determining a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relation; and controlling the running of the vehicle according to the road friction coefficient. According to the scheme, the road friction coefficient is determined, the control of the vehicle is realized according to the road friction coefficient, the vehicle is controlled on the basis of considering the real-time change of the road friction coefficient, and the safety of the vehicle operation control is improved.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention;
fig. 3 is a schematic structural view of a vehicle control apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device for implementing a vehicle control method according to a fourth embodiment of the present invention;
FIG. 5 is a schematic illustration of a vehicle portion architecture according to a fourth embodiment of the present invention;
FIG. 6 is a schematic diagram of a voltage output waveform generated by a sensor device without variation according to a fourth embodiment of the present invention;
fig. 7 is a schematic diagram of a voltage output waveform generated by a sensor device according to a fourth embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Example 1
Fig. 1 is a flowchart of a vehicle control method according to a first embodiment of the present invention, where the method may be applied to a case of controlling operation of a vehicle, and the method may be performed by a vehicle control device, where the device may be implemented in hardware and/or software, and where the device may be configured in an electronic apparatus that carries a vehicle control function, and where the electronic apparatus may be a vehicle-mounted terminal.
The vehicle control method as shown in fig. 1 includes:
s110, acquiring at least three different types of interaction parameters of the vehicle, and determining preset calibration conditions according to each interaction parameter.
Wherein the interaction parameter refers to data related to the vehicle itself. In particular, the interaction parameter may be at least three of a speed, a load, and a tire pressure of the vehicle. The preset calibration condition means that at least two interaction parameters of the interaction parameters are set to a fixed value. For example, if the interaction parameters are three types, that is, the interaction parameter a, the interaction parameter B, and the interaction parameter C, the preset calibration condition may be to set the interaction parameter a and the interaction parameter B to a fixed value, or the preset calibration condition may be to set the interaction parameter a and the interaction parameter C to a fixed value, or the preset calibration condition may be to set the interaction parameter B and the interaction parameter C to a fixed value.
S120, acquiring a voltage output waveform under a preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform.
The voltage output waveform refers to a voltage change curve. The state parameter refers to a value of an interaction parameter determined from the voltage output waveform. For example, if the interaction parameters include an interaction parameter a, an interaction parameter B, and an interaction parameter C, and if the preset calibration condition is that the interaction parameter a and the interaction parameter B are constant values, determining a value of the interaction parameter C according to the voltage output waveform, that is, a state parameter.
S130, determining a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relation.
The condition parameter mapping relation refers to a relation among preset calibration conditions, state parameters and road friction coefficients. The road friction coefficient refers to the friction coefficient between the vehicle and the road surface. Specifically, the coefficient of friction of a vehicle is different from the coefficient of friction of different road surfaces.
Specifically, according to preset calibration conditions and state parameters, corresponding road friction coefficients are determined from a pre-constructed condition parameter mapping relation.
And S140, controlling the running of the vehicle according to the road friction coefficient.
The embodiment of the invention provides a vehicle control scheme, which comprises the steps of obtaining at least three different types of interaction parameters of a vehicle, and determining preset calibration conditions according to each interaction parameter; acquiring a voltage output waveform under a preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform; determining a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relation; and controlling the running of the vehicle according to the road friction coefficient. According to the scheme, the road friction coefficient is determined, the control of the vehicle is realized according to the road friction coefficient, the vehicle is controlled on the basis of considering the real-time change of the road friction coefficient, and the safety of the vehicle operation control is improved.
Example two
Fig. 2 is a flowchart of a vehicle control method according to a second embodiment of the present invention, where, based on the above embodiments, the present embodiment is further constructed by adding a "conditional parameter mapping relationship" based on the following manner: acquiring a reference voltage output waveform under a reference preset calibration condition; determining at least one reference state parameter under a reference preset calibration condition according to the reference voltage output waveform; determining a corresponding reference road friction coefficient according to the reference preset calibration conditions and the reference state parameters; and constructing a condition parameter mapping relation according to the reference preset calibration condition, the reference state parameter and the reference road friction coefficient so as to perfect a determination mechanism of the condition parameter mapping relation. In the portions of the embodiments of the present invention that are not described in detail, reference may be made to the descriptions of other embodiments.
Referring to the vehicle control method shown in fig. 2, it includes:
s210, acquiring a reference voltage output waveform under a reference preset calibration condition.
The reference preset calibration conditions refer to conditions which can be used for constructing a condition parameter mapping relation. The reference voltage output waveform refers to a voltage output waveform under a reference preset calibration condition. The embodiment of the invention does not limit the reference preset calibration conditions and the number of the reference voltage output waveforms, and can be set by a technician according to experience. Specifically, the preset calibration condition may be one of the reference preset calibration conditions, and the voltage output waveform may be one or at least part of the reference voltage output waveforms, accordingly.
In an alternative embodiment, at least three different classes of interaction parameters of the vehicle may be obtained, and the reference preset calibration conditions may be determined based on each interaction parameter. Specifically, if the interaction parameters include speed, tire pressure and load; correspondingly, the reference preset calibration conditions comprise a first reference condition, a second reference condition and a third reference condition; wherein the speed and the tire pressure in the first reference condition are fixed values; the load and the tire pressure in the second reference condition are constant values; the speed and load in the third reference condition are fixed values.
The first reference condition, the second reference condition and the third reference condition are used for distinguishing different reference preset calibration conditions. Specifically, when the reference preset calibration condition is the first reference condition, the load of the vehicle is changed; when the reference preset calibration condition is a second reference condition, the speed of the vehicle is changed; when the reference preset calibration condition is the third reference condition, the tire pressure of the vehicle is changed.
It will be appreciated that when the interaction parameters include speed, tire pressure and load, the diversity of reference preset calibration conditions is increased by introducing first, second and third reference conditions to classify the reference preset calibration conditions.
In an alternative embodiment, the reference voltage output waveform is determined based on the following: if the reference preset calibration condition is a first reference condition, the reference voltage value in the reference voltage output waveform increases along with the increase of the load; if the reference preset calibration condition is a second reference condition, the reference voltage value in the reference voltage output waveform is reduced along with the increase of the speed; if the reference preset calibration condition is a third reference condition, the reference voltage value in the reference voltage output waveform increases as the tire pressure decreases.
It will be appreciated that by fixing the values of at least two of the interaction parameters of speed, load and tyre pressure, the accuracy of the reference voltage output waveform is improved by generating the reference voltage output waveform in dependence on the variation of the other interaction parameter.
S220, determining at least one reference state parameter under the reference preset calibration condition according to the reference voltage output waveform.
Wherein the reference state parameter refers to a value of an interaction parameter determined from the reference voltage output waveform. In particular, the state parameter may be one of the reference state parameters.
Specifically, for any reference preset calibration condition, a reference voltage output waveform under the preset calibration condition is generated, and a plurality of reference state parameters may be obtained according to the reference voltage output waveform. For example, the reference voltage output waveform may be divided according to preset time periods, and the reference state parameter in each preset time period may be determined. The embodiment of the invention does not limit the preset time period, and can be set by a technician according to experience.
S230, determining corresponding reference road friction coefficients according to the reference preset calibration conditions and the reference state parameters.
Wherein the road friction coefficient is one of the reference road friction coefficients. The reference road friction coefficient refers to the friction coefficient between the vehicle and the road surface under the reference preset calibration condition.
It should be noted that, under a reference preset calibration condition, a plurality of reference state parameters may be obtained, and then the reference road friction coefficients corresponding to the reference preset calibration condition and each reference state parameter are respectively determined. I.e. a reference preset calibration condition may correspond to a plurality of reference road friction coefficients.
S240, constructing a condition parameter mapping relation according to the reference preset calibration condition, the reference state parameter and the reference road friction coefficient.
It should be noted that, the embodiment of the present invention does not limit the form of the condition parameter mapping relationship, and may be set by a technician according to experience, so that each of the condition parameter mapping relationships only needs to include a reference preset calibration condition, a reference state parameter and a reference road friction coefficient.
Further, in order to improve accuracy of the constructed conditional parameter mapping relationship, each reference data may be divided into training data, verification data and test data, and the ratio may be 8:1:1.
S250, acquiring at least three different types of interaction parameters of the vehicle, and determining preset calibration conditions according to each interaction parameter.
S260, acquiring a voltage output waveform under a preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform.
S270, determining a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relation.
S280, controlling the running of the vehicle according to the road friction coefficient.
The vehicle control scheme provided by the embodiment of the invention is constructed based on the following mode through the condition parameter mapping relation: acquiring a reference voltage output waveform under a reference preset calibration condition; determining at least one reference state parameter under a reference preset calibration condition according to the reference voltage output waveform; determining a corresponding reference road friction coefficient according to the reference preset calibration conditions and the reference state parameters; and constructing a condition parameter mapping relation according to the reference preset calibration condition, the reference state parameter and the reference road friction coefficient, and perfecting a determination mechanism of the condition parameter mapping relation. According to the scheme, the condition parameter mapping relation is constructed by introducing the reference preset calibration condition, the reference voltage output waveform, the reference state parameter and the reference road friction coefficient, so that the accuracy and the comprehensiveness of the constructed condition parameter mapping relation are improved.
Example III
Fig. 3 is a vehicle control device according to a third embodiment of the present invention, where the present embodiment is applicable to a case of controlling the operation of a vehicle, the method may be performed by the vehicle control device, the device may be implemented in hardware and/or software, and the device may be configured in an electronic apparatus that carries a vehicle control function, and the electronic apparatus may be a vehicle-mounted terminal.
As shown in fig. 3, the apparatus includes: the system comprises a preset calibration condition determining module 310, a state parameter determining module 320, a road friction coefficient determining module 330 and a vehicle control module 340. Wherein, the liquid crystal display device comprises a liquid crystal display device,
the preset calibration condition determining module 310 is configured to obtain at least three different types of interaction parameters of the vehicle, and determine preset calibration conditions according to each interaction parameter;
the state parameter determining module 320 is configured to obtain a voltage output waveform under a preset calibration condition, and determine a state parameter under the preset calibration condition according to the voltage output waveform;
the road friction coefficient determining module 330 is configured to determine a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relationship;
the vehicle control module 340 is configured to control the vehicle to operate according to the road friction coefficient.
The embodiment of the invention provides a vehicle control scheme, which comprises the steps of obtaining at least three different types of interaction parameters of a vehicle through a preset calibration condition determining module, and determining preset calibration conditions according to each interaction parameter; acquiring a voltage output waveform under a preset calibration condition through a state parameter determining module, and determining a state parameter under the preset calibration condition according to the voltage output waveform; determining a corresponding road friction coefficient according to a preset calibration condition, a preset state parameter and a preset condition parameter mapping relation by a road friction coefficient determining module; and controlling the running of the vehicle according to the road friction coefficient by the vehicle control module. According to the scheme, the road friction coefficient is determined, the control of the vehicle is realized according to the road friction coefficient, the vehicle is controlled on the basis of considering the real-time change of the road friction coefficient, and the safety of the vehicle operation control is improved.
Optionally, the apparatus further comprises:
the reference waveform acquisition module is used for acquiring a reference voltage output waveform under a reference preset calibration condition;
the reference state parameter determining module is used for determining at least one reference state parameter under a reference preset calibration condition according to the reference voltage output waveform;
the friction coefficient determining module is used for determining a corresponding reference road friction coefficient according to the reference preset calibration conditions and the reference state parameters;
the condition parameter mapping relation construction module is used for constructing a condition parameter mapping relation according to a reference preset calibration condition, a reference state parameter and a reference road friction coefficient.
Optionally, the interaction parameters include speed, tire pressure, and load; correspondingly, the reference preset calibration conditions comprise a first reference condition, a second reference condition and a third reference condition;
wherein the speed and the tire pressure in the first reference condition are fixed values; the load and the tire pressure in the second reference condition are constant values; the speed and load in the third reference condition are fixed values.
Optionally, the reference waveform acquisition module includes:
the first waveform acquisition module is used for increasing the reference voltage value in the reference voltage output waveform along with the increase of the load if the reference preset calibration condition is a first reference condition;
the second waveform acquisition module is used for reducing the reference voltage value in the reference voltage output waveform along with the increase of the speed if the reference preset calibration condition is a second reference condition;
and the third waveform acquisition module is used for increasing the reference voltage value in the reference voltage output waveform along with the decrease of the tire pressure if the reference preset calibration condition is a third reference condition.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the vehicle control methods.
In the technical scheme of the invention, the related processing such as collection, storage, use, processing, transmission, provision, disclosure and the like of the interaction parameters, the reference preset calibration conditions, the reference voltage output waveforms and the like all conform to the regulations of related laws and regulations, and the public order is not violated.
Example IV
Fig. 4 is a schematic structural diagram of an electronic device for implementing a vehicle control method according to a fourth embodiment of the present invention. The electronic device 410 is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 4, the electronic device 410 includes at least one processor 411, and a memory, such as a Read Only Memory (ROM) 412, a Random Access Memory (RAM) 413, etc., communicatively connected to the at least one processor 411, wherein the memory stores computer programs executable by the at least one processor, and the processor 411 may perform various suitable actions and processes according to the computer programs stored in the Read Only Memory (ROM) 412 or the computer programs loaded from the storage unit 418 into the Random Access Memory (RAM) 413. In the RAM 413, various programs and data required for the operation of the electronic device 410 may also be stored. The processor 411, the ROM 412, and the RAM 413 are connected to each other through a bus 414. An input/output (I/O) interface 415 is also connected to bus 414.
Various components in the electronic device 410 are connected to the I/O interface 415, including: an input unit 416 such as a keyboard, a mouse, etc.; an output unit 417 such as various types of displays, speakers, and the like; a storage unit 418, such as a magnetic disk, optical disk, or the like; and a communication unit 419 such as a network card, modem, wireless communication transceiver, etc. The communication unit 419 allows the electronic device 410 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processor 411 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 411 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 411 performs the various methods and processes described above, such as a vehicle control method.
On the basis of the technical scheme, the invention further provides a vehicle, and the vehicle is provided with the electronic equipment shown in fig. 4. The electronic device may be an in-vehicle terminal, for example.
In an alternative embodiment, see the schematic diagram of the vehicle section architecture shown in FIG. 5. The vehicle comprises parameter acquisition equipment, data transmission equipment and power supply equipment; the parameter acquisition equipment is arranged on the surface of a tire of the vehicle and is used for generating a voltage output waveform; a data transmission device provided in a drive shaft of the vehicle for transmitting the voltage output waveform to the electronic device; the power supply equipment is arranged in the wheel net of the tire or on the side wall of the tire and is used for providing power for the data transmission equipment and the parameter acquisition equipment.
The parameter acquisition equipment can dynamically monitor interaction parameters in real time and generate corresponding voltage output waveforms.
Wherein, the power supply device may be a flexible piezoelectric energy harvesting device. In particular, the power supply device may use a commercial PVDF (polyvinylidene fluoride) piezoelectric material integrated on the tire, convert mechanical energy into electrical energy, and store the electrical energy in a capacitor.
The circuit structure of the data transmission device according to the embodiment of the invention is not limited, and the circuit structure can be set by a technician according to experience or needs.
In an alternative embodiment, the parameter acquisition device comprises a sensor arrangement and a substrate; the sensor device is integrated on the surface of the tire through the substrate and is used for generating a voltage output waveform.
The sensor device can realize resistance change under different curvature radius bending by compression or stretching to generate a voltage output waveform. The voltage output waveform generated by the sensor device can be used for developing an intelligent control strategy and an intelligent tire state monitoring algorithm based on machine learning, so that the control of the vehicle is realized.
The embodiment of the invention is not limited to any particular sensor device and substrate, and may be set by a skilled person according to experience. By way of example, the sensor device may be a graphene-based piezoresistive strain sensor and the substrate may be a polyimide film.
The mode of acquiring the graphene-based piezoresistive strain sensor is not limited, and the graphene-based piezoresistive strain sensor can be set by a technician according to experience. Illustratively, graphene-based piezoresistive strain sensors may be obtained by 3D printing techniques. Specifically, the manufacturing materials and the process are as follows: the graphene-based material ink is used for directly printing the strain sensor, graphite powder with the particle size of less than 20 mu m is used as a starting material, and graphene oxide is synthesized by using a Hummers method, and the specific operation process is as follows: 1g of graphite is immersed in an ice-water bath of a mixture of 120 ml of 98% sulfuric acid and 15 ml of 85% phosphoric acid, and the temperature of the reactor is kept at about 5 ℃; slowly adding 6g of potassium permanganate serving as an oxidant into the mixture, and keeping the mixture at 50 ℃ for reaction for 24 hours; the graphene oxide suspension was washed with 5% hydrochloric acid to remove unreacted metal residues and was washed with deionized water; the graphene oxide solution is further peeled off by a probe ultrasonic method, and unreacted graphite is removed by centrifugal separation; the graphene oxide thus obtained was diluted with water for aerosol-based 3D printing, the printing process using a pneumatic atomizer, and the printed graphene oxide film was converted to reduced graphene oxide using 57% hydroiodic acid. The benefit of using 3D printing is that the fabrication process based on aerosol 3D printing is capable of making films and patterns of heterogeneous materials, the sensing elements can be printed directly on various types of substrates, integrated directly with tires, the wrinkled microstructure of graphene allows to withstand large deformations without damage.
For example, see fig. 6 and 7. Fig. 6 is a schematic diagram of a voltage output waveform generated by a sensor device without change, specifically, when the sensor device is not changed, the voltage output waveform is in a regular geometric figure. Fig. 7 is a schematic diagram of a voltage output waveform generated by a change in a sensor device. Where the abscissa of fig. 7 is the tire rotation angle and the ordinate is the voltage. The voltage change corresponding to the first drop of the output voltage is V 1 The voltage change V corresponding to the first rise 2 The voltage change V corresponding to the second drop 3 The voltage change V corresponding to the second rise 4 The time derivative of the output voltage is thus calculated to estimate the contact length of the sensor device with the road surface, which, because of the correlation with the tire normal load, can be calculated at a fixed tire pressure. Wherein V is 1 And V 4 The value of (c) increases significantly with decreasing tire pressure or increasing load, while remaining almost unchanged with increasing tire speed, and is therefore used to estimate tire pressure.
It can be appreciated that the sensor device and the substrate are used to realize real-time acquisition of interaction parameters, generate corresponding voltage output waveforms, and improve accuracy of the generated voltage output waveforms.
It can be understood that the vehicle provided by the embodiment of the invention can monitor the tire state in a wireless mode while the running of the vehicle is not influenced, so that the monitoring sensitivity and the monitoring distance are improved; and because the volume of each device is smaller, the occupied space is saved, and the integration efficiency is improved.
In some embodiments, the vehicle control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as storage unit 418. In some embodiments, some or all of the computer program may be loaded and/or installed onto the electronic device 410 via the ROM 412 and/or the communication unit 419. When the computer program is loaded into RAM 413 and executed by processor 411, one or more steps of the vehicle control method described above may be performed. Alternatively, in other embodiments, the processor 411 may be configured to perform the vehicle control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle control method characterized by comprising:
acquiring at least three different types of interaction parameters of a vehicle, and determining preset calibration conditions according to each interaction parameter;
acquiring a voltage output waveform under the preset calibration condition, and determining a state parameter under the preset calibration condition according to the voltage output waveform;
determining a corresponding road friction coefficient according to the preset calibration conditions, the state parameters and a pre-constructed condition parameter mapping relation;
and controlling the running of the vehicle according to the road friction coefficient.
2. The method of claim 1, wherein the conditional parameter mapping is constructed based on:
acquiring a reference voltage output waveform under a reference preset calibration condition;
determining at least one reference state parameter under the reference preset calibration condition according to the reference voltage output waveform;
determining a corresponding reference road friction coefficient according to the reference preset calibration conditions and each reference state parameter;
and constructing a condition parameter mapping relation according to the reference preset calibration condition, the reference state parameter and the reference road friction coefficient.
3. The method of claim 2, wherein the interaction parameters include speed, tire pressure, and load; correspondingly, the reference preset calibration conditions comprise a first reference condition, a second reference condition and a third reference condition;
wherein the speed and the tire pressure in the first reference condition are constant values; the load and the tire pressure in the second reference condition are constant values; the speed and the load in the third reference condition are fixed values.
4. A method according to claim 3, wherein the reference voltage output waveform is determined based on:
if the reference preset calibration condition is a first reference condition, the reference voltage value in the reference voltage output waveform increases along with the increase of the load;
if the reference preset calibration condition is a second reference condition, the reference voltage value in the reference voltage output waveform is reduced along with the increase of the speed;
if the reference preset calibration condition is a third reference condition, the reference voltage value in the reference voltage output waveform increases as the tire pressure decreases.
5. A vehicle control apparatus characterized by comprising:
the system comprises a preset calibration condition determining module, a calibration condition determining module and a control module, wherein the preset calibration condition determining module is used for acquiring at least three different types of interaction parameters of a vehicle and determining preset calibration conditions according to the interaction parameters;
the state parameter determining module is used for acquiring the voltage output waveform under the preset calibration condition and determining the state parameter under the preset calibration condition according to the voltage output waveform;
the road friction coefficient determining module is used for determining a corresponding road friction coefficient according to the preset calibration condition, the state parameter and a pre-constructed condition parameter mapping relation;
and the vehicle control module is used for controlling the vehicle to run according to the road friction coefficient.
6. An electronic device, comprising:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, causes the one or more processors to implement a vehicle control method as recited in any one of claims 1-4.
7. A vehicle, characterized in that it is provided with an electronic device as claimed in claim 6.
8. The vehicle of claim 7, characterized in that the vehicle comprises a parameter acquisition device, a data transmission device and a power supply device;
the parameter acquisition equipment is arranged on the surface of the tire of the vehicle and is used for generating the voltage output waveform;
the data transmission device is arranged in a driving shaft of the vehicle and is used for transmitting the voltage output waveform to the electronic device;
the power supply equipment is arranged in a wheel network of the tire or on the side wall of the tire and is used for providing power for the data transmission equipment and the parameter acquisition equipment.
9. The vehicle of claim 8, the parameter acquisition device comprising a sensor arrangement and a substrate;
the sensor device is integrated with the tire surface through the substrate for generating the voltage output waveform.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method as claimed in any one of claims 1-4.
CN202310302296.1A 2023-03-24 2023-03-24 Vehicle control method, device, equipment, vehicle and medium Pending CN116279509A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310302296.1A CN116279509A (en) 2023-03-24 2023-03-24 Vehicle control method, device, equipment, vehicle and medium

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310302296.1A CN116279509A (en) 2023-03-24 2023-03-24 Vehicle control method, device, equipment, vehicle and medium

Publications (1)

Publication Number Publication Date
CN116279509A true CN116279509A (en) 2023-06-23

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Family Applications (1)

Application Number Title Priority Date Filing Date
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Country Status (1)

Country Link
CN (1) CN116279509A (en)

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