CN111645725A - Vehicle control method, device and equipment - Google Patents
Vehicle control method, device and equipment Download PDFInfo
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- CN111645725A CN111645725A CN202010537650.5A CN202010537650A CN111645725A CN 111645725 A CN111645725 A CN 111645725A CN 202010537650 A CN202010537650 A CN 202010537650A CN 111645725 A CN111645725 A CN 111645725A
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- 230000002159 abnormal effect Effects 0.000 claims abstract description 117
- 238000011217 control strategy Methods 0.000 claims abstract description 56
- 238000004891 communication Methods 0.000 claims description 82
- 230000005856 abnormality Effects 0.000 claims description 46
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0063—Multiple on-board control systems, e.g. "2 out of 3"-systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
- B61L15/00—Indicators provided on the vehicle or train for signalling purposes
- B61L15/0072—On-board train data handling
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Abstract
The embodiment of the application provides a vehicle control method, a device and equipment, which are applied to a control system in a vehicle, and the method comprises the following steps: acquiring running information of the vehicle; determining the abnormal type of the vehicle according to the operation information; determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type; and controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type. The safety of vehicle driving is improved.
Description
Technical Field
The present application relates to the field of vehicle network control technologies, and in particular, to a vehicle control method, apparatus, and device.
Background
At present, a train network control system is installed on an urban rail train, and a driver can control the rail train through the train network control system.
In practical application, a digital quantity input module and an analog quantity input module are generally arranged in a vehicle. The train network control system can obtain train control instructions (traction instructions, braking instructions and the like) through the digital quantity input module. The train network control system can acquire train control requirements (traction requirements, braking requirements and the like) through the digital analog input module and send the control requirements to the traction system or the braking system so that the traction system or the braking system can control the train. However, when the train network control system is interrupted in communication with at least one of the digital input module or the analog input module, the train network control system cannot acquire a control command and a control demand, resulting in low safety of train running.
Disclosure of Invention
The application provides a vehicle control method, a vehicle control device and vehicle control equipment. The safety of vehicle driving is improved.
In a first aspect, an embodiment of the present application provides a vehicle control method, which is applied to a control system in the vehicle, and includes:
acquiring running information of the vehicle;
determining the abnormal type of the vehicle according to the operation information;
determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type;
and controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type.
In one possible embodiment, the vehicle further comprises a digital quantity input module, an analog quantity input module, an automatic driving system and a traction system; wherein the operation information includes at least one of the following information:
a first communication state between the control system and the digital quantity input module;
a second communication state between the control system and the analog input module;
a driving mode of the vehicle, the driving mode being a manual driving mode or an automatic driving mode;
a state of the autonomous driving system when the vehicle is in an autonomous driving mode;
a state of the traction system.
In one possible embodiment, the autonomous driving system comprises a master driving system and a slave driving system;
the state of the automatic driving system is a switching state or a non-switching state, and the switching state is used for indicating that the main driving system and the auxiliary driving system are switching.
In one possible embodiment, when the control system is in a normal communication state with the master driving system and the slave driving system, and the activation signal and the mode signal sent by the master driving system or the slave driving system are lost in the first period of time, the state of the automatic driving system is a switching state.
In one possible embodiment, the exception type includes at least one of the following exceptions:
a first communication state anomaly;
the second communication state is abnormal;
an automatic driving system anomaly;
the traction system is abnormal.
In a possible implementation, the exception type is the first communication state exception; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
generating a first control instruction, wherein the first control instruction is used for indicating deceleration;
and sending the first control instruction to a traction system and a brake system so that the traction system and the brake system control the vehicle to decelerate according to the first control instruction.
In a possible implementation, the exception type is the second communication state exception; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
judging whether a digital signal sent by digital quantity input is received or not;
if so, generating a second control instruction according to the digital signal, and sending the second control instruction to a traction system so that the traction system controls the vehicle according to the second control instruction;
if not, the value of the traction force is set to be zero, and the value of the traction force is sent to the traction system, so that the traction system controls the vehicle to run at a constant speed according to the value of the traction force.
In one possible embodiment, the type of anomaly is the autopilot system anomaly; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
a duration of the autopilot system anomaly;
when the duration is smaller than a first threshold value, acquiring a third control instruction, and sending the third control instruction to the traction system and the brake system, wherein the third control instruction is an instruction received before the automatic driving system is abnormal;
and when the duration is greater than or equal to the first threshold, generating a fourth control instruction, and sending the fourth control instruction to the traction system and the brake system, so that the traction system and the brake system control the vehicle to decelerate according to the fourth control instruction.
In one possible embodiment, the anomaly type is the traction system anomaly; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
acquiring a maximum traction force and a traction force demand value which can be provided by the traction system;
determining a target tractive effort based on the maximum tractive effort and the tractive effort demand value;
sending the target tractive effort to the traction system.
In a second aspect, an embodiment of the present application provides a vehicle control device, which is applied to a control system in the vehicle, and includes: the device comprises an acquisition module, a first determination module, a second determination module and a control module, wherein:
the acquisition module is specifically used for acquiring the running information of the vehicle;
the first determining module is specifically configured to determine an abnormal type of the vehicle that is abnormal according to the operation information;
the second determining module is specifically configured to determine, according to the abnormality type, a vehicle control strategy corresponding to the abnormality type;
the control module is specifically configured to control the vehicle according to a vehicle control strategy corresponding to the abnormal type.
In one possible embodiment, the vehicle further comprises a digital quantity input module, an analog quantity input module, an automatic driving system and a traction system; wherein the operation information includes at least one of the following information:
a first communication state between the control system and the digital quantity input module;
a second communication state between the control system and the analog input module;
a driving mode of the vehicle, the driving mode being a manual driving mode or an automatic driving mode;
a state of the autonomous driving system when the vehicle is in an autonomous driving mode;
a state of the traction system.
In one possible embodiment, the autonomous driving system comprises a master driving system and a slave driving system;
the state of the automatic driving system is a switching state or a non-switching state, and the switching state is used for indicating that the main driving system and the auxiliary driving system are switching.
In one possible embodiment, when the control system is in a normal communication state with the master driving system and the slave driving system, and the activation signal and the mode signal sent by the master driving system or the slave driving system are lost in the first period of time, the state of the automatic driving system is a switching state.
In one possible embodiment, the exception type includes at least one of the following exceptions:
a first communication state anomaly;
the second communication state is abnormal;
an automatic driving system anomaly;
the traction system is abnormal.
In a possible implementation, the exception type is the first communication state exception; the control module is specifically configured to:
the vehicle control strategy corresponding to the abnormal type controls the vehicle, and comprises the following steps:
generating a first control instruction, wherein the first control instruction is used for indicating deceleration;
and sending the first control instruction to a traction system and a brake system so that the traction system and the brake system control the vehicle to decelerate according to the first control instruction.
In a possible implementation, the exception type is the second communication state exception; the control module is specifically configured to:
judging whether a digital signal sent by digital quantity input is received or not;
if so, generating a second control instruction according to the digital signal, and sending the second control instruction to a traction system so that the traction system controls the vehicle according to the second control instruction;
if not, the value of the traction force is set to be zero, and the value of the traction force is sent to the traction system, so that the traction system controls the vehicle to run at a constant speed according to the value of the traction force.
In one possible embodiment, the type of anomaly is the autopilot system anomaly; the control module is specifically configured to:
a duration of the autopilot system anomaly;
when the duration is smaller than a first threshold value, acquiring a third control instruction, and sending the third control instruction to the traction system, wherein the third control instruction is an instruction received before the automatic driving system is abnormal;
and when the duration is greater than or equal to the first threshold, generating a fourth control instruction, and sending the fourth control instruction to the traction system and the brake system, so that the traction system and the brake system control the vehicle to decelerate according to the fourth control instruction.
In a possible implementation, the type of anomaly is the traction system anomaly, and the control module is specifically configured to:
acquiring a maximum traction force and a traction force demand value which can be provided by the traction system;
determining a target tractive effort based on the maximum tractive effort and the tractive effort demand value;
sending the target tractive effort to the traction system.
In a third aspect, an embodiment of the present application provides a terminal device, including: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to cause the terminal device to execute the vehicle control method according to any one of the first aspect.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, which includes a program or instructions, when the program or instructions are run on a computer, the vehicle control method according to any one of the above first aspects is executed.
According to the vehicle control method, the vehicle control device and the vehicle control equipment, the running information of the vehicle is firstly acquired, for example, the communication state of a control system of the vehicle, a digital quantity input module and an analog quantity input module, the driving mode of the vehicle and the state of a traction system. And determining the abnormal type of the abnormality of the vehicle according to the running information of the vehicle, determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type, and controlling the vehicle according to the vehicle control strategy. In the process that the control system of the vehicle controls the vehicle, the control system of the vehicle can determine the abnormal type when the vehicle is abnormal according to the running information of the vehicle and can also determine the vehicle control strategy corresponding to the abnormal type according to the abnormal type, so that the control system of the vehicle can accurately determine the control strategy of the vehicle when the vehicle is abnormal, and the running safety of the vehicle is improved.
Drawings
Fig. 1A is an architecture diagram of a vehicle control device according to an embodiment of the present application;
fig. 1B is a schematic view of an application scenario provided in the embodiment of the present application;
FIG. 2 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application;
FIG. 3 is a schematic flow chart diagram of another vehicle control method provided by the embodiments of the present application;
FIG. 4 is a schematic flow chart diagram illustrating another vehicle control method provided by an embodiment of the present application;
FIG. 5 is a schematic flow chart diagram illustrating another vehicle control method provided by an embodiment of the present application;
FIG. 6 is a schematic flow chart diagram illustrating another vehicle control method provided by an embodiment of the present application;
fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application;
fig. 8 is a schematic hardware configuration diagram of a vehicle control device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the above-described drawings (if any) are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of understanding, an application scenario to which the present application is applicable is described below with reference to fig. 1A-1B.
Fig. 1A is an architecture diagram of a vehicle control device according to an embodiment of the present application. Referring to fig. 1A, the vehicle includes a control system 1, a digital input module 2, an analog input module 3, an automatic driving system 4, and a traction system 5. The control system 1 may acquire the running information of the vehicle, for example, the control system 1 may acquire the communication state between the control system 1 and the digital quantity input module 2 and the analog quantity input module 3, the state of the automatic driving system 4, and the state of the traction system 5. The control system 1 controls the vehicle according to the running information of the vehicle.
The control system acquires operating information of the vehicle, such as a communication state of the control system with the digital quantity input module and the analog quantity input module, a state of the driving system, and a state of the traction system. And determining the abnormal type of the abnormality of the vehicle according to the running information of the vehicle, determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type, and controlling the vehicle according to the vehicle control strategy. In the process that the control system of the vehicle controls the vehicle, the control system of the vehicle can determine the abnormal type when the vehicle is abnormal according to the running information of the vehicle and can also determine the vehicle control strategy corresponding to the abnormal type according to the abnormal type, so that the control system of the vehicle can accurately determine the control strategy of the vehicle when the vehicle is abnormal, and the driving safety of the vehicle is improved.
Fig. 1B is a schematic view of an application scenario provided in the embodiment of the present application. Referring to fig. 1B, including vehicle a, vehicle B, and a stop line, a vehicle control device may be provided in the vehicle. The vehicles may include high-speed trains, subway trains, city trolleys, and the like. As shown in fig. 1B, the vehicle a has no vehicle control device mounted therein, and the vehicle B has a vehicle control device mounted therein. When the vehicle A enters the station, the automatic driving system is abnormal, so that the vehicle is in an out-of-control state in the entering process, and the vehicle A cannot accurately stop on a parking line. When the automatic driving system of the vehicle B enters the station is abnormal, the vehicle control device acquires the brake instruction output before the automatic driving is abnormal when the vehicle enters the station, and keeps the brake instruction in the process of the automatic driving abnormality, so that the vehicle can be accurately stopped on a parking line.
Of course, the method disclosed by the application can also be applied to other scenes, such as the scenes that the train is abnormal in the running process of a high-speed rail, the urban electric train is abnormal in the running process, and the like.
The technical means shown in the present application will be described in detail below with reference to specific examples. It should be noted that the following embodiments may be combined with each other, and the description of the same or similar contents in different embodiments is not repeated.
Fig. 2 is a schematic flowchart of a vehicle control method according to an embodiment of the present application. Referring to fig. 2, the method may include:
s201, acquiring the running information of the vehicle.
The execution subject of the embodiment of the present invention may be a terminal device, or may be a vehicle control device provided in the terminal device. Optionally, the terminal device may be a computer, a communication system, or other devices. Alternatively, the vehicle control device may be implemented by software, or may be implemented by a combination of software and hardware.
The vehicles may include high-speed trains, subway trains, city trolleys, and the like. The vehicle can comprise a digital quantity input module, an analog quantity input module, an automatic driving system and a traction system.
The digital quantity input module can acquire a control instruction of the vehicle and send the control instruction of the vehicle to the vehicle control system. The control commands for the vehicle may include traction commands, braking commands. For example, the digital input module can acquire a braking instruction of the vehicle and send the braking instruction to the vehicle control system, and the vehicle control system controls the vehicle to enter a braking state according to the braking instruction. Optionally, a plurality of digital input modules may be included in the vehicle.
The analog input module may collect a demand of the vehicle, which may include a demand for vehicle tractive effort, a demand for vehicle braking effort, and transmit the demand to a vehicle control system. For example, the analog input module can collect a desired value of vehicle tractive effort and transmit the desired value of vehicle tractive effort to a vehicle control system, which transmits the desired value of vehicle tractive effort to a traction system, which controls vehicle operation based on the desired value of vehicle tractive effort. Optionally, a plurality of analog input modules may be included in the vehicle.
The automatic driving system can be a vehicle automatic control system with functions of vehicle automatic running, accurate parking and the like. For example, the automatic driving system of the subway can control the subway to enter running states of traction, braking, parking and the like. The autonomous driving system may include a master driving system and a slave driving system.
The traction system can be a source of vehicle power and can provide traction force and braking force for the vehicle to complete traction and braking of the vehicle. Optionally, the braking system provides braking force by mechanical braking when the braking force provided by the traction system is insufficient.
The operation information includes at least one of the following information: the control system comprises a control system, a digital quantity input module, an analog quantity input module, a driving mode of the vehicle, a driving system and a traction system.
The communication state between the control system and the digital quantity input module can include normal communication between the control system and the digital quantity input module and abnormal communication between the control system and the digital quantity input module. For example, the operation information may include that the control system and the digital input module can normally communicate, and the control system can receive a control command sent by the digital input module.
The communication state between the control system and the analog input module can include that the control system and the analog input module can normally communicate, and the control system and the analog input module cannot normally communicate. For example, the operational information may include that the control system and the analog input module may be in normal communication, and the control system may receive the vehicle demand sent by the analog input module.
The driving mode of the vehicle may be an artificial driving mode or an automatic driving mode, and when the driving mode of the vehicle is the automatic driving mode, the state of the driving system may be a state of the automatic driving system. The state of the automatic driving system is a switching state or a non-switching state, wherein the switching state is used for indicating that the main driving system and the auxiliary driving system are switching.
The state of the traction system can be a normal state of the traction system, a normal state of part of the traction system and the like.
Alternatively, the operation information of the vehicle may be acquired according to a vehicle control system.
S202, determining the abnormal type of the vehicle according to the running information.
The abnormal type package of the vehicle abnormality includes at least one of the following abnormalities: the first communication state is abnormal, the second communication state is abnormal, the automatic driving system is abnormal, and the traction system is abnormal.
The first communication state can be a communication state of the control system and the digital quantity input module. The second communication state may be a communication state of the control system and the analog quantity input module.
The first communication state abnormality may include that the control system cannot normally communicate with the digital quantity input module, so that the control system cannot receive the control command sent by the digital quantity input module. For example, the control system of the vehicle cannot receive the braking command sent by the digital quantity input module.
The second communication state abnormality may include that the control system and the analog input module cannot normally communicate, so that the control system cannot receive the vehicle demand sent by the analog input module. For example, the control system of the vehicle cannot receive the braking force demand value transmitted by the analog input module.
The autonomous driving abnormality may be that the state of the autonomous driving system is a switching state, wherein the switching state is used to indicate that the master driving system and the slave driving system are switching. When the automatic driving system switches between the master driving system and the slave driving system, the master driving system and the slave driving system cannot realize seamless switching due to factors such as circuits, control strategies of the automatic driving system and the like, and a vehicle is in an out-of-control state in the process of switching between the master driving system and the slave driving system. For example, when the master-slave driving system of the vehicle is switched, the master-slave driving system cannot be switched seamlessly because the line is too long, the CPU load of the automatic driving system cannot be too high, and the operating frequency of the automatic driving system is low.
The traction system anomaly may be a partial traction system failure. For example, a train has 10 traction systems, but only 8 traction systems can be used normally.
Alternatively, the abnormality type of the abnormality of the vehicle may be determined based on the running information of the vehicle. For example, if the first communication state between the control system and the digital quantity input module is that communication is impossible, the type of the abnormality of the vehicle is that the first communication state is abnormal; if the second communication state between the control system and the analog quantity input module is that communication cannot be carried out, the abnormal type of the vehicle is that the second communication state is abnormal; if the driving mode of the vehicle is the automatic driving mode and the state of the automatic driving system is the switching state, the abnormal type of the vehicle is the abnormal of the automatic driving system; and if the state of the traction system of the vehicle is that part of the traction system is normal, the abnormal type of the vehicle is abnormal of the traction system.
And S203, determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type.
The vehicle control strategy may be an instruction to control the vehicle. For example, the control strategy of the vehicle may be a manner of controlling the vehicle.
Optionally, a corresponding relationship between the abnormality and the vehicle control strategy may be set, and the vehicle control strategy corresponding to the abnormality type may be determined according to the abnormality type and the corresponding relationship. For example, the abnormality is an abnormality in a first communication state between the control system and the digital-to-analog input module, and the vehicle control strategy may be to output a brake command to control deceleration of the vehicle. In this way, the correspondence between the abnormality and the vehicle control strategy can be set. For example, the correspondence between the abnormality and the vehicle control strategy may be as shown in table 1:
TABLE 1
| Serial number | Abnormality (S) | |
| 1 | Abnormality of the first communication state | Speed reduction |
| 2 | Second communication state abnormality | Travelling at uniform speed, decelerating or accelerating |
| 3 | Abnormality of automatic driving system | Travelling at uniform speed, decelerating or accelerating |
| … | …… | …… |
Each of the anomalies in table 1 corresponds to a vehicle control strategy, and it should be noted that table 1 illustrates the correspondence between the anomalies and the vehicle control strategies by way of example only, and is not a limitation on the correspondence between the anomalies and the vehicle control strategies.
And S204, controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type.
It should be noted that when the vehicle control strategies are different, the control processes for the vehicle are also different. The control process of the vehicle is explained in the embodiments of fig. 3 to 6, and will not be described herein.
Optionally, the vehicle may be controlled according to a vehicle control strategy corresponding to the abnormal type. For example, when the first communication state between the control system and the digital quantity input module is abnormal, the control system generates a braking instruction at the moment, and sends the braking instruction to the traction system and the braking system, and the traction system and the braking system control the vehicle to decelerate and stop according to the braking instruction; when the second communication state between the control system and the analog input module is abnormal, the control system generates a braking instruction or a traction instruction and sends the braking instruction or the traction instruction to the traction system, and the traction system controls the vehicle to brake or accelerate according to the braking instruction or the traction instruction.
According to the vehicle control method, the vehicle control device and the vehicle control equipment, the running information of the vehicle is firstly acquired, for example, the communication state of a control system of the vehicle, a digital quantity input module and an analog quantity input module, the driving mode of the vehicle and the state of a traction system. And determining the abnormal type of the abnormality of the vehicle according to the running information of the vehicle, determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type, and controlling the vehicle according to the vehicle control strategy. In the process that the control system of the vehicle controls the vehicle, the control system of the vehicle can determine the abnormal type when the vehicle is abnormal according to the running information of the vehicle and can also determine the vehicle control strategy corresponding to the abnormal type according to the abnormal type, so that the control system of the vehicle can accurately determine the control strategy of the vehicle when the vehicle is abnormal, and the running safety of the vehicle is improved.
Next, a control process of the vehicle will be described with reference to fig. 3 to 6.
Fig. 3 is a flowchart illustrating another vehicle control method according to an embodiment of the present application. In the embodiment shown in fig. 3, the exception type is a first communication state exception. Referring to fig. 3, the method may include:
s301, acquiring the running information of the vehicle.
It should be noted that the execution process of S301 may refer to the execution process of S201, and the embodiment of the present invention is not described again.
S302, determining the abnormal type of the vehicle as the first communication state abnormality according to the running information.
The first communication state may be a communication state of the control system and the digital quantity input module. Optionally, the first communication state abnormality may include that the control system cannot normally communicate with the digital quantity input module, so that the control system cannot receive the control instruction sent by the digital quantity input module. For example, the control system of the vehicle cannot receive the braking command sent by the digital quantity input module.
S303, generating a first control command.
Optionally, if two digital input modules are installed on the vehicle, when the communication between the control system and one of the digital input modules is abnormal and the communication between the control system and the other digital input module is normal, the control system receives the control instruction sent by the digital input module with normal communication and controls the vehicle according to the control instruction.
Optionally, the exception type is that the first communication state is abnormal, the control system may generate a first control instruction, and the first control instruction may include a deceleration instruction. For example, the control system may generate a braking command when communication between the control system and the digital input module is abnormal.
And S304, sending a first control command to the traction system and the brake system to decelerate the vehicle.
The control system generates a first control command and sends the first control command to the traction system and the brake system. The traction system and the brake system receive a first control instruction sent by the control system and output a vehicle braking state according to the first control instruction so as to decelerate the vehicle.
It should be noted that, when it is determined that the first communication state is normal, the digital input module sends a control instruction to the control system, the control system controls the vehicle to operate according to the control instruction, and if the control system does not receive the control instruction sent by the digital input module, the control system controls the vehicle to run at a constant speed.
Due to the fact that the first communication state of the control system and the digital quantity input module is abnormal, the control system cannot receive the control command sent by the digital quantity input module, the vehicle is in a runaway state, and the vehicle can run at a constant speed. And at the moment, the control system generates a first control instruction and sends the first control instruction to the traction system and the brake system, and the traction system and the brake system output the braking state of the vehicle according to the first control instruction so as to decelerate the vehicle. The safety of the vehicle during operation can be improved.
Fig. 4 is a flowchart illustrating another vehicle control method according to an embodiment of the present application. In the embodiment shown in fig. 4, the exception type is a second communication state exception. Referring to fig. 4, the method may include:
s401, obtaining the running information of the vehicle.
It should be noted that the execution process of S401 may refer to the execution process of S201, and is not described again in this embodiment of the present invention.
S402, determining the abnormal type of the vehicle as the second communication state abnormality according to the running information.
The second communication state may be a communication state of the control system and the analog quantity input module.
The second communication state abnormality may include that the control system and the analog input module cannot normally communicate, so that the control system cannot receive the vehicle demand sent by the analog input module. For example, the control system of the vehicle cannot receive the braking force demand value transmitted by the analog input module.
And S403, judging whether the digital signal transmitted by the digital quantity input is received or not.
If so, S404-S405 are performed.
If not, S406-S407 are executed.
And S404, generating a second control instruction according to the digital signal.
The control system may generate the second control instruction from the digital signal. The second control command may be a command included in the digital signal, for example, if the digital signal includes a brake control command, the second control command may be a brake control command, and if the digital signal includes a traction control command, the second control command may be a traction control command.
And S405, sending a second control instruction to the traction system so that the traction system controls the vehicle according to the second control instruction.
And the control system sends a second control instruction to the traction system, and the traction system outputs the vehicle running state according to the received second control instruction to control the vehicle to run. For example, the second control command includes a traction command, and the traction system outputs a vehicle traction state according to the traction command to control the vehicle to accelerate.
Optionally, the control system generates a maximum demand value of the second control command according to the second control command, and sends the maximum demand value of the second control command to the traction system. The traction system outputs power according to the maximum demand value of the second control command. For example, the second control command includes a brake command, and the control system generates a maximum demand value for the brake command and sends the maximum demand value for the brake command to the traction system, and the traction system outputs the maximum power to control deceleration of the vehicle according to the maximum demand value for the brake command.
Optionally, the control system generates other required values of the second control instruction according to the second control instruction. For example, the control system may generate a minimum demand value for the second control command, a fifty percent demand value for power, and the like.
Optionally, when the traction system executes a braking instruction, if the braking force provided by the traction system is insufficient, the braking system provides the braking force through mechanical braking. For example, if the braking force provided by the traction system is insufficient, the braking system may provide the braking force based on pneumatic or hydraulic braking.
And S406, setting the value of the traction force to be zero.
The control system does not receive the digital signals sent by the digital quantity input module, the vehicle does not need to be controlled, and the control system sets the value of the traction force to be zero. For example, if the control system does not receive a control command, the demand of the vehicle is zero and the control system sets the value of the tractive effort to zero.
And S407, sending the traction value to the traction system so that the traction system controls the vehicle to run at a constant speed according to the traction value.
The control system sets the value of the traction force to zero and sends the value of the traction force to the traction system, and the traction system controls the vehicle to run at a constant speed according to the value of the traction force. For example, if the value of the traction force is zero, the power for driving the vehicle is zero, and the vehicle will drive at a constant speed.
When the second communication state is determined to be normal, the digital quantity input module sends a control command to the control system, the analog quantity input module generates a required value required by the control command according to the control command and sends the required value required by the control command to the traction system, and the traction system controls the vehicle to run according to the control command and the required value of the control command. And if the control system does not receive the control instruction sent by the digital quantity input module, the control system controls the vehicle to run at a constant speed.
Due to the fact that the second communication states of the control system and the analog input module are abnormal, the control system cannot receive the vehicle requirement sent by the analog input module, and therefore the traction system cannot output traction force or braking force according to the requirement of the vehicle. At the moment, the vehicle can be controlled according to the digital signals sent by the digital quantity input module, and the safety of the vehicle is improved.
Fig. 5 is a flowchart illustrating another vehicle control method according to an embodiment of the present application. In the embodiment shown in fig. 5, the abnormality type automatic driving system is abnormal. Referring to fig. 5, the method may include:
s501, obtaining the running information of the vehicle.
It should be noted that the execution process of S501 may refer to the execution process of S201, and the embodiment of the present invention is not described again.
And S502, determining the abnormal type of the vehicle as the abnormal automatic driving system according to the running information.
The autonomous driving system abnormality may be that a state of the autonomous driving system is a switching state, wherein the switching state is to indicate that the master driving system and the slave driving system are switching. When the automatic driving system switches between the master driving system and the slave driving system, the master driving system and the slave driving system cannot realize seamless switching due to factors such as circuits, control strategies of the automatic driving system and the like, and a vehicle is in an out-of-control state in the process of switching between the master driving system and the slave driving system. For example, when the master-slave driving system of the vehicle is switched, the master-slave driving system cannot be switched seamlessly because the line is too long, the CPU load of the automatic driving system cannot be too high, and the operating frequency of the automatic driving system is low.
Alternatively, the type of abnormality may be determined as an autopilot system abnormality in a manner that is feasible as follows: in the automatic driving state, the communication state of the control system, the main driving system and the auxiliary driving system is normal, and in a first period, the activation signal and the mode signal sent by the main driving system or the auxiliary driving system are lost. For example, the communication between the control system and the automatic driving system is normal, and within 5 seconds, the activation signal and the mode signal jump from a high level to a low level, the state of the automatic driving system is a switching state, and the abnormal type is an abnormal automatic driving system.
Wherein the activation signal is used to indicate whether an autonomous driving system controlling the vehicle is a master driving system or a slave driving system. The mode signal is used to indicate that the current driving mode is the autonomous driving mode. For example, when the control system receives a mode signal sent by the automatic driving system, the current driving mode is the automatic driving mode, and if the automatic driving mode signal is not received, the current driving mode is the manual driving mode.
S503, judging whether the duration of the abnormity of the automatic driving system is less than a first threshold value.
The first threshold may comprise any duration. For example, the first threshold may be 2 seconds and the control system determines whether the duration of the autopilot system anomaly is less than 2 seconds.
If yes, executing S504-S505.
If not, executing S506-S507.
S504, acquiring a third control instruction.
And when the duration of the abnormality of the automatic driving system is less than the first threshold value, the control system acquires a third control instruction. The third control instruction may include an instruction received before a first preset duration of the autopilot system anomaly. For example, the first preset time period is 1 minute, the command received before 1 minute of the abnormality of the automatic driving system is a brake control command, and when the abnormal time period of the automatic driving system is smaller than the first threshold value, the third control command acquired by the control system is the brake control command.
Optionally, the control system obtains the demand of the vehicle when the duration of the abnormality of the automatic driving system is less than a first threshold. The demand of the vehicle may include a demand of the vehicle received before a first preset time period in which the automatic driving system is abnormal. For example, the demand of the vehicle received 1 minute before the abnormality of the automatic driving system is the braking force demand value, and when the length of time of the abnormality of the automatic driving system is less than the first threshold value, the demand of the vehicle acquired by the control system is the braking force demand value.
And S505, sending a third control instruction to the traction system so that the traction system controls the vehicle according to the third control instruction.
The control system obtains a third control command and sends the third control command to the traction system. The traction system controls the vehicle according to the received third control command. For example, the control system obtains the third control command as a brake control command and sends the brake control command to the traction system, and the traction system outputs the vehicle brake state according to the received brake control command to control the vehicle to decelerate.
Optionally, if the control system does not obtain the third control instruction, the control system generates a coasting control instruction and sends the coasting control instruction to the traction system. And the traction system outputs the vehicle coasting state according to the received coasting control command to control the vehicle to run at a constant speed. The coasting control instruction is used for indicating that the vehicle runs at a constant speed, and the coasting state can be a constant speed running state.
And S506, generating a fourth control command.
And when the duration of the abnormality of the automatic driving system is greater than or equal to the first threshold, the control system generates a fourth control instruction, and the fourth control instruction is used for indicating deceleration. For example, the fourth control command may be a brake control command.
And S507, sending a fourth control instruction to the traction system and the brake system so that the traction system and the brake system control the vehicle to decelerate according to the fourth control instruction.
And the control system generates a fourth control instruction and sends the fourth control instruction to the traction system and the brake system, and the traction system and the brake system control the vehicle to decelerate according to the received fourth control instruction. For example, the fourth control command generated by the control system may be a braking control command, the control system sends the braking control command to the traction system and the braking system, and the traction system and the braking system output a braking state of the vehicle according to the received braking control command to control the vehicle to decelerate.
Optionally, when the automatic driving system is abnormal and the control system detects a control instruction operated by the driver, the control system exits the automatic driving system and outputs a control instruction operated manually. For example, when the automatic driving system is abnormal, the control system exits the automatic driving system and outputs a control command of the driver when receiving a control command of manual operation such as that the cab occupancy key is in an inserted state, that the driver operates the main control handle, or that the driver operates the emergency brake.
When the automatic driving system enters the switching state, the corresponding vehicle control strategy is used to ensure that the vehicle cannot be out of control in a short time according to the current running state of the vehicle by combining the instruction received before the automatic driving system enters the switching state for the first preset time, and under the special scene that the train enters the station, the safety of the vehicle is improved.
Fig. 6 is a flowchart illustrating another vehicle control method according to an embodiment of the present application. In the embodiment shown in FIG. 5, the anomaly type is a traction system anomaly. Referring to fig. 6, the method may include:
s601, acquiring the running information of the vehicle.
It should be noted that the execution process of S601 may refer to the execution process of S201, and the embodiment of the present invention is not described again.
And S602, determining the abnormal type of the vehicle as abnormal of the traction system according to the running information.
The traction system anomaly may be a partial traction system failure. For example, a train has 10 traction systems, but only 8 traction systems can be used normally.
And S603, acquiring the maximum traction force and the traction force demand value which can be provided by the traction system.
Maximum tractive effort may refer to the maximum power that a normal traction system may provide. For example, the vehicle traction system is partially normal, providing 3000N of traction, and the maximum traction is 3000N. The demanded value of the traction force may refer to a power required when the control command controls the vehicle. For example, when the control command is a braking control command, the vehicle needs to decelerate, and the required value of traction is a required value of braking.
Alternatively, the control system may obtain a maximum tractive effort and tractive effort demand value that the traction system may provide.
And S604, determining the target traction according to the maximum traction and the traction demand value.
The target tractive effort may be the power provided by each normal traction system. Alternatively, the target tractive effort may be determined in a feasible manner as follows: if the maximum tractive effort is less than the tractive effort requirement, the target tractive effort is the maximum tractive effort; if the maximum tractive effort is greater than the tractive effort demand value, a target tractive effort is determined based on the maximum tractive effort and the number of normal traction systems. For example, if the maximum traction force is 3000N and the number of normal traction systems is 10, the target traction force may be determined by dividing the maximum traction force by the number of normal traction systems, and the target traction force is 300N.
And S605, sending the target traction force to the traction system.
The control system determines a target traction force and sends the target traction force to the traction system, and the traction system outputs power according to the received target traction force to control the vehicle to operate. For example, the target tractive effort is 2000N, and the traction system outputs 2000N of power based on the target tractive effort to control vehicle operation.
When the traction system is abnormal, the vehicle control system controls the normal traction system to be fully utilized, and the requirement of traction force is reasonably distributed to the normal traction system, so that the times of air braking of the traction system are reduced, the abrasion of a brake shoe is reduced, the economic benefit is improved, and the comfort level of passengers is improved.
According to the vehicle control method, the vehicle control device and the vehicle control equipment, the running information of the vehicle is firstly acquired, for example, the communication state of a control system of the vehicle, a digital quantity input module and an analog quantity input module, the driving mode of the vehicle and the state of a traction system. And determining the abnormal type of the abnormality of the vehicle according to the running information of the vehicle, determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type, and controlling the vehicle according to the vehicle control strategy. In the process that the control system of the vehicle controls the vehicle, the control system of the vehicle can determine the abnormal type when the vehicle is abnormal according to the running information of the vehicle and can also determine the vehicle control strategy corresponding to the abnormal type according to the abnormal type, so that the control system of the vehicle can accurately determine the control strategy of the vehicle when the vehicle is abnormal, and the running safety of the vehicle is improved.
Fig. 7 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. The vehicle control apparatus 10 may be provided in a terminal device. Referring to fig. 7, the vehicle control apparatus 10 includes an acquisition module 11, a first determination module 12, a second determination module 13, and a control module 14, wherein:
the obtaining module 11 is specifically configured to obtain operation information of the vehicle;
the first determining module 12 is specifically configured to determine an abnormal type of the vehicle that is abnormal according to the operation information;
the second determining module 13 is specifically configured to determine, according to the abnormality type, a vehicle control strategy corresponding to the abnormality type;
the control module 14 is specifically configured to control the vehicle according to a vehicle control strategy corresponding to the abnormality type.
In one possible embodiment, the vehicle further comprises a digital quantity input module, an analog quantity input module, an automatic driving system and a traction system; wherein the operation information includes at least one of the following information:
a first communication state between the control system and the digital quantity input module;
a second communication state between the control system and the analog input module;
a driving mode of the vehicle, the driving mode being a manual driving mode or an automatic driving mode;
a state of the autonomous driving system when the vehicle is in an autonomous driving mode;
a state of the traction system.
In one possible embodiment, the autonomous driving system comprises a master driving system and a slave driving system;
the state of the automatic driving system is a switching state or a non-switching state, and the switching state is used for indicating that the main driving system and the auxiliary driving system are switching.
In one possible embodiment, when the control system is in a normal communication state with the master driving system and the slave driving system, and the activation signal and the mode signal sent by the master driving system or the slave driving system are lost in the first period of time, the state of the automatic driving system is a switching state.
In one possible embodiment, the exception type includes at least one of the following exceptions:
a first communication state anomaly;
the second communication state is abnormal;
an automatic driving system anomaly;
the traction system is abnormal.
In a possible implementation, the exception type is the first communication state exception; the control module is specifically configured to:
the vehicle control strategy corresponding to the abnormal type controls the vehicle, and comprises the following steps:
generating a first control instruction, wherein the first control instruction is used for indicating deceleration;
and sending the first control instruction to a traction system and a control system so that the traction system and the control system control the vehicle to decelerate according to the first control instruction.
In a possible implementation, the exception type is the second communication state exception; the control module is specifically configured to:
judging whether a digital signal sent by digital quantity input is received or not;
if so, generating a second control instruction according to the digital signal, and sending the second control instruction to a traction system so that the traction system controls the vehicle according to the second control instruction;
if not, the value of the traction force is set to be zero, and the value of the traction force is sent to the traction system, so that the traction system controls the vehicle to run at a constant speed according to the value of the traction force.
In one possible embodiment, the type of anomaly is the autopilot system anomaly; the control module is specifically configured to:
a duration of the autopilot system anomaly;
when the duration is smaller than a first threshold value, acquiring a third control instruction, and sending the third control instruction to the traction system, wherein the third control instruction is an instruction received before the automatic driving system is abnormal;
and when the duration is greater than or equal to the first threshold, generating a fourth control instruction, and sending the fourth control instruction to the traction system and the control system, so that the traction system and the control system control the vehicle to decelerate according to the fourth control instruction.
In a possible implementation, the type of anomaly is the traction system anomaly, and the control module is specifically configured to:
acquiring a maximum traction force and a traction force demand value which can be provided by the traction system;
determining a target tractive effort based on the maximum tractive effort and the tractive effort demand value;
sending the target tractive effort to the traction system.
The gaze point calculation apparatus provided in the embodiment of the present invention may execute the technical solutions shown in the above method embodiments, and the implementation principles and beneficial effects thereof are similar, and are not described herein again.
Fig. 8 is a schematic hardware configuration diagram of a vehicle control device according to an embodiment of the present application. Referring to fig. 8, the vehicle control apparatus 20 may include: a transceiver 21, a memory 22, a processor 23. The transceiver 21 may include: a transmitter and/or a receiver. The transmitter may also be referred to as a sender, a transmitter, a sending port or a sending interface, and the like, and the receiver may also be referred to as a receiver, a receiving port or a receiving interface, and the like. Illustratively, the transceiver 21, the memory 22, and the processor 23 are connected to each other by a bus 24.
The memory 22 is used for storing program instructions;
the processor 23 is configured to execute program instructions stored by the memory to cause the vehicle control apparatus 20 to perform any of the vehicle control methods described above.
Wherein the receiver of the transceiver 21 is operable to perform the receiving function of the vehicle control apparatus in the above-described communication method.
The embodiment of the application provides a computer-readable storage medium, wherein computer-executable instructions are stored in the computer-readable storage medium and are used for realizing the vehicle control method when being executed by a processor.
The embodiment of the present application may further provide a computer program product, which may be executed by a processor, and when the computer program product is executed, the vehicle control method executed by any one of the terminal devices shown above may be implemented.
The vehicle control device, the computer-readable storage medium, and the computer program product according to the embodiments of the present application may execute the communication method executed by the vehicle control device, and specific implementation processes and beneficial effects thereof are referred to above, and are not described herein again.
All or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The aforementioned program may be stored in a readable memory. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid state disk, magnetic tape (magnetic tape), floppy disk (floppy disk), optical disk (optical disk), and any combination thereof.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.
In the present application, the terms "include" and variations thereof may refer to non-limiting inclusions; the term "or" and variations thereof may mean "and/or". The terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the present application, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Claims (12)
1. A control method for a vehicle, characterized by being applied to a control system in the vehicle, the method comprising:
acquiring running information of the vehicle;
determining the abnormal type of the vehicle according to the operation information;
determining a vehicle control strategy corresponding to the abnormal type according to the abnormal type;
and controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type.
2. The method of claim 1, further comprising a digital input module, an analog input module, an autopilot system, a traction system; wherein the operation information includes at least one of the following information:
a first communication state between the control system and the digital quantity input module;
a second communication state between the control system and the analog input module;
a driving mode of the vehicle, the driving mode being a manual driving mode or an automatic driving mode;
a state of the autonomous driving system when the vehicle is in an autonomous driving mode;
a state of the traction system.
3. The method of claim 2, wherein the autonomous driving system comprises a master driving system and a slave driving system;
the state of the automatic driving system is a switching state or a non-switching state, and the switching state is used for indicating that the main driving system and the auxiliary driving system are switching.
4. The method of claim 3, wherein the state of the autonomous driving system is a switching state when the control system is in normal communication with the master driving system and the slave driving system and both the activation signal and the mode signal from the master driving system or the slave driving system are lost during the first period of time.
5. The method according to any of claims 1-4, wherein the type of anomaly comprises at least one of the following anomalies:
a first communication state anomaly;
the second communication state is abnormal;
an automatic driving system anomaly;
the traction system is abnormal.
6. The method of claim 5, wherein the exception type is the first communication state exception; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
generating a first control instruction, wherein the first control instruction is used for indicating deceleration;
and sending the first control instruction to a traction system and a brake system so that the traction system and the brake system control the vehicle to decelerate according to the first control instruction.
7. The method of claim 5, wherein the exception type is the second communication status exception; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
judging whether a digital signal sent by digital quantity input is received or not;
if so, generating a second control instruction according to the digital signal, and sending the second control instruction to a traction system so that the traction system controls the vehicle according to the second control instruction;
if not, the value of the traction force is set to be zero, and the value of the traction force is sent to the traction system, so that the traction system controls the vehicle to run at a constant speed according to the value of the traction force.
8. The method of claim 5, wherein the type of anomaly is the autopilot system anomaly; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
a duration of the autopilot system anomaly;
when the duration is smaller than a first threshold value, acquiring a third control instruction, and sending the third control instruction to the traction system, wherein the third control instruction is an instruction received before a first preset duration of the abnormality of the automatic driving system;
and when the duration is greater than or equal to the first threshold, generating a fourth control instruction, and sending the fourth control instruction to the traction system and the brake system, so that the traction system and the brake system control the vehicle to decelerate according to the fourth control instruction.
9. The method of claim 5, wherein the anomaly type is the traction system anomaly; controlling the vehicle according to the vehicle control strategy corresponding to the abnormal type, comprising:
acquiring a maximum traction force and a traction force demand value which can be provided by the traction system;
determining a target tractive effort based on the maximum tractive effort and the tractive effort demand value;
sending the target tractive effort to the traction system.
10. A control apparatus for a vehicle, characterized by being applied to a control system in the vehicle, comprising: the device comprises an acquisition module, a first determination module, a second determination module and a control module, wherein:
the acquisition module is specifically used for acquiring the running information of the vehicle;
the first determining module is specifically configured to determine an abnormal type of the vehicle that is abnormal according to the operation information;
the second determining module is specifically configured to determine, according to the abnormality type, a vehicle control strategy corresponding to the abnormality type;
the control module is specifically configured to control the vehicle according to a vehicle control strategy corresponding to the abnormal type.
11. A terminal device, comprising: a processor coupled with a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program stored in the memory to cause the terminal device to execute the vehicle control method according to any one of claims 1 to 9.
12. A readable storage medium characterized by comprising a program or instructions for executing the vehicle control method according to any one of claims 1 to 9 when the program or instructions are run on a computer.
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