CN111824300A - Vehicle control method and device, vehicle and storage medium - Google Patents
Vehicle control method and device, vehicle and storage medium Download PDFInfo
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- CN111824300A CN111824300A CN201910600141.XA CN201910600141A CN111824300A CN 111824300 A CN111824300 A CN 111824300A CN 201910600141 A CN201910600141 A CN 201910600141A CN 111824300 A CN111824300 A CN 111824300A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62J—CYCLE SADDLES OR SEATS; AUXILIARY DEVICES OR ACCESSORIES SPECIALLY ADAPTED TO CYCLES AND NOT OTHERWISE PROVIDED FOR, e.g. ARTICLE CARRIERS OR CYCLE PROTECTORS
- B62J27/00—Safety equipment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62K—CYCLES; CYCLE FRAMES; CYCLE STEERING DEVICES; RIDER-OPERATED TERMINAL CONTROLS SPECIALLY ADAPTED FOR CYCLES; CYCLE AXLE SUSPENSIONS; CYCLE SIDE-CARS, FORECARS, OR THE LIKE
- B62K23/00—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips
- B62K23/02—Rider-operated controls specially adapted for cycles, i.e. means for initiating control operations, e.g. levers, grips hand actuated
- B62K23/04—Twist grips
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- 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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- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, apparatus, vehicle, and storage medium, where the method includes: acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration; judging whether the vehicle starting condition is met currently or not based on the rotation speed change information; and if so, controlling the vehicle to start. By adopting the scheme, the safe starting of the vehicle can be ensured.
Description
Technical Field
The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method and apparatus, a vehicle, and a storage medium.
Background
Along with the rapid development of electric vehicles, the electric vehicles are fast and convenient to ride, and are becoming main tools for riding instead of walk of people. The speed regulator is used as a key speed control component of the electric vehicle and can realize speed regulation through the cooperation with the motor controller.
When the electric vehicle is started, the motor controller can output electric power for a user to ride once the motor controller determines that the signal of the speed regulator changes. However, if the speed regulator fails, the speed regulator is likely to output a high-amplitude sudden change signal, so that the electric vehicle is likely to go forward at full speed without being controlled by the signal, thereby causing runaway, and accidents are likely to happen.
It can be seen that a vehicle control scheme is needed to ensure safe starting of an electric vehicle.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a vehicle control method, a vehicle control apparatus, a vehicle, and a storage medium, which can ensure safe startup of an electric vehicle.
Mainly comprises the following aspects:
in a first aspect, the present application provides a vehicle control method comprising:
acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration;
judging whether the vehicle starting condition is met currently or not based on the rotation speed change information;
and if so, controlling the vehicle to start.
In one embodiment, the determining whether a vehicle start condition is currently satisfied based on the rotation speed variation information includes:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
In some embodiments, the rotational speed variation threshold is determined as follows:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
In another embodiment, the acquiring of the rotation speed variation information of the rotational speed adjusting component within the preset starting time period includes:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
In some embodiments, the rotational speed variation threshold is determined as follows:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
In some embodiments, the acquiring a plurality of rotation speed sampling signals corresponding to a preset starting time period includes:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
In still another embodiment, before the determining whether the vehicle start condition is currently satisfied based on the rotation speed variation information, the method further includes:
judging whether a target pressure signal is received or not; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
the judging whether the vehicle starting condition is met currently based on the rotation speed change information includes:
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
In a second aspect, the present application also provides a vehicle control apparatus, the apparatus including:
the acquisition module is used for acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration;
the judging module is used for judging whether the vehicle starting condition is met currently or not based on the rotating speed change information;
and the control module is used for controlling the vehicle to start when the vehicle starting condition is met.
In an embodiment, the determining module is specifically configured to:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
In some embodiments, the determining module is specifically configured to determine the rotation speed variation threshold according to the following steps:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
In another embodiment, the obtaining module is specifically configured to:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
In some embodiments, the determining module is specifically configured to determine the rotation speed variation threshold according to the following steps:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
In some embodiments, the obtaining module is specifically configured to:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
In another embodiment, the determining module is specifically configured to:
judging whether a target pressure signal is received or not before judging whether a vehicle starting condition is met or not at present based on the rotation speed change information; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
In a third aspect, the present application further provides a vehicle, which includes a vehicle body, and further includes a processor, a storage medium, and a bus, where the storage medium stores machine-readable instructions executable by the processor, and when the vehicle runs, the processor and the storage medium communicate with each other through the bus, and the processor executes the machine-readable instructions to perform the steps of the vehicle control method according to the first aspect.
In a fourth aspect, the present application further provides a computer readable storage medium having a computer program stored thereon, which, when being executed by a processor, performs the steps of the vehicle control method according to the first aspect.
By adopting the scheme, the rotating speed change information of the rotating speed regulating component in the preset starting time length is obtained, so that whether the vehicle starting condition is met currently can be determined based on the obtained rotating speed change information before the vehicle is started, if yes, the vehicle is started, and if not, the vehicle is not started. If the amplitude of the change of the rotating speed is large, the starting of the vehicle is possibly in danger of galloping, so that the starting of the vehicle is controlled by limiting the change condition of the rotating speed, the dangerous problem of galloping is avoided, and the safe starting of the vehicle is ensured.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
FIG. 1 is a flow chart illustrating a vehicle control method according to an embodiment of the present disclosure;
FIG. 2 is a flowchart illustrating a vehicle control method according to a third embodiment of the present application;
FIG. 3 is a flowchart illustrating another vehicle control method according to a third embodiment of the present application;
FIG. 4 is a flowchart illustrating a vehicle control method according to a fourth embodiment of the present application;
fig. 5 is a schematic structural diagram illustrating a vehicle control device according to a fifth embodiment of the present application;
fig. 6 shows a schematic structural diagram of a vehicle according to a sixth embodiment of the present application.
Detailed Description
In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, 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 should be understood that the drawings in the present application are for illustrative and descriptive purposes only and are not used to limit the scope of protection of the present application. Additionally, it should be understood that the schematic drawings are not necessarily drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of the present application. It should be understood that the operations of the flow diagrams may be performed out of order, and steps without logical context may be performed in reverse order or simultaneously. One skilled in the art, under the guidance of this application, may add one or more other operations to, or remove one or more operations from, the flowchart.
In addition, the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.
To enable those skilled in the art to use the present disclosure, the following embodiments are presented in conjunction with a specific application scenario "shared vehicle launch control". It will be apparent to those skilled in the art that the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the application. Although the present application is described primarily in the context of shared vehicle launch control, it should be understood that this is merely one exemplary embodiment.
It should be noted that the vehicle in the embodiment of the present application mainly refers to a vehicle with electric drive, and the vehicle may be a bicycle, a tricycle, a car, or other vehicles, and the electric bicycle may be exemplified below in view of wide application of the electric bicycle with hybrid motion mode of manpower and electric power in the technical field of shared vehicles.
Furthermore, the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features hereinafter claimed, but not to exclude the addition of further features.
It should be noted that, before the application of the present application, it is considered that in the related art, once the speed regulator fails, the electric vehicle is likely to fly due to the abrupt high-amplitude signal output by the speed regulator and not controlled by the signal, which brings about a safety hazard. However, the vehicle control method, the vehicle control device, the vehicle and the storage medium provided by the application can judge whether the vehicle starting condition is met currently or not through the acquired rotating speed change information of the rotating speed regulating component within the preset starting duration, and can control the vehicle to start when the vehicle starting condition is met. Therefore, the vehicle is controlled to start by limiting the change condition of the rotating speed, so that the problem of dangerous runaway is avoided, and the safe starting of the vehicle is ensured. The following examples are provided for the purpose of illustration.
Example one
As shown in fig. 1, for a flow of a vehicle control method provided in an embodiment of the present application, an execution subject of the method may be a processor provided on a vehicle, and may also be a server in communication connection with the vehicle, where the vehicle control method includes the following steps:
s101, obtaining the rotation speed change information of a rotation speed regulating component within a preset starting duration;
here, the rotational speed adjusting member may be mounted on the vehicle handle, so that when the user holds the vehicle handle to rotate, the vehicle control method provided by the embodiment of the present application may obtain the rotational speed change information about the rotational speed adjusting member, where the rotational speed change information corresponds to a preset starting duration.
The rotating speed regulation part can be a speed regulator, an electric vehicle controller or other speed regulation parts capable of collecting the rotating action of the handle, and the structure of the rotating speed regulation part is not specifically limited by the embodiment of the application.
In the embodiment of the application, the preset starting duration can be set based on manual experience, analysis results of vehicle environment information and other modes, and the setting mode is not specifically limited. Here, for the field of control of the shared electric bicycles, the embodiment of the present application may be set based on an analysis result of vehicle environment information, that is, in the embodiment of the present application, for a server connected to each shared electric bicycle, information such as a usage record and a driving track of each shared bicycle may be determined to determine a reasonable vehicle starting duration, where the vehicle starting duration may be set to meet a demand of a user for fast vehicle usage as much as possible on the premise of ensuring safe vehicle starting, for example, 2 s.
Regarding the rotation speed variation information, the embodiment of the application may determine the rotation speed variation information based on the rotation speed sampling signals of the rotation speed regulating component within the preset starting time length, and determine one rotation speed variation information every time two rotation speed sampling signals are obtained, where the rotation speed variation information is not only related to the sampling frequency, but also related to the preset starting time length. Here, the higher the sampling frequency is, the more the number of pieces of rotational speed variation information determined by the preset starting time period is, and the longer the preset starting time period is set, the more the number of pieces of rotational speed variation information determined by the preset starting time period is, in the case where the sampling frequency is, fixed. The method and the device for determining the change of the rotation speed can determine the final change information of the rotation speed by adjusting the preset starting time length and the sampling frequency based on the requirements of application scenes.
The rotation speed sampling signal can be represented by an original voltage signal collected by the rotation speed regulating component, that is, the larger the voltage signal is, the larger the corresponding rotation speed is. In addition, the rotation speed change information can be represented by an original voltage change signal acquired by the rotation speed regulating component, that is, the larger the voltage change signal is, the larger the corresponding rotation speed change information is.
And S102, judging whether the vehicle starting condition is met at present or not based on the rotation speed change information.
Here, the embodiment of the present application may determine whether the vehicle start condition is currently satisfied based on the rotational speed variation information. When the preset starting time length comprises a starting time and a starting ending time, the rotating speed change information can be determined by the rotating speed at the starting time and the rotating speed at the starting ending time, therefore, before judging whether the vehicle starting condition is met currently, only the difference operation of the rotating speed at the starting time and the rotating speed at the starting ending time is needed, in addition, when the preset starting time length comprises a plurality of speed acquisition cycles, one rotating speed change information can be corresponding to each speed acquisition cycle, and at the moment, the corresponding rotating speed change information needs to be determined according to each speed acquisition cycle.
In a specific application, regardless of the above-described determination manner of the rotation speed variation information, whether the vehicle start condition is currently satisfied may be determined based on a comparison result between the rotation speed variation information and the rotation speed variation threshold. And when the rotation speed change information is determined to be smaller than the rotation speed change threshold, determining that the vehicle starting condition is currently met, otherwise, when the rotation speed change information is determined to be not smaller than the rotation speed change threshold, determining that the vehicle starting condition is not currently met.
When a plurality of pieces of rotation speed variation information within a preset activation period are determined based on the rotation speed sampling signal, each piece of rotation speed variation information may be compared with a rotation speed variation threshold. Thus, when the rotation speed change information is determined to be smaller than the rotation speed change threshold value, the vehicle starting condition is determined to be met, otherwise, the vehicle starting condition is determined not to be met. The determination of the rotation speed variation threshold may be set in combination with a specific application scenario of the vehicle control method provided in the embodiment of the present application.
And S103, if the conditions are met, controlling the vehicle to start.
Here, when it is determined that the vehicle start condition is satisfied, the vehicle start may be controlled. In the embodiment of the application, the device for controlling the vehicle to start may be an electric vehicle motor, that is, when it is determined that the vehicle needs to be controlled to start, the electric vehicle motor may receive a control signal for controlling the vehicle to start through an internal motor controller, so as to drive the electric vehicle motor to rotate according to the control signal, thereby starting the vehicle. The vehicle starting under the condition of meeting the vehicle starting condition is triggered based on the rotating speed change information in the preset starting time length, so that the safety is high.
The adjustment of the above-mentioned rotation speed variation threshold value, which may have an effect on the vehicle start, is a key threshold value to be determined in the embodiment of the present application. The specific application scenario of the vehicle control method provided by the embodiment of the application is that the rotation speed change threshold can be determined by aiming at the historical rotation recording times of the vehicle and the corresponding historical starting recording times, and the rotation speed change threshold can be determined by the sampling frequency when the rotation speed sampling signal is subjected to signal sampling. Next, a detailed description will be given by the following example two.
Example two
The method for determining the rotating speed change threshold value by using the historical rotating record times and the corresponding historical starting record times of the vehicle comprises the following steps:
acquiring historical rotation record times and corresponding historical starting record times for a vehicle;
secondly, determining the ratio of the historical rotation recording times to the historical starting recording times;
and step three, adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
Here, the present embodiment may determine the rotation speed variation threshold value based on a ratio between a historical number of times of rotation of the vehicle and a corresponding historical number of times of activation recording. Here, in the technical field of control of the shared electric bicycle, the server may record how many times the shared electric bicycle is actually started after the shared electric bicycle is rotated each time when the user uses the shared electric bicycle, and if the shared electric bicycle is finally started after two rotations, that is, regarding any one shared electric bicycle, the historical rotation recording times and the historical start recording times may be determined, and a ratio of the rotation speed change threshold value to the historical rotation recording times and the historical start recording times may be directly related.
When the ratio between the historical rotation record times and the historical starting record times is determined to be large, the rotation speed change threshold set for the current vehicle can be basically determined to be too small, and the rotation change threshold can be adjusted to be larger through the specific ratio determined.
For determining a rotation speed variation threshold value by a sampling frequency when signal sampling is performed on a rotation speed sampling signal, the determination method comprises the following steps:
step one, determining a sampling frequency when signal sampling is carried out on a rotation speed sampling signal;
and secondly, adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
Here, the preset rotation speed variation threshold may be adjusted by the magnitude of the sampling frequency to determine the current rotation speed variation threshold.
Considering that the sampling frequency is higher, the sampled rotating speed sampling signal is denser, and the rotating speed change threshold acceptable by the denser rotating speed sampling signal is more severe at a preset starting time, the rotating speed change threshold can be adjusted to be smaller according to the specific sampling frequency.
In summary, in the embodiment of the present application, the rotation speed variation threshold may be determined not only based on the ratio between the historical rotation record number of the vehicle and the corresponding historical activation record number, but also based on the sampling frequency. In a specific application, the initial speed change threshold may be determined according to a sampling frequency, and then the initial speed change threshold may be adjusted based on a ratio between a historical rotation recording number of the vehicle and a corresponding historical activation recording number of the vehicle, so as to obtain a rotation speed change threshold according with an application scenario.
Considering that the determination of the rotation speed variation information is a key step of the vehicle control method provided in the embodiment of the present application, a detailed description will be given next by the following third embodiment.
EXAMPLE III
As shown in fig. 2, a flowchart of a method for determining rotation speed variation information according to a third embodiment of the present application specifically includes the following steps:
s201, acquiring a plurality of rotation speed sampling signals corresponding to preset starting duration;
s202, determining rotation speed change information in sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
s203, determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
Here, a plurality of rotational speed sampling signals corresponding to the rotational speed adjusting component in the preset starting time period may be obtained first, and then, based on the amplitude values of the rotational speed sampling signals collected at every two adjacent sampling time points, the rotational speed change information within the sampling time period corresponding to the adjacent sampling time points may be determined, that is, one rotational speed change information may be determined at every two adjacent sampling time points, so that the rotational speed change information of the rotational speed adjusting component in the preset starting time period may be determined based on the rotational speed change information determined at all adjacent sampling points.
In consideration of specific application, the rotating speed regulating component in the embodiment of the present application may be interfered by a specific application scenario, so that signal interference exists in the collected rotating speed sampling signal. In order to solve the above interference problem, as shown in fig. 3, the embodiment of the present application may perform signal filtering by using a filtering processing method as shown in the following steps.
S301, acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting duration;
s302, aiming at each original rotation speed sampling signal, determining a first amplitude of the original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
s303, determining a first amplitude difference between the first amplitude and each second amplitude and a second amplitude difference between the first amplitude and each third amplitude;
s304, when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
s305, taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
Here, for each of the obtained original rotational speed sampling signals, a first amplitude of the original rotational speed sampling signal, a second amplitude of a first preset number of original rotational speed sampling signals before the original rotational speed sampling signal, and a third amplitude of a second preset number of original rotational speed sampling signals after the original rotational speed sampling signal may be determined, then a first amplitude difference between the first amplitude and each second amplitude, and a second amplitude difference between the first amplitude and each third amplitude may be determined, and finally, when each first amplitude difference and each second amplitude difference are determined to be greater than a preset difference value, the original rotational speed sampling signal may be filtered, so that a plurality of original rotational speed sampling signals after filtering may be obtained by filtering all the original rotational speed sampling signals, and determining a plurality of rotation speed sampling signals corresponding to the preset starting duration according to the obtained original rotation speed sampling signals.
In order to filter out signal interference as much as possible on the premise of ensuring safe starting of the vehicle, the preset difference value set in the embodiment of the application can be larger than the rotation speed change threshold value.
In order to further ensure safe starting of the vehicle, the determination of whether the vehicle starting condition is satisfied may also be performed in combination with the target pressure signal, which is described in the following fourth embodiment.
Example four
As shown in fig. 4, a flowchart of a method for determining a vehicle starting condition according to a fourth embodiment of the present application specifically includes the following steps:
s401, judging whether a target pressure signal is received or not; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
s402, if the target pressure signal is received, judging whether a vehicle starting condition is met at present based on the rotation speed change information.
Here, the prerequisite condition for determining whether the vehicle start condition is currently satisfied based on the rotation speed variation information may be that a target pressure signal, which may be a signal acquired by a pressure sensor provided on the vehicle, is determined to be received. That is, when confirming that the vehicle has born certain pressure, just judge whether present satisfies vehicle starting condition, and then can carry out the safe start of vehicle when satisfying vehicle starting condition, on the contrary, if confirm that the vehicle does not bear pressure, or when the pressure that bears is less than preset pressure value, at this moment, even can not start the vehicle under the condition that can trigger the vehicle start based on rotational speed change information, thereby further ensured the safe start of vehicle.
The pressure sensor may be installed below a seat of the vehicle, may also be installed at a position of the foot pedal, and may also be installed at other positions capable of sensing the pressure of the user.
It should be noted that a specific example of the vehicle control method provided in the embodiment of the present application is to perform vehicle start control based on rotation speed variation information of the rotation speed adjustment component, which mainly depends on a hardware start mode of a manual speed regulator provided on a handle, and in a hardware start mode of a foot-operated speed regulator provided on a foot pedal or other hardware start modes, vehicle start can be performed by using the control scheme for performing vehicle start based on rotation speed variation information of the rotation speed adjustment component, for example, for a hardware start mode of a foot-operated speed regulator, vehicle start can be controlled based on tread speed variation information of the foot-operated speed regulator, and details of related schemes are not repeated herein.
Based on the above embodiments, the embodiments of the present application further provide a vehicle control device, and the implementation of the following various devices can refer to the implementation of the method, and repeated details are not repeated.
EXAMPLE five
As shown in fig. 5, a vehicle control apparatus provided in a fifth embodiment of the present application includes:
an obtaining module 501, configured to obtain rotation speed change information of a rotation speed adjusting component within a preset starting duration;
a judging module 502, configured to judge whether a vehicle starting condition is currently met based on the rotation speed change information;
and a control module 503, configured to control the vehicle to start when the vehicle start condition is met.
In an embodiment, the determining module 502 is specifically configured to:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
In some embodiments, the determining module 502 is specifically configured to determine the rotation speed variation threshold according to the following steps:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
In another embodiment, the obtaining module 501 is specifically configured to:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
In some embodiments, the determining module 502 is specifically configured to determine the rotation speed variation threshold according to the following steps:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
In some embodiments, the obtaining module 501 is specifically configured to:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
In another embodiment, the determining module 502 is specifically configured to:
judging whether a target pressure signal is received or not before judging whether a vehicle starting condition is met or not at present based on the rotation speed change information; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
EXAMPLE six
As shown in fig. 6, for a structural schematic diagram of a vehicle provided in a sixth embodiment of the present application, the vehicle includes a vehicle body, and further includes a processor 601, a storage medium 602, and a bus 603, where the storage medium 602 stores machine-readable instructions executable by the processor 601 (such as execution instructions corresponding to an obtaining module 501, a determining module 502, and a control module 503 in a vehicle control apparatus in fig. 5), when the vehicle runs, the processor 601 and the storage medium 602 communicate through the bus 603, and the machine-readable instructions are executed by the processor 601 to perform the following processes:
acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration;
judging whether the vehicle starting condition is met currently or not based on the rotation speed change information;
and if so, controlling the vehicle to start.
In one embodiment, the above processing executed by the processor 601, the determining whether the vehicle start condition is currently satisfied based on the rotation speed variation information includes:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
In some embodiments, the processor 601 performs the processing to determine the rotation speed variation threshold according to the following steps:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
In another embodiment, the above processing executed by the processor 601, the acquiring the rotation speed variation information of the rotational speed adjusting component within the preset starting time period includes:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
In some embodiments, the processor 601 performs the process of determining the rotation speed variation threshold according to the following steps:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
In some embodiments, the above processing performed by the processor 601, acquiring a plurality of rotation speed sampling signals corresponding to a preset starting time period includes:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
In another embodiment, before the determining whether the vehicle start condition is currently satisfied based on the rotation speed variation information, the processing executed by the processor 601 further includes:
judging whether a target pressure signal is received or not; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
the judging whether the vehicle starting condition is met currently based on the rotation speed change information includes:
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
EXAMPLE seven
An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by the processor 601 to perform the steps of the vehicle control method.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, and when a computer program on the storage medium is run, the vehicle control method can be executed, so that the problem that in the related art, once a speed regulator fails, an electric vehicle is likely to fly because of a high-amplitude sudden change signal output by the speed regulator and is not controlled by a signal, so that potential safety hazards are caused is solved, and further, the vehicle can be controlled to start by limiting the change condition of the rotation speed, so that the dangerous problem of the flying is avoided, and the effect of ensuring the safe start of the vehicle is achieved.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to corresponding processes in the method embodiments, and are not described in detail in this application. In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. The above-described apparatus embodiments are merely illustrative, and for example, the division of the modules is merely a logical division, and there may be other divisions in actual implementation, and for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or modules through some communication interfaces, and may be in an electrical, mechanical or other form.
The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (16)
1. A vehicle control method, characterized by comprising:
acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration;
judging whether the vehicle starting condition is met currently or not based on the rotation speed change information;
and if so, controlling the vehicle to start.
2. The vehicle control method according to claim 1, wherein the determining whether a vehicle start condition is currently satisfied based on the rotation speed variation information includes:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
3. The vehicle control method according to claim 2, characterized in that the rotation speed variation threshold is determined in accordance with the steps of:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
4. The vehicle control method according to claim 2, wherein the acquiring of the rotational speed variation information of the rotational speed adjusting member within the preset activation time period includes:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
5. The vehicle control method according to claim 4, characterized in that the rotation speed variation threshold is determined in accordance with the steps of:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
6. The vehicle control method according to claim 4, wherein the acquiring a plurality of rotation speed sampling signals corresponding to a preset activation time period includes:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
7. The vehicle control method according to claim 1, characterized by, before said determining whether a vehicle start condition is currently satisfied based on the rotation speed variation information, further comprising:
judging whether a target pressure signal is received or not; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
the judging whether the vehicle starting condition is met currently based on the rotation speed change information includes:
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
8. A vehicle control apparatus, characterized in that the apparatus comprises:
the acquisition module is used for acquiring the rotation speed change information of the rotation speed regulating component within a preset starting duration;
the judging module is used for judging whether the vehicle starting condition is met currently or not based on the rotating speed change information;
and the control module is used for controlling the vehicle to start when the vehicle starting condition is met.
9. The vehicle control apparatus of claim 8, wherein the determination module is specifically configured to:
judging whether the change value of the rotating speed regulating component in a preset starting time length is smaller than a rotating speed change threshold value or not;
and if the speed is less than the rotation speed change threshold value, the vehicle starting condition is met.
10. The vehicle control apparatus of claim 9, wherein the determining module is specifically configured to determine the rotation speed variation threshold according to the following steps:
acquiring historical rotation record times and corresponding historical starting record times for the vehicle;
determining the ratio between the historical rotation recording times and the historical starting recording times;
and adjusting the preset rotation speed change threshold according to the determined ratio to obtain the adjusted rotation speed change threshold.
11. The vehicle control apparatus of claim 9, wherein the obtaining module is specifically configured to:
acquiring a plurality of rotation speed sampling signals corresponding to a preset starting duration;
determining the rotation speed change information in the sampling duration corresponding to each two adjacent sampling time points based on the amplitude values of the rotation speed sampling signals acquired at each two adjacent sampling time points;
and determining the rotation speed change information of the rotation speed regulating component in the preset starting time length based on the rotation speed change information in the sampling time length corresponding to each adjacent sampling time point.
12. The vehicle control apparatus of claim 11, wherein the determining module is specifically configured to determine the rotation speed variation threshold according to the following steps:
determining a sampling frequency when the rotation speed sampling signal is subjected to signal sampling;
and adjusting a preset rotation speed change threshold value based on the sampling frequency to obtain the adjusted rotation speed change threshold value.
13. The vehicle control apparatus of claim 11, wherein the obtaining module is specifically configured to:
acquiring a plurality of original rotation speed sampling signals corresponding to a preset starting time length;
determining a first amplitude of each original rotation speed sampling signal, second amplitudes of a first preset number of original rotation speed sampling signals before the original rotation speed sampling signal, and third amplitudes of a second preset number of original rotation speed sampling signals after the original rotation speed sampling signal;
determining a first amplitude difference between the first amplitude and each of the second amplitudes and a second amplitude difference between the first amplitude and each of the third amplitudes;
when the first amplitude difference and the second amplitude difference are both larger than a preset difference value, filtering each original rotation speed sampling signal; the preset difference value is greater than the rotation speed change threshold value;
and taking a plurality of original rotation speed sampling signals obtained through filtering processing as a plurality of rotation speed sampling signals corresponding to preset starting duration.
14. The vehicle control apparatus of claim 8, wherein the determination module is specifically configured to:
judging whether a target pressure signal is received or not before judging whether a vehicle starting condition is met or not at present based on the rotation speed change information; the target pressure signal is a signal obtained by a pressure sensor arranged on a vehicle;
and if the target pressure signal is judged to be received, judging whether the vehicle starting condition is met currently or not based on the rotating speed change information.
15. A vehicle comprising a vehicle body, and further comprising a processor, a storage medium and a bus, the storage medium storing machine-readable instructions executable by the processor, the processor and the storage medium communicating via the bus when the vehicle is in operation, the processor executing the machine-readable instructions to perform the steps of the vehicle control method according to any one of claims 1 to 7.
16. A computer-readable storage medium, characterized in that a computer program is stored thereon, which, when being executed by a processor, carries out the steps of the vehicle control method according to any one of claims 1 to 7.
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