CN112810626B - Vehicle control method, device and equipment - Google Patents
Vehicle control method, device and equipment Download PDFInfo
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- CN112810626B CN112810626B CN202110012334.0A CN202110012334A CN112810626B CN 112810626 B CN112810626 B CN 112810626B CN 202110012334 A CN202110012334 A CN 202110012334A CN 112810626 B CN112810626 B CN 112810626B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- Automation & Control Theory (AREA)
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- Mechanical Engineering (AREA)
- Safety Devices In Control Systems (AREA)
Abstract
The embodiment of the application provides a control method, a device and equipment of a vehicle, wherein the vehicle comprises a controller, and the method comprises the following steps: acquiring the state of the controller, wherein the state of the controller is an initialization state or an operation state; acquiring at least one fault valid bit in the controller, wherein the fault valid bit is valid or invalid and is used for indicating whether fault detection is carried out or not; controlling the vehicle based on the state of the controller and the at least one fault valid bit. The safety of vehicle driving is improved.
Description
Technical Field
The present application relates to the field of engine technologies, and in particular, to a method, an apparatus, and a device for controlling a vehicle.
Background
During the running of the vehicle, an Electronic Control Unit (ECU) of the vehicle limits the output power of the engine according to the acquired failure information.
At present, fault information of a vehicle is stored in a database of a controller in a calibration amount mode, and an ECU determines whether the vehicle has a fault or not according to the calibration amount of the controller data, so as to control the vehicle. However, if the user masks the failure information of the controller (for example, modifies the calibration amount of the failure information), the calibration amount corresponding to the failure is always zero, and even if the vehicle fails, the ECU cannot acquire the failure information, and does not limit the output power of the engine, thereby resulting in low driving safety of the vehicle.
Disclosure of Invention
The embodiment of the application provides a control method, a control device and control equipment of a vehicle, and is used for solving the technical problem that the driving safety of the vehicle is low in the prior art.
In a first aspect, an embodiment of the present application provides a control method for a vehicle, where the vehicle includes a controller, and the method includes:
acquiring the state of the controller, wherein the state of the controller is an initialization state or an operation state;
acquiring at least one fault valid bit in the controller, wherein the fault valid bit is valid or invalid and is used for indicating whether fault detection is carried out or not;
controlling the vehicle based on the state of the controller and the at least one fault valid bit.
In one possible embodiment, controlling the vehicle based on the state of the controller and the at least one fault validity bit comprises:
determining a detection result of the vehicle according to the state of the controller and the at least one fault valid bit, wherein the detection result is a normal state or an abnormal state;
and controlling the vehicle according to the detection result.
In one possible embodiment, determining the detection result of the vehicle based on the state of the controller and the at least one failure validity bit includes:
when the state of the controller is the initialization state, if at least one fault valid bit exists, the detection result of the vehicle is an abnormal state; if the at least one fault valid bit does not exist, the detection result of the vehicle is in a normal state;
determining a target fail valid bit among the at least one fail valid bit when the state of the controller is a run state, the target fail valid bit being a valid fail valid bit; and determining the detection result of the vehicle according to the target fault valid bit.
In one possible embodiment, determining the detection result of the vehicle according to the target failure valid bit includes:
setting the target fault effective bit to obtain a setting result corresponding to the target fault effective bit, wherein the setting process is used for setting the target fault effective bit to a preset value;
and determining the detection result of the vehicle according to the setting result.
In one possible embodiment, determining the detection result of the vehicle according to the setting result includes:
when the setting result indicates that the target fault effective position is successful, determining that the detection result of the vehicle is in a normal state;
and when the setting result indicates that the setting of the target failure valid bit fails, determining that the detection result of the vehicle is in an abnormal state.
In one possible embodiment, controlling the vehicle according to the detection result includes:
when the detection result is in a normal state, controlling the vehicle to operate according to the operation parameters of the vehicle;
and when the detection result is in an abnormal state, modifying the running parameters of the vehicle according to a preset rule to obtain first running parameters, and controlling the vehicle to run according to the first running parameters.
In one possible embodiment, the operating parameters of the vehicle include at least one of:
the speed of the vehicle;
the rotational speed of the engine of the vehicle;
status of vehicle malfunction indicator lights.
In a second aspect, an embodiment of the present application provides a control apparatus for a vehicle, where the vehicle includes a controller, and the control apparatus for the vehicle includes a first obtaining module, a second obtaining module, and a control module, where:
the first obtaining module is used for obtaining the state of the controller, wherein the state of the controller is an initialization state or an operation state;
the second obtaining module is used for obtaining at least one fault valid bit in the controller, wherein the fault valid bit is valid or invalid, and the fault valid bit is used for indicating whether fault detection is carried out or not;
the control module is configured to control the vehicle based on a state of the controller and the at least one fault validity bit.
In a possible implementation, the control module is specifically configured to:
determining a detection result of the vehicle according to the state of the controller and the at least one fault valid bit, wherein the detection result is a normal state or an abnormal state;
and controlling the vehicle according to the detection result.
In a possible implementation, the control module is specifically configured to:
when the state of the controller is the initialization state, if at least one fault valid bit exists, the detection result of the vehicle is an abnormal state; if the at least one fault valid bit does not exist, the detection result of the vehicle is in a normal state;
determining a target fail valid bit among the at least one fail valid bit when the state of the controller is a run state, the target fail valid bit being a valid fail valid bit; and determining the detection result of the vehicle according to the target fault valid bit.
In a possible implementation, the control module is specifically configured to:
setting the target fault effective bit to obtain a setting result corresponding to the target fault effective bit, wherein the setting process is used for setting the target fault effective bit to a preset value;
and determining the detection result of the vehicle according to the setting result.
In a possible implementation, the control module is specifically configured to:
when the setting result indicates that the target fault effective position is successful, determining that the detection result of the vehicle is in a normal state;
and when the setting result indicates that the setting of the target fault valid bit fails, determining that the detection result of the vehicle is in an abnormal state.
In a possible implementation, the control module is specifically configured to:
when the detection result is in a normal state, controlling the vehicle to operate according to the operation parameters of the vehicle;
and when the detection result is in an abnormal state, modifying the running parameters of the vehicle according to a preset rule to obtain first running parameters, and controlling the vehicle to run according to the first running parameters.
In one possible embodiment, the operating parameters of the vehicle include at least one of:
the speed of the vehicle;
the rotational speed of the engine of the vehicle;
status of vehicle malfunction indicator lights.
In a third aspect, an embodiment of the present application provides a control apparatus of a vehicle, including: a memory for storing program instructions, a processor for invoking the program instructions in the memory to perform a control method of a vehicle as set forth in any one of the first aspects, and a communication interface.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, on which a computer program is stored; the computer program is for implementing the control method of the vehicle according to any one of the first aspect.
In a fifth aspect, the present application provides a computer program product comprising a computer program that, when executed by a processor, implements the control method of the vehicle according to any one of the first aspect.
The embodiment of the application provides a control method, a control device and control equipment of a vehicle, wherein the vehicle comprises a controller, the state of the controller is obtained, the state of the controller is an initialization state or an operation state, at least one fault valid bit in the controller is obtained, the fault valid bit is valid or invalid, and the vehicle is controlled according to the state of the controller and the at least one fault valid bit. In the method, the fault valid bit is determined to be valid or invalid according to the state of the controller, whether the fault is tampered or not can be accurately determined, the vehicle can be accurately controlled, and the driving safety of the vehicle is improved.
Drawings
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application;
FIG. 2 is a schematic flow chart illustrating a control method for a vehicle according to an embodiment of the present disclosure;
FIG. 3 is a schematic flow chart illustrating another method for controlling a vehicle according to an embodiment of the present disclosure;
FIG. 4 is a process diagram of a control method for a vehicle according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application;
fig. 6 is a schematic diagram of a hardware configuration of a control device of a vehicle according to the present application.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the related art, an Electronic Control Unit (ECU) of a vehicle determines whether the vehicle has a failure according to a calibration amount of failure information in a controller, and then controls the vehicle. However, if the user masks the calibration amount of the failure information in the controller (for example, modifies the calibration amount of the failure information), the ECU cannot acquire the failure information when the vehicle fails, and further does not limit the engine speed of the vehicle, resulting in low driving safety of the vehicle.
In order to solve the technical problem of low driving safety of a vehicle in the related art, an embodiment of the present application provides a control method for a vehicle, where the vehicle includes a controller, and obtains a state of the controller, where the state of the controller is an initialization state or an operation state, and obtains at least one fault valid bit in the controller, where the fault valid bit is valid or invalid, and according to the state of the controller and the at least one fault valid bit in the controller, it may be accurately determined whether faults of the vehicle in different states of the controller are masked, and the vehicle may be controlled. In the method, when the controller is in an initialization stage, each fault needs to be initialized, if a fault valid bit is valid at the moment, the fault corresponding to the fault valid bit is shielded, and when the controller is in an operation state, if the fault valid bit cannot be reset, the fault corresponding to the fault valid bit is shielded, so that for different states of the controller, whether the fault is shielded or not can be accurately determined by combining the fault valid bits, and if the fault is shielded, the ECU can limit the running speed of the vehicle according to the rotation speed of the limited engine, and further the running safety of the vehicle can be improved.
For easy understanding, an application scenario to which the embodiment of the present application is applied is described in detail below with reference to fig. 1.
Fig. 1 is a schematic view of an application scenario provided in an embodiment of the present application. Please refer to fig. 1, which includes: a controller, a vehicle control system and a device of a vehicle. The vehicle control system is arranged in a vehicle, the vehicle control system can be an on-board computer, the device of the vehicle can be an engine of the vehicle, and the controller can be an engine controller. The vehicle control system obtains the state of the controller and the fault valid bit in the controller, further determines the running parameters of the vehicle according to the state of the controller and the fault valid bit, and controls the vehicle according to the running parameters of the vehicle. For example, if the vehicle control system determines that the fault data of the engine is modified based on the state of the controller and the fault validity bit, the vehicle control system reduces the speed of the vehicle by limiting the parameters of the engine to reduce the speed of the engine. Therefore, when the fault data are modified, the speed of the vehicle can be limited, and the running safety of the vehicle is improved.
The technical means shown in the present application will be described in detail below with reference to specific examples. It should be noted that the following embodiments may exist alone or in combination with each other, and description of the same or similar contents is not repeated in different embodiments.
Fig. 2 is a schematic flowchart of a control method of a vehicle according to an embodiment of the present disclosure. Referring to fig. 2, the method may include:
s201, acquiring the state of the controller.
The execution subject of the embodiment of the present application may be a control system of a vehicle, or may be a control device of a vehicle provided in the control system of the vehicle. The control device of the vehicle may be implemented by a combination of software and/or hardware.
The controller is a master device for controlling the starting, speed regulation, braking and reversing of the motor by changing the wiring of a main circuit or a control circuit and changing the resistance value in the circuit according to a preset sequence. Alternatively, a plurality of controllers may be installed in the vehicle for controlling the vehicle. For example, the controllers in the vehicle may include a body controller, a hydraulic controller, a vehicle control unit, and the like.
The state of the controller is an initialization state or an operation state. The initialization state is used for setting data or variables in the controller to default initial values. For example, when the state of the controller is an initialization state, the data in the controller may be set to a default value. For example, if the initial value of the data in the controller is zero, the data in the controller is set to the initial value of zero at the end of the controller initialization state.
The operating state is used to indicate the operating state of the controller. For example, after the controller is in the initialization state, the state of the controller is the operating state, and when the state of the controller is the operating state, the controller executes the corresponding function. For example, the hydraulic controller can automatically adjust the braking force during the operation state, thereby preventing the wheels from locking during braking.
Alternatively, the state of the controller may be obtained according to the following feasible implementation: the vehicle control system may acquire the state of the controller from the signal of the controller. The vehicle control system can be a vehicle computer, a vehicle control unit and the like. For example, if a signal of the controller acquired by the vehicle control system is a signal corresponding to the initialization state, the state of the controller is the initialization state; and if the signal of the controller acquired by the vehicle control system is a signal corresponding to the running state, the state of the controller is the running state.
Optionally, the vehicle control system may determine that the state of the controller is the initialization state according to a power-on signal or a reset signal of the controller. For example, when a controller in a vehicle is powered on, data in the controller needs to be initialized, and if a signal acquired by a vehicle control system from the controller is a power-on signal, the state of the controller is an initialization state; when the controller in the vehicle is reset, the controller needs to initialize data in the controller, and if the signal acquired by the vehicle control system from the controller is a reset signal, the state of the controller is an initialization state.
Optionally, after the initialization of the controller is finished, the state of the controller is an operating state, and the state of the controller may be determined according to the initialized duration of the controller. For example, when the state of the controller is an initialization state, the vehicle control system determines whether the controller enters an operation state according to a length of time during which the controller is initialized. For example, if the controller is initialized for a duration greater than or equal to the duration for the controller to enter the initialization state, the state of the controller is the initialization state; and if the initialized duration of the controller is less than the duration of the controller entering the initialized state, the state of the controller is the running state. For example, if the controller is initialized for 200 milliseconds and the controller enters the initialization state for 300 milliseconds, the state of the controller is the running state; if the controller is initialized for 200 milliseconds and the controller enters the initialization state for 100 milliseconds, the state of the controller is the initialization state.
S202, acquiring at least one fault valid bit in the controller.
The fault valid bit is used to indicate whether a fault detection has been made. Where the fault valid bit is valid or invalid. And when the vehicle control system does not detect the fault corresponding to the fault valid bit, the fault valid bit is invalid. For example, each fault in the vehicle corresponds to a detection logic, and after the vehicle control system detects the fault according to the detection logic, the fault valid bit corresponding to the fault is valid; when the vehicle control system does not detect a fault, the fault valid bit corresponding to the fault is invalid.
Alternatively, the vehicle control system may determine the failure validity bit based on the detection signal. For example, when detecting an intake air temperature fault, the controller corresponding to the intake air temperature fault may initiate a detection signal to the vehicle control system, and after receiving the detection signal, the vehicle control system may determine that the fault valid bit corresponding to the intake air temperature fault is valid.
Optionally, each fault in the controller of the vehicle corresponds to a fault valid bit. For example, if the vehicle control system detects an engine fault, the fault valid bit corresponding to the engine fault is valid; if the vehicle control system detects the engine oil fault, the fault valid bit corresponding to the engine oil fault is valid; and if the vehicle control system does not detect the tire pressure fault, the fault valid bit corresponding to the tire pressure fault is invalid.
When a fault is masked, the fault valid bit corresponding to the fault may be forced to be valid and cannot be cleared. For example, if the vehicle control system finds that the calibration amount of the fault information is modified, the fault valid bit may be forcibly set to be valid and cannot be cleared.
Optionally, the vehicle control system may determine whether the fault is masked based on a calibration amount corresponding to the fault in the controller. For example, when the controller is powered on, the vehicle control system may obtain a calibration amount corresponding to each fault in the controller, and if the calibration amount corresponding to the fault is changed, the vehicle control system determines that the fault is shielded, and sets the fault valid bit to be valid; and if the calibration quantity corresponding to the fault is not changed, the vehicle control system determines that the fault is not shielded.
Alternatively, the failure information and the failure valid bit of the failure may be set in the program. For example, the fault information of the fault is not in a calibration quantity mode, but the fault information of the fault and the fault valid bit are arranged in the running program of the controller, so that the modification of the calibration quantity can be avoided.
And S203, controlling the vehicle according to the state of the controller and at least one fault valid bit.
The vehicle may be controlled according to the following possible implementations: the detection result of the vehicle is determined based on the state of the controller and the at least one failure validity bit. Wherein, the detection result is a normal state or an abnormal state. For example, if the controller status and at least one fault valid bit indicate that the fault is masked, the detection result of the vehicle is an abnormal status; and if the controller state and the at least one fault valid bit indicate that the fault is not shielded, the detection result of the vehicle is in a normal state. For example, when the controller is powered on, the state of the controller is an initialization state, the data in the controller is a default value, the fault valid bit is invalid, if the fault valid bit is valid at this time, the calibration amount corresponding to the fault is changed, the fault is masked, and the detection result of the vehicle is an abnormal state.
And controlling the vehicle according to the detection result. Optionally, the vehicle is controlled according to the detection result as follows:
case 1: the detection result is a normal state.
And when the detection result is in a normal state, controlling the vehicle to operate according to the operation parameters of the vehicle. Wherein the operating parameters of the vehicle may include at least one of: vehicle speed of the vehicle, rotational speed of an engine of the vehicle, status of a vehicle malfunction indicator light. Alternatively, the vehicle speed of the vehicle may be a running speed of the vehicle. For example, if the vehicle travels 100 kilometers in one hour, the vehicle speed may be 100 kilometers per hour.
The rotational speed of the engine of the vehicle is the torque that the engine outputs to the outside. For example, the rotational speed of the engine may be the number of revolutions of a crankshaft of the engine. The speed of the engine is used to indicate the available power of the engine. For example, within the preset engine speed range, the engine speed is in non-linear proportion to the available power of the engine, and the greater the engine speed, the greater the available power of the engine, and the greater the traction force of the vehicle.
Alternatively, the rotational speed of the engine may be acquired from a sensor. For example, since the rotation speed of the engine is large (the rotation speed of the engine may reach 1000 rpm in an idle state of the vehicle), the number of revolutions of a crankshaft of the engine per unit time (one minute) may be obtained using a rotation speed sensor, and the rotation speed of the engine may be determined.
The vehicle malfunction indicator lamp may be turned on or off. For example, when a vehicle has a fault, the vehicle fault indicator lamp is turned on, and the state of the vehicle fault indicator lamp may be a flashing state, so as to remind the user that the vehicle has a fault.
And when the detection result is in a normal state, the vehicle control system controls the vehicle to run according to the running parameters of the vehicle.
Case 2: the detection result is an abnormal state.
And when the detection result is in an abnormal state, modifying the running parameters of the vehicle according to a preset rule to obtain first running parameters. The preset rule may be a preset correction factor. For example, the preset rule may include that the engine speed of the vehicle is reduced by 70%, the vehicle speed of the vehicle is reduced by 80%, and the like. Optionally, when the detection result is the abnormal state, the first operating parameter may be obtained according to the operating parameter of the vehicle and a preset rule. For example, if the operation parameters of the vehicle include that the vehicle speed of the vehicle is 100 km/h and the engine speed of the vehicle is 2000 rpm, and the preset rule includes that the engine speed of the vehicle is reduced by 80%, the vehicle speed of the vehicle is reduced by 70%, and the status of the vehicle malfunction indicator lamp is in a flashing state, the first operation parameter includes that the vehicle speed of the vehicle is 20 km/h, the engine speed of the vehicle is 600 rpm, and the status of the vehicle malfunction indicator lamp is in a flashing state.
And controlling the vehicle to operate according to the first operation parameter. For example, when the detection result is an abnormal state, the vehicle control system may limit the vehicle speed and the engine speed of the vehicle according to the first operation parameter, turn on the vehicle fault indicator lamp, and remind the user that the fault in the vehicle is shielded, thereby improving the driving safety of the vehicle.
The embodiment of the application provides a control method of a vehicle, the vehicle comprises a controller, the state of the controller is obtained, the state of the controller is an initialization state or an operation state, at least one fault valid bit in the controller is obtained, the fault valid bit is valid or invalid, a detection result of the vehicle is determined according to the state of the controller and the at least one fault valid bit, the detection result of the vehicle is a normal state or an abnormal state, and the vehicle is controlled according to the detection result. In the method, the vehicle is controlled according to the detection result, so that the condition that the vehicle control system does not limit the vehicle speed by tampering the fault shielding result can be avoided, the fault in the controller is judged according to different states of the controller and the fault valid bit, whether the fault is shielded can be accurately determined, and the safety of the vehicle in operation can be further improved.
In addition to the embodiment shown in fig. 2, the following describes the control method of the vehicle in detail with reference to fig. 3.
Fig. 3 is a flowchart illustrating another vehicle control method according to an embodiment of the present disclosure. Referring to fig. 3, the method may include:
s301, acquiring the state of the controller.
The state of the controller is an initialization state or a running state.
It should be noted that the execution process of S301 may refer to the execution process of S201, and is not described herein again.
S302, at least one fault valid bit in the controller is obtained.
The fault valid bit is valid or invalid.
It should be noted that the execution process of S302 may refer to the execution process of S202, and is not described herein again.
And S303, determining the detection result of the vehicle according to the state of the controller and at least one fault valid bit.
The detection result is a normal state or an abnormal state. Optionally, according to the state of the controller and the at least one fault valid bit, the following two conditions are determined as the detection result of the vehicle:
case 1: the state of the controller is an initialization state.
When the state of the controller is an initialization state, if at least one fault valid bit has a valid fault valid bit, the detection result of the vehicle is an abnormal state, and if at least one fault valid bit does not have a valid fault valid bit, the detection result of the vehicle is a normal state. For example, if the fault data is modified, when the state of the controller is the initialization state, the fault valid bit corresponding to the fault is valid and cannot be initialized to be invalid, and therefore, when the valid fault valid bit exists, the detection result of the vehicle is the abnormal state; if each fault valid bit is invalid when the state of the controller is the initialization state, the detection result of the vehicle is the normal state.
Optionally, each fail-active bit is reset to inactive when the controller is powered down. For example, when a fault is detected, the fault valid bit corresponding to the fault is valid, and when the controller is powered down, the fault valid bit may be set to be invalid.
In this case, when the controller is initialized, the data in the controller is reset to the initial state, and if the fault is masked, the fault valid bit cannot be reset to invalid, so that when the controller is initialized, whether the masked fault exists can be accurately determined according to the fault valid bit, and the driving safety of the vehicle can be further improved.
Case 2: the state of the controller is the running state.
When the state of the controller is the running state, the detection result of the vehicle may be determined according to the following feasible implementation: a target fail valid bit is determined among the at least one fail valid bit. Wherein the target fail valid bit is a valid fail valid bit. For example, when the controller is in an operating state, the controller detects a fault according to a program, and a fault valid bit corresponding to the detected fault is a target fault valid bit.
And determining the detection result of the vehicle according to the target fault valid bit. Optionally, the target fault effective position may be set to obtain a set result corresponding to the target fault effective position, and then the detection result of the vehicle is determined according to the set result. And setting processing is used for setting the target fault valid bit to be a preset value. For example, the target fail valid bit is a valid fail valid bit, which is set, and the target fail valid bit is set to be invalid, resulting in a set result.
Optionally, when the setting result indicates that the target failure valid position is successfully set, the detection result of the vehicle is determined to be in a normal state, and when the setting result indicates that the corresponding target failure valid position is unsuccessfully set, the detection result of the vehicle is determined to be in an abnormal state. For example, if the target failure valid bit is successful, the target failure valid bit may be set to be invalid, which indicates that the failure data is not modified and the detection result of the vehicle is in a normal state, and if the target failure valid bit is failed, the target failure valid bit may not be set to be invalid, which indicates that the failure data is modified and the detection result of the vehicle is in an abnormal state.
In this case, since the controller detects the fault according to the preset program during operation, so that the fault valid bit is also set to be valid, but after the fault data is modified, the fault valid bit cannot be set to be invalid, and therefore, the target fault valid bit can be set, and whether the fault data is modified or not is determined according to the result of the setting, so that the driving safety of the vehicle can be improved.
And S304, controlling the vehicle according to the detection result.
It should be noted that the execution process of S304 may refer to the execution process of S203, and is not described herein again.
The embodiment of the application provides a control method of a vehicle, the vehicle comprises a controller, the state of the controller is obtained, at least one fault valid bit in the controller is obtained, a detection result of the vehicle is determined according to the state of the controller and the at least one fault valid bit, and the vehicle is controlled according to the detection result. In the method, when the state of the controller is an initialization state, if at least one fault valid bit has a valid fault valid bit, the detection result of the vehicle is an abnormal state, if at least one fault valid bit does not have a valid fault valid bit, the detection result of the vehicle is a normal state, and whether modified fault data exist in the initialization state of the controller can be accurately determined according to whether the fault valid bit is valid or not; when the state of the controller is the running state, the target fault valid bit is determined in the at least one fault valid bit, the detection result of the vehicle is determined according to the target fault valid bit, whether the modified fault data exist or not can be accurately determined according to whether the target fault valid bit can be set or not, therefore, the detection result of the vehicle can be accurately determined according to different states of the controller, the vehicle is controlled according to the detection result, and the running safety of the vehicle is improved.
On the basis of any of the above embodiments, the following describes in detail a process of the above vehicle control method with reference to fig. 4.
Fig. 4 is a process schematic diagram of a control method of a vehicle according to an embodiment of the present application. Referring to fig. 4, a controller and a vehicle control system are included. The vehicle control system is arranged in the vehicle, the vehicle control system can be a vehicle-mounted computer, and the controller can be an engine controller. The vehicle control system obtains the state of the controller and the fault valid bit in the controller, further determines the operation parameters of the vehicle according to the state of the controller and the fault valid bit, and controls the vehicle according to the operation parameters of the vehicle. For example, if the vehicle control system determines that the fault data of the engine is modified based on the state of the controller and the fault validity bit, the vehicle control system reduces the speed of the vehicle by limiting the parameters of the engine to reduce the speed of the engine. Therefore, whether the fault data in the vehicle are modified or not can be accurately determined, and when the fault data are modified, the speed of the vehicle can be limited, so that the running safety of the vehicle is improved.
Fig. 5 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application. Referring to fig. 5, a control device 10 of a vehicle may be provided in the vehicle, the control device 10 of the vehicle including a first obtaining module 11, a second obtaining module 12 and a control module 13, wherein:
the first obtaining module 11 is configured to obtain a state of the controller, where the state of the controller is an initialization state or an operation state;
the second obtaining module 12 is configured to obtain at least one valid failure bit in the controller, where the valid failure bit is valid or invalid, and the valid failure bit is used to indicate whether failure detection has been performed;
the control module 13 is configured to control the vehicle based on the state of the controller and the at least one fault validity bit.
In a possible implementation, the control module 13 is specifically configured to:
determining a detection result of the vehicle according to the state of the controller and the at least one fault valid bit, wherein the detection result is a normal state or an abnormal state;
and controlling the vehicle according to the detection result.
In a possible implementation, the control module 13 is specifically configured to:
when the state of the controller is the initialization state, if at least one fault valid bit exists, the detection result of the vehicle is an abnormal state; if the at least one fault valid bit does not exist, the detection result of the vehicle is in a normal state;
determining a target fail valid bit among the at least one fail valid bit when the state of the controller is a run state, the target fail valid bit being a valid fail valid bit; and determining the detection result of the vehicle according to the target fault valid bit.
In a possible implementation, the control module 13 is specifically configured to:
setting the target fault effective bit to obtain a setting result corresponding to the target fault effective bit, wherein the setting process is used for setting the target fault effective bit to a preset value;
and determining the detection result of the vehicle according to the setting result.
In a possible implementation, the control module 13 is specifically configured to:
when the setting result indicates that the target fault effective position is successful, determining that the detection result of the vehicle is in a normal state;
and when the setting result indicates that the setting of the target failure valid bit fails, determining that the detection result of the vehicle is in an abnormal state.
In a possible implementation, the control module 13 is specifically configured to:
when the detection result is in a normal state, controlling the vehicle to operate according to the operation parameters of the vehicle;
and when the detection result is in an abnormal state, modifying the running parameters of the vehicle according to a preset rule to obtain first running parameters, and controlling the vehicle to run according to the first running parameters.
In one possible embodiment, the operating parameters of the vehicle include at least one of:
the speed of the vehicle;
the rotational speed of the engine of the vehicle;
status of vehicle malfunction indicator lights.
The control device of the vehicle provided by the embodiment of the application can execute the technical scheme shown in the embodiment of the method, the implementation principle and the beneficial effect are similar, and the detailed description is omitted here.
Fig. 6 is a schematic diagram of a hardware configuration of a control device of a vehicle according to the present application. Referring to fig. 6, the control apparatus 20 of the vehicle may include: a processor 21 and a memory 22, wherein the processor 21 and the memory 22 may communicate; illustratively, the processor 21 and the memory 22 communicate via a communication bus 23, the memory 22 being configured to store program instructions, and the processor 21 being configured to invoke the program instructions in the memory to perform the control method of the vehicle as shown in any of the above-described method embodiments.
Optionally, the control device 20 of the vehicle may further comprise a communication interface, which may comprise a transmitter and/or a receiver.
Optionally, the Processor may be a Central Processing Unit (CPU), or may be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor.
A readable storage medium having a computer program stored thereon; the computer program is for implementing a control method of a vehicle as described in any of the above embodiments.
The embodiment of the application provides a computer program product, which comprises instructions, and when the instructions are executed, the instructions cause a computer to execute the control method of the vehicle.
All or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The aforementioned program may be stored in a readable memory. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid state disk, magnetic tape (magnetic tape), floppy disk (flexible disk), optical disk (optical disk), and any combination thereof.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.
In the present application, the terms "include" and variations thereof may refer to non-limiting inclusions; the term "or" and variations thereof may mean "and/or". The terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the present application, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.
Claims (8)
1. A control method of a vehicle, characterized in that a controller is included in the vehicle, the method comprising:
acquiring the state of the controller, wherein the state of the controller is an initialization state or an operation state;
acquiring at least one fault valid bit in the controller, wherein the fault valid bit is valid or invalid and is used for indicating whether fault detection is carried out or not;
controlling the vehicle based on the state of the controller and the at least one fault valid bit;
the controlling the vehicle according to the state of the controller and the at least one fault valid bit includes:
determining a detection result of the vehicle according to the state of the controller and the at least one fault valid bit, wherein the detection result is a normal state or an abnormal state;
controlling the vehicle according to the detection result;
the determining a detection result of the vehicle according to the state of the controller and the at least one failure validity bit includes:
when the state of the controller is the initialization state, if at least one fault valid bit exists, the detection result of the vehicle is an abnormal state; if the at least one fault valid bit does not exist, the detection result of the vehicle is in a normal state;
determining a target fail valid bit among the at least one fail valid bit when the state of the controller is a run state, the target fail valid bit being a valid fail valid bit; and determining the detection result of the vehicle according to the target fault valid bit.
2. The method of claim 1, wherein determining the detection of the vehicle based on the target fault validity bit comprises:
setting the target fault effective bit to obtain a setting result corresponding to the target fault effective bit, wherein the setting process is used for setting the target fault effective bit to a preset value;
and determining the detection result of the vehicle according to the setting result.
3. The method of claim 2, wherein determining the detection result of the vehicle based on the set result comprises:
when the setting result indicates that the target fault effective position is successful, determining that the detection result of the vehicle is in a normal state;
and when the setting result indicates that the setting of the target failure valid bit fails, determining that the detection result of the vehicle is in an abnormal state.
4. A method according to any one of claims 2-3, characterized in that controlling the vehicle in dependence of the detection result comprises:
when the detection result is in a normal state, controlling the vehicle to operate according to the operation parameters of the vehicle;
and when the detection result is in an abnormal state, modifying the running parameters of the vehicle according to a preset rule to obtain first running parameters, and controlling the vehicle to run according to the first running parameters.
5. The method of claim 4, wherein the operating parameters of the vehicle comprise at least one of:
the speed of the vehicle;
the rotational speed of the engine of the vehicle;
status of vehicle malfunction indicator lights.
6. A control device of a vehicle is characterized in that the vehicle comprises a controller, and the control device of the vehicle comprises a first acquisition module, a second acquisition module and a control module, wherein:
the first obtaining module is used for obtaining the state of the controller, wherein the state of the controller is an initialization state or an operation state;
the second obtaining module is used for obtaining at least one fault valid bit in the controller, wherein the fault valid bit is valid or invalid, and the fault valid bit is used for indicating whether fault detection is carried out or not;
the control module is used for controlling the vehicle according to the state of the controller and the at least one fault valid bit;
the control module is specifically configured to determine a detection result of the vehicle according to a state of the controller and the at least one fault valid bit, where the detection result is a normal state or an abnormal state;
controlling the vehicle according to the detection result;
the control module is specifically configured to, when the state of the controller is the initialization state, if a valid fault valid bit exists in the at least one fault valid bit, determine that a detection result of the vehicle is an abnormal state; if the at least one fault valid bit does not exist, the detection result of the vehicle is in a normal state;
determining a target fail valid bit among the at least one fail valid bit when the state of the controller is a run state, the target fail valid bit being a valid fail valid bit; and determining the detection result of the vehicle according to the target fault valid bit.
7. A control apparatus of a vehicle, characterized by comprising: a memory for storing program instructions, a processor for invoking the program instructions in the memory to perform the control method of the vehicle of any of claims 1-5, and a communication interface.
8. A readable storage medium, characterized in that the readable storage medium has stored thereon a computer program; the computer program is for implementing a control method of a vehicle according to any one of claims 1-5.
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| CN202110012334.0A CN112810626B (en) | 2021-01-06 | 2021-01-06 | Vehicle control method, device and equipment |
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| CN202110012334.0A CN112810626B (en) | 2021-01-06 | 2021-01-06 | Vehicle control method, device and equipment |
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| US5671141A (en) * | 1993-04-05 | 1997-09-23 | Ford Global Technologies, Inc. | Computer program architecture for onboard vehicle diagnostic system |
| JP4155198B2 (en) * | 2004-01-19 | 2008-09-24 | トヨタ自動車株式会社 | Abnormality detection device for vehicle control system |
| CN100591561C (en) * | 2007-08-31 | 2010-02-24 | 奇瑞汽车股份有限公司 | A monitoring system for torsional moment of mixing dynamical vehicle |
| CN105700419B (en) * | 2014-11-28 | 2018-08-10 | 上海汽车集团股份有限公司 | Control method, device and the control method of finished of entire car controller, system |
| CN108153273B (en) * | 2016-12-02 | 2021-02-05 | 上海汽车集团股份有限公司 | Vehicle signal failure fault diagnosis method and vehicle control unit |
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