CN112537209B - Vehicle, remote control driving method thereof and storage medium - Google Patents
Vehicle, remote control driving method thereof and storage medium Download PDFInfo
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- CN112537209B CN112537209B CN201910892184.XA CN201910892184A CN112537209B CN 112537209 B CN112537209 B CN 112537209B CN 201910892184 A CN201910892184 A CN 201910892184A CN 112537209 B CN112537209 B CN 112537209B
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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
- 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
- B60L2240/60—Navigation input
- B60L2240/64—Road conditions
- B60L2240/647—Surface situation of road, e.g. type of paving
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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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Abstract
The invention discloses a vehicle, a remote control driving method thereof and a storage medium, wherein the remote control driving method of the vehicle comprises the following steps: detecting that the vehicle is in a remote control driving mode; collecting vehicle speed information and driving torque information; judging whether the vehicle is in a threshold-passing working condition or not according to the vehicle speed information and the driving torque information; determining that the vehicle is in the threshold-passing working condition, and acquiring threshold-passing additional torque; compensating the driving torque according to the threshold-passing additional torque; and driving the vehicle to pass the threshold according to the driving torque. The vehicle and the remote control driving method thereof can realize the remote control driving of the vehicle through the threshold, and prevent the motor from heating or being damaged due to the obstruction of the threshold.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and in particular, to a method for remotely controlling a vehicle, and a computer-readable storage medium.
Background
The vehicle can be controlled outside the vehicle by remote control driving in a visual range, and a user can park and take the vehicle in a narrow place conveniently. Remote driving techniques are used on vehicles which must be driven at low speeds to prevent disconcerting to the user in use. At present, in the remote control driving of the electric vehicle, the remote control driving function can be basically realized, but if a steep-gradient road bank is met, the vehicle cannot be driven to run according to the current remote control driving torque algorithm.
When passing through the bank, the vehicle can not be remotely controlled to drive, the remote control driving is easily interrupted, the motor is in a locked-rotor state due to the blockage of the bank, the motor is heated due to long-time locked-rotor, and even the motor is burnt out.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, one objective of the present invention is to provide a vehicle remote control driving method, which can continue remote control driving when the vehicle is in a threshold-passing condition, so as to avoid long-time stalling of a motor.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a vehicle.
In order to achieve the above object, a vehicle remote control driving method according to an embodiment of a first aspect of the present invention includes: detecting that the vehicle is in a remote control driving mode; collecting vehicle speed information and driving torque information; judging whether the vehicle is in a threshold-passing working condition or not according to the vehicle speed information and the driving torque information; determining that the vehicle is in the threshold-passing working condition, and acquiring threshold-passing additional torque; compensating the driving torque according to the threshold-passing additional torque; and driving the vehicle to pass the threshold according to the driving torque.
According to the vehicle remote control driving method provided by the embodiment of the invention, under the remote control driving mode, the threshold-passing working condition is used for judging, the threshold-passing additional torque is compensated and the driving torque is adjusted when the threshold-passing working condition is adopted, so that the threshold-passing torque requirement can be met, the obstruction of the threshold is overcome, the remote control driving function cannot be easily interrupted when the remote control vehicle passes through the threshold, the motor is prevented from being blocked and then heated or burnt, and the safety is improved.
In some embodiments, determining whether the vehicle is in the over-threshold condition according to the vehicle speed information and the driving torque information includes: judging whether the vehicle speed exceeds the remote control driving vehicle speed range or not according to the vehicle speed information, and judging whether the current driving torque is larger than a set torque threshold or not according to the driving torque information; and if so, determining that the vehicle is in the threshold-passing working condition.
In some embodiments, adjusting the driving torque according to the over-threshold additional torque comprises: collecting ramp information; judging whether the vehicle is on a ramp or not according to the ramp information; determining that the vehicle is not on a grade; and acquiring a reference torque according to the vehicle speed information, wherein the driving torque is the sum of the reference torque and the threshold-passing additional torque.
In some embodiments, the adjusting the driving torque according to the over-threshold additional torque further includes: determining that the vehicle is on a hill; and obtaining a ramp compensation torque according to the ramp information, and obtaining a reference torque according to the vehicle speed information, wherein the driving torque is the sum of the ramp compensation torque, the reference torque and the over-threshold additional torque.
In some embodiments, the passing threshold additional torque is multiple, and driving the vehicle to pass the threshold according to the driving torque includes: and increasing the threshold-crossing additional torque in a stepwise manner until the vehicle exits the threshold-crossing working condition, or until the threshold-crossing additional torque reaches a threshold of threshold-crossing torque.
Through step-type increase the excess threshold additional torque, namely increase the compensation torque gradually, can prevent that too little vehicle compensation torque still can't drive the vehicle drive by remote control to and prevent that too big compensation torque from causing the vehicle to overshoot, and then lead to remote control driving panic.
In some embodiments, the vehicle remote control driving method further includes: determining that the vehicle is not in a threshold-passing working condition; collecting ramp information, and judging whether the vehicle is on a ramp or not according to the ramp information; determining that the vehicle is on a hill; obtaining a ramp compensation torque according to the ramp information, and obtaining a reference torque according to the vehicle speed information; determining the drive torque based on the hill compensation torque and the reference torque.
In some embodiments, the vehicle remote control driving method further includes: determining that the vehicle is not on a hill; acquiring a reference torque according to the vehicle speed information; determining the driving torque according to the reference torque.
In some embodiments, the vehicle remote control driving method further includes: determining that the vehicle speed is greater than a feedback vehicle speed threshold value according to the vehicle speed information; and obtaining feedback torque according to the vehicle speed information, wherein the driving torque comprises the feedback torque.
In some embodiments, the vehicle remote control driving method further includes: acquiring vehicle fault information; judging whether the vehicle has a fault or not according to the vehicle fault information; and determining that the vehicle has no fault, and responding to a remote control driving instruction to start the remote control driving mode.
In some embodiments, the vehicle remote control driving method further includes: judging whether the threshold-passing additional torque exceeds a threshold-passing torque value or not; if yes, exiting the remote control driving mode and giving an alarm.
In order to achieve the above object, a computer-readable storage medium according to an embodiment of a second aspect of the present invention has a computer program stored thereon, which when executed, implements the vehicle remote control driving method.
In order to achieve the above object, a vehicle according to an embodiment of a third aspect of the present invention includes: the motor, a power battery, a vehicle speed sensor and a ramp sensor; and the vehicle control unit is used for executing the vehicle remote control driving method.
According to the vehicle provided by the embodiment of the invention, in the remote control driving mode, the vehicle controller executes the vehicle remote control driving method, and can realize the threshold-crossing remote control driving by compensating the threshold-crossing additional torque within a reasonable threshold road range, so that the remote control driving can not be easily interrupted, and the heating or damage of a motor caused by the barrier of the threshold can be avoided.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for remotely controlling the driving of a vehicle according to one embodiment of the present invention;
FIG. 2 is a flow chart of a method for remotely controlling the driving of a vehicle according to another embodiment of the present invention;
FIG. 3 is a block diagram of a vehicle according to one embodiment of the invention;
FIG. 4 is a schematic diagram of information transfer when implementing remote control driving according to one embodiment of the present invention;
fig. 5 is a block diagram of a vehicle according to another embodiment of the invention.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
In the embodiment of the invention, when the vehicle is remotely controlled to drive, different operation conditions such as slope driving, threshold passing condition or level road driving can be identified, and different driving torques are adopted under different conditions to drive the vehicle to normally drive. And obtaining the corresponding relation between each torque and vehicle influence parameters under different working conditions by a strict calibration method, for example, calibrating the reference torque under different vehicle speeds and the slope compensation torque under different slopes, and establishing a corresponding relation table of the reference torque and the vehicle speed and the slope compensation torque and the slope, wherein the smoothness requirement of the vehicle is considered.
For remote control driving of a vehicle, the vehicle speed is usually relatively low, for example, between 0 and 3 kilometers per hour, when the vehicle runs on a limited road, the current remote control driving method cannot drive the vehicle to run, a threshold working condition judgment strategy is not provided, remote control driving is easily interrupted, and due to the blockage of a threshold, a motor is in a locked-rotor state for a long time, so that heating and even burning are caused.
In order to solve the above-described problems, a vehicle remote control driving method according to an embodiment of the first aspect of the invention is described below with reference to the drawings.
Fig. 1 is a flowchart of a remote control driving method of a vehicle according to an embodiment of the present invention, which includes at least steps S1-S6, as shown in fig. 1.
And S1, detecting that the vehicle is in a remote control driving mode.
For example, when backing up or passing through a relatively narrow road, remote control is more convenient and safer outside the vehicle than driving inside the vehicle, and the remote control driving mode of the vehicle can be started.
In an embodiment, before entering the remote control driving mode, it may be determined whether the vehicle satisfies a remote control driving condition. Specifically, a user triggers a remote control driving starting module, a vehicle Controller CAN obtain vehicle fault information through a Controller Area Network (bus), wherein the vehicle fault information comprises related fault information such as a motor, a battery, communication, an Electric Power Steering (EPS), an Electric Parking Brake (EPB), a vehicle speed, a clutch and the like, whether the vehicle has a fault is judged according to the vehicle fault information, for example, whether the communication is normal, the motor is normal, the battery is sufficient, the vehicle speed is in a remote control driving vehicle speed range and the like, the vehicle is determined to have no fault, the remote control driving mode is allowed to enter, the remote control driving mode is started in response to a remote control driving instruction, otherwise, the remote control driving mode is forbidden to enter.
And S2, collecting vehicle speed information and driving torque information.
Specifically, the vehicle is provided with sensors such as a vehicle speed sensor and a gradient sensor for collecting various parameters of the vehicle, each sensor uploads detection information to a vehicle CAN bus, and the vehicle controller CAN acquire various parameters through the CAN bus so as to output a vehicle control command, such as information of a remote control driving instruction, gear information, gradient information, vehicle speed information, fault information, an EPB state, motor torque and the like.
And S3, judging whether the vehicle is in the threshold-passing working condition or not according to the vehicle speed information and the driving torque information.
Specifically, when a threshold is encountered, the vehicle speed may decrease or the vehicle may slip due to the obstruction of the threshold, that is, the vehicle speed may increase, and the driving torque may also increase in order to overcome the threshold, so that whether the threshold is encountered or not may be determined according to the vehicle speed and the current driving torque.
In some embodiments, it is determined whether the vehicle speed exceeds the vehicle speed range of the remote control driving, for example, below or above 0-3 km/h, based on the vehicle speed information, and whether the current driving torque is greater than a set torque threshold, which may be an upper torque limit value at the time of the remote control driving, based on the driving torque information; if so, determining that the vehicle is in the threshold-passing working condition, and otherwise, determining that the vehicle is not in the threshold-passing working condition. The method comprises the steps of timing, recording the time when the vehicle speed exceeds the remote control driving vehicle speed range and the driving torque is larger than the set torque threshold, and considering that the vehicle is in the threshold-passing working condition when the timing time reaches the set time, so as to avoid the interference of the outside on the vehicle speed or the driving torque to cause the misjudgment of the threshold-passing working condition and improve the judgment accuracy.
And S4, determining that the vehicle is in the threshold-passing working condition, and acquiring threshold-passing additional torque.
In an embodiment of the present invention, when it is determined that the vehicle passes through the threshold, the threshold-passing additional torque is provided to compensate for the torque required by the existence of the threshold.
And S5, compensating the driving torque according to the over-threshold additional torque.
And S6, driving the vehicle to pass through the threshold according to the driving torque.
In an embodiment, when the vehicle runs on a flat road, different vehicle speeds need different torque driving, the driving torque under the flat road condition can be referred to as reference torque in the embodiment of the invention, the hill compensation torque can be provided under the hill condition, and the over-threshold additional torque can be provided under the over-threshold condition.
Therefore, in the embodiment of the invention, when the vehicle is judged to be in the threshold-passing working condition, the threshold-passing additional torque is compensated on the basis of the reference torque or the reference torque and the slope compensation torque, the additional torque required by the threshold-passing can be compensated, the obstruction of the threshold is overcome, and the vehicle can be remotely controlled to pass through the threshold under the threshold-passing working condition.
According to the vehicle remote control driving method provided by the embodiment of the invention, under the remote control driving mode, the threshold-passing working condition is used for judging, the threshold-passing additional torque is compensated and the driving torque is adjusted when the threshold-passing working condition is adopted, so that the threshold-passing torque requirement can be met, the obstruction of the threshold is overcome, the remote control driving function cannot be easily interrupted when the remote control vehicle passes through the threshold, the motor is prevented from being blocked and then heated or burnt, and the safety is improved.
The following description will be made in detail for the remote control driving of the vehicle in various operating conditions.
In some embodiments, it is recognized that the vehicle speed of the vehicle exceeds the remote control driving vehicle speed range and the current driving torque is greater than a set torque threshold value, that is, the vehicle is in a threshold-passing condition, and ramp information is collected, and it is determined that the vehicle is not in a ramp according to the ramp information, that is, the vehicle needs to pass the threshold on a flat road. At this time, the driving torque needs include a torque for propelling the vehicle on a flat road and an over-threshold additional torque. Specifically, the reference torque is obtained according to the vehicle speed information, for example, a pre-stored mapping table of a strictly calibrated vehicle speed and the reference torque is queried according to the vehicle speed, the corresponding reference torque at the current vehicle speed is obtained, the driving torque is a sum of the reference torque and the threshold-crossing additional torque, and then the vehicle is driven according to the driving torque, so that the vehicle can be remotely controlled to pass through the threshold on the flat road and continue the remote control driving.
In other embodiments, it is recognized that the vehicle speed exceeds the remote control driving vehicle speed range and the current driving torque is greater than the set torque threshold value, that is, the vehicle is in the threshold-passing working condition, and it is determined that the vehicle is on a slope according to the slope information, that is, the vehicle needs to pass the threshold on the slope. In practice, the drive torque requirements include torque to propel the vehicle on level roads, hill compensation torque, and over-threshold parasitic torque. Specifically, the reference torque is obtained according to the vehicle speed information, for example, a pre-stored table of a strictly calibrated vehicle speed and the reference torque is queried according to the vehicle speed, the corresponding reference torque at the current vehicle speed is obtained, and the hill compensation torque is obtained according to the hill information, for example, a pre-stored table of a strictly calibrated hill and the hill compensation torque is queried according to the hill value, the hill compensation torque corresponding to the current hill is obtained, and then the driving torque is the sum of the reference torque, the hill compensation torque and the over threshold additional torque. And then, the vehicle is driven according to the driving torque, namely, the vehicle can be remotely controlled to pass through the bank on the ramp, and the remote control driving is continued.
In short, when the vehicle is remotely controlled to drive, no matter the vehicle passes the threshold on a flat road or passes the threshold on a slope, the method of the embodiment of the invention can still remotely control and drive the vehicle within a reasonable threshold road and slope range by compensating the additional torque of passing the threshold, so that the remote control driving function cannot be easily interrupted.
Further, the threshold and the gradient range of the threshold on the traveling road are different, and no matter what threshold is, the same over-threshold compensation torque is adopted, and the situation that the torque cannot pass may occur in some cases. Therefore, in some embodiments of the present invention, a plurality of the over threshold compensating torques may be provided, and the magnitude of the plurality of the over threshold compensating torques is different. When the vehicle is identified to be in the threshold-crossing working condition, the threshold-crossing accessory torque is compensated, the threshold-crossing accessory torque comprises a plurality of torques with different sizes, and the threshold-crossing accessory torque is increased in a stepped mode until the vehicle exits the threshold-crossing working condition, or until the threshold-crossing accessory torque reaches the threshold of the torque.
Further, the vehicle speed is determined to be beyond the vehicle speed range of remote control driving according to the vehicle speed information, and the threshold-crossing additional torque exceeds the threshold-crossing torque, so that the vehicle cannot cross the road threshold in the remote control driving mode, otherwise, the vehicle is subjected to overspeed driving, danger is easily caused, the vehicle exits the remote control driving mode, and an alarm is given.
Taking the preset threshold-passing additional torques of large, medium and small degrees as an example, when the vehicle is driven to pass the threshold, the small threshold-passing additional torque is compensated, if the vehicle is still in the threshold-passing working condition, namely, the vehicle cannot pass the threshold, the compensated threshold-passing additional torque is increased, the medium threshold-passing additional torque is compensated, and if the vehicle passes the threshold, the vehicle exits the threshold-passing working condition. On the contrary, if the vehicle still can not pass through the threshold, the excessive threshold additional torque is further increased according to the logic circulation, the excessive threshold additional torque is compensated, the vehicle exits from the threshold-passing working condition, the excessive threshold additional torque is gradually reduced, and the driving torque is calculated according to normal remote control driving. On the contrary, when the vehicle is still in the threshold-passing working condition when the vehicle is increased to the maximum threshold-passing additional torque, the vehicle controller considers that the gradient of the threshold road is large and does not accord with the requirement condition of remote control driving, and therefore the remote control driving is stopped.
In the above example, three degrees of over-threshold additional torque are taken as an example, more over-threshold additional torques of different levels may be set, or one or more over-threshold additional torques may be set, as required.
Through step-type increase the excess threshold additional torque, namely increase the compensation torque gradually, can prevent that too little vehicle compensation torque still can't drive the vehicle drive by remote control to and prevent that too big compensation torque from causing the vehicle to overshoot, and then lead to remote control driving panic.
In some embodiments, when it is identified that the vehicle is not in the over-threshold condition, the ramp information is collected, whether the vehicle is in a ramp is judged according to the ramp information, and the vehicle is determined to be in the ramp, wherein the driving torque comprises a reference torque and a ramp compensation torque. Specifically, the hill compensation torque is obtained according to the hill information, for example, a pre-stored table of a strictly calibrated hill and the hill compensation torque is inquired according to the hill value, the hill compensation torque corresponding to the current hill value is obtained, the reference torque is obtained according to the vehicle speed information, the sum of the hill compensation torque and the reference torque is used as the driving torque, and then the vehicle is driven according to the driving torque, so that the vehicle can be remotely driven through the hill.
In other embodiments, the drive torque includes a reference torque when the vehicle is determined not to be on a grade based on the grade information. Specifically, the reference torque is obtained according to the vehicle speed information, for example, a pre-stored corresponding table of the vehicle speed and the reference torque which are strictly calibrated is inquired according to the vehicle speed, the reference torque corresponding to the current vehicle speed is obtained, the vehicle is driven according to the reference torque, and the purpose of normally running the remotely-controlled driving vehicle on a flat road is achieved.
Further, when the vehicle speed is relatively high, for example, the vehicle speed is determined to be greater than a feedback vehicle speed threshold value according to the vehicle speed information, feedback torque is obtained according to the vehicle speed information, the feedback torque is negative torque, namely when the vehicle speed is relatively high, panic feeling during remote control driving is easily caused, negative torque is provided for the vehicle, namely driving torque comprises the feedback torque, namely the vehicle is properly braked so that the vehicle is decelerated, braking mechanical energy is converted into electric energy, and a battery is charged. For example, when the vehicle speed is large when going downhill, the feedback torque can be provided, and at this time, the driving torque is the sum of the reference torque, the slope compensation torque and the feedback torque; or, under the working condition that the slope passes through the threshold, the vehicle slides due to the obstruction of the threshold, and the feedback torque is provided when the vehicle speed is higher, wherein at the moment, the driving torque comprises the reference torque, the slope compensation torque, the threshold-passing additional torque and the feedback torque. In the embodiment, similarly, a corresponding table of different vehicle speeds and feedback torques can be determined in a strict calibration mode, the feedback torque corresponding to the current vehicle speed is obtained by inquiring the pre-stored corresponding table of the vehicle speed and the feedback torque according to the vehicle speed, and the feedback torque is compensated, so that the battery can be charged during remote control driving.
Based on the above description of the embodiments, fig. 2 is a flowchart of a vehicle remote control driving method according to an embodiment of the present invention, and as shown in fig. 2, specifically includes:
and S100, detecting a remote control driving instruction.
S101, judging whether a remote control driving instruction is detected or not, if not, going to S102, and if so, going to S103.
And S102, not executing the remote control driving strategy.
S103, judging whether the vehicle state allows remote control driving, if yes, going to step S105, and if no, going to step S104.
And S104, performing sound alarm to prompt that the remote control driving mode cannot be entered.
And S105, calculating the driving torque of the normal remote control driving.
S106, judging whether the vehicle speed exceeds the remote control driving vehicle speed range and whether the driving torque is larger than a preset torque threshold value, if so, executing a step S107, otherwise, executing a step S113.
S107, a timer counts Cnt + +.
S108, it is determined whether the timer Cnt is greater than the set threshold value, and if so, the process proceeds to step S109.
And S109, compensating the over-threshold additional torque.
And S110, judging whether the vehicle speed enters the remote control driving vehicle speed range, if so, entering the step S113, and if not, entering the step S111.
And S111, judging whether the over-threshold additional torque reaches the maximum value, if so, entering the step S113, and if not, returning to the step S106.
And S112, exiting the remote control driving mode and giving an alarm.
And S113, maintaining the previous state, wherein the total torque is the sum of the normal calculation torque and the over-threshold additional torque.
And S114, smoothing the torque and outputting the torque to a driving motor so as to drive the vehicle to pass through the road.
In summary, the vehicle remote control driving method of the embodiment of the invention can identify different driving conditions of the vehicle, provide ramp compensation torque under the ramp conditions, compensate over-threshold additional torque under the over-threshold conditions, realize remote control of vehicle over-threshold, avoid overheating or damage caused by long-time stalling of a motor, increase the over-threshold additional torque in a gradient manner, avoid the situation that the over-threshold additional torque is too small to pass the threshold and easily quit the remote control driving, avoid the situation that the over-threshold additional torque is too large to cause overshoot, and provide feedback torque when the vehicle speed is large, so as to recycle energy to charge a battery, and realize energy recycling during the remote control driving. Specifically, at least one of the over-threshold additional torque, the slope compensation torque and the feedback torque can be compensated on the basis of the reference torque according to the actual working condition, so that the remote control driving of the vehicle is realized.
Based on the vehicle remote control driving method of the above embodiment, a computer-readable storage medium of an embodiment of a second aspect of the present invention has stored thereon a computer program that, when executed, can implement the vehicle remote control driving method of the above embodiment.
Based on the vehicle remote control driving method of the above embodiment, a vehicle according to an embodiment of a third aspect of the invention is described below with reference to the drawings.
Fig. 3 is a block diagram of a vehicle according to an embodiment of the present invention, and as shown in fig. 3, the vehicle 100 according to the embodiment of the present invention includes an electric motor 10, a power battery 20, a vehicle speed sensor 30, a slope sensor 40, and a vehicle control unit 50, and of course, the vehicle 100 further includes more sensors, driving structures, a transmission system, and the like, which are not listed herein.
As shown in fig. 4, the vehicle control unit 50 may obtain a remote control driving command, fault information, ramp information, vehicle speed information, gear information, EPB state information, and other vehicle information through a CAN bus of the vehicle, and in the remote control driving mode, the vehicle control unit 50 may perform the vehicle remote control driving method of the above embodiment, obtain a driving torque, and send the driving torque to the motor controller, and the motor controller controls the motor 10 to operate, so as to implement the vehicle remote control driving, where a specific implementation of the vehicle remote control driving method refers to the description of the above embodiment.
According to the vehicle 100 of the embodiment of the present invention, in the remote control driving mode, the vehicle control unit 50 executes the vehicle remote control driving method of the above embodiment, and by compensating the threshold-crossing additional torque, the threshold-crossing remote control driving can be realized within a reasonable threshold road range, the remote control driving cannot be easily interrupted, and the heating or damage of the motor due to the threshold obstruction can be avoided.
In some embodiments, as shown in fig. 5, the vehicle 100 according to the embodiment of the present invention further includes a mode switching device 60, where the mode switching device 60 may be disposed on a central control panel or an instrument panel of the vehicle, and when a user wants to perform remote control driving, the vehicle may be switched to a remote control driving mode by operating the device, and the mode switching device 60 receives a remote control driving mode switching action and outputs a remote control driving instruction, so that the vehicle control unit 50 performs driving according to the vehicle remote control driving method of the above embodiment, thereby implementing remote control driving of the vehicle. Wherein, combine intelligent key or mobile terminal APP, can realize that the user carries out remote control to the vehicle outside the car.
It should be noted that in the description of this specification, any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of custom logic functions or processes, and that the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Further, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (9)
1. A vehicle remote control driving method, characterized by comprising:
detecting that the vehicle is in a remote control driving mode;
collecting vehicle speed information and driving torque information;
judging whether the vehicle is in a threshold-passing working condition or not according to the vehicle speed information and the driving torque information;
determining that the vehicle is in the threshold-passing working condition, and acquiring threshold-passing additional torque;
compensating the driving torque according to the threshold-passing additional torque, wherein the threshold-passing additional torque is multiple, and increasing the threshold-passing additional torque in a stepped manner until the vehicle exits the threshold-passing working condition, or until the threshold-passing additional torque reaches a threshold of threshold-passing torque;
and driving the vehicle to pass the threshold according to the driving torque.
2. The remote control driving method for the vehicle according to claim 1, wherein determining whether the vehicle is in an over-threshold condition according to the vehicle speed information and the driving torque information comprises:
judging whether the vehicle speed exceeds the remote control driving vehicle speed range or not according to the vehicle speed information, and judging whether the current driving torque is larger than a set torque threshold or not according to the driving torque information;
and if so, determining that the vehicle is in the threshold-passing working condition.
3. The remote control driving method of a vehicle according to claim 1, wherein adjusting the driving torque according to the over-threshold additional torque comprises:
collecting ramp information;
judging whether the vehicle is on a ramp or not according to the ramp information;
determining that the vehicle is not on a ramp, and obtaining a reference torque according to the vehicle speed information, wherein the driving torque is the sum of the reference torque and the threshold-passing additional torque;
or determining that the vehicle is on a slope, obtaining a slope compensation torque according to the slope information, and obtaining a reference torque according to the vehicle speed information, wherein the driving torque is the sum of the slope compensation torque, the reference torque and the over-threshold additional torque.
4. The vehicle remote control driving method according to claim 1, further comprising:
determining that the vehicle is not in a threshold-passing working condition;
collecting ramp information, and judging whether the vehicle is on a ramp or not according to the ramp information;
determining that the vehicle is on a slope, obtaining slope compensation torque according to the slope information, obtaining reference torque according to the vehicle speed information, and determining the driving torque according to the slope compensation torque and the reference torque;
or determining that the vehicle is not on a slope, obtaining a reference torque according to the vehicle speed information, and determining the driving torque according to the reference torque.
5. The vehicle remote control driving method according to claim 1, further comprising:
determining that the vehicle speed is greater than a feedback vehicle speed threshold value according to the vehicle speed information;
and obtaining feedback torque according to the vehicle speed information, wherein the driving torque comprises the feedback torque.
6. The vehicle remote control driving method according to claim 1, further comprising:
acquiring vehicle fault information;
judging whether the vehicle has a fault or not according to the vehicle fault information;
and determining that the vehicle has no fault, and responding to a remote control driving instruction to start the remote control driving mode.
7. The vehicle remote control driving method according to claim 1, further comprising:
and determining that the vehicle speed exceeds the remote control driving vehicle speed range according to the vehicle speed information, and the threshold-crossing additional torque exceeds the threshold-crossing torque, exiting the remote control driving mode, and giving an alarm.
8. A computer-readable storage medium, having stored thereon a computer program which, when executed, implements the vehicle remote control driving method according to any one of claims 1 to 7.
9. A vehicle, characterized by comprising:
the system comprises a motor, a power battery, a vehicle speed sensor and a ramp sensor;
vehicle control unit for carrying out the method for remote-controlled driving of a vehicle according to any of claims 1 to 7.
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| CN201910892184.XA CN112537209B (en) | 2019-09-20 | 2019-09-20 | Vehicle, remote control driving method thereof and storage medium |
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| CN113183773A (en) * | 2021-06-07 | 2021-07-30 | 北京车和家信息技术有限公司 | Electric vehicle control method, electric vehicle control device, storage medium, and electronic apparatus |
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