CN113071435B - Vehicle control method, vehicle, and computer-readable storage medium - Google Patents

Vehicle control method, vehicle, and computer-readable storage medium Download PDF

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CN113071435B
CN113071435B CN202110402761.XA CN202110402761A CN113071435B CN 113071435 B CN113071435 B CN 113071435B CN 202110402761 A CN202110402761 A CN 202110402761A CN 113071435 B CN113071435 B CN 113071435B
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vehicle
risk
threshold
stirring barrel
control method
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CN113071435A (en
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黎理茂
鄢运和
陈荣彬
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Sany Automobile Manufacturing Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
    • B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
    • B60P3/16—Vehicles adapted to transport, to carry or to comprise special loads or objects for carrying mixed concrete, e.g. having rotatable drums
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
    • B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
    • B60R16/0233—Vehicle tilting, overturning or roll over
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
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    • G06Q10/0635—Risk analysis of enterprise or organisation activities
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
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Abstract

The invention provides a vehicle control method, a vehicle and a computer-readable storage medium, wherein the vehicle control method comprises the following steps: acquiring a first operating parameter of a vehicle; determining the risk level of the mixing barrel according to the first operation parameter; and adjusting a second operation parameter of the stirring barrel according to the risk level of the stirring barrel. According to the vehicle control method, the risk grade of the mixing tank is determined through the first operation parameter by obtaining the first operation parameter of the vehicle and analyzing the first operation parameter, and compared with complex tank throwing judgment equipment in the related technology, the method for controlling the vehicle has the advantages that the tank throwing judgment is carried out through the operation parameter of the vehicle, extra equipment is not needed, and the cost of the vehicle is reduced. And, carry out corresponding control respectively to the risk level of agitator for what to the agitator prevents that to get rid of the bucket control more corresponding, and then improve and prevent getting rid of the efficiency of bucket control, further avoid the agitator to get rid of the emergence of bucket accident, improve the security of vehicle.

Description

Vehicle control method, vehicle, and computer-readable storage medium
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a vehicle control method, a vehicle and a computer readable storage medium.
Background
Among the correlation technique, get rid of the judgement of bucket risk to the vehicle agitator, need improve the structure of vehicle, adopt more sensor to carry out the collection of data, improved the cost of vehicle to the judgement process is complicated, and the practicality is lower.
Disclosure of Invention
The present invention has been made to solve at least one of the problems occurring in the prior art or the related art.
To this end, a first aspect of the invention is directed to a vehicle control method.
A second aspect of the invention is directed to a vehicle.
A third aspect of the invention is directed to a computer-readable storage medium.
In view of this, according to a first aspect of the present invention, there is provided a vehicle control method including: acquiring a first operating parameter of a vehicle; determining the risk level of the mixing barrel according to the first operation parameter; and adjusting a first operation parameter of the stirring barrel according to the risk level of the stirring barrel.
The vehicle comprises a stirring barrel and a motor, and the motor is used for driving the stirring barrel to rotate.
According to the vehicle control method provided by the invention, the stirring barrel reaches a constant rotating speed in the running process of the vehicle, at the moment, the controller firstly obtains the first running parameter of the vehicle and analyzes the first running parameter, so that the risk level of the stirring barrel at the moment is determined according to the first running parameter, namely the risk level of the stirring barrel in a barrel throwing accident, namely the possibility of the stirring barrel in the barrel throwing accident, the risk level can comprise multiple levels, and the higher the risk level is, the higher the probability of the stirring barrel in the barrel throwing accident is. Specifically, the risk level may include three levels, where when the risk level of the mixing drum is at the first level, the probability of the mixing drum being thrown is zero, that is, there is no possibility of the mixing drum being thrown; when the risk level of the mixing barrel is in the second level, the mixing barrel has lower probability of being thrown; when the risk level of agitator was in the tertiary, then judge that the agitator takes place to get rid of the probability of bucket accident this moment great. Further, after the risk level of the stirring barrel is determined, the controller controls the stirring barrel according to the risk level and adjusts the second operation parameter of the stirring barrel so as to avoid the stirring barrel from being thrown.
According to the vehicle control method provided by the invention, when the vehicle runs and the stirring barrel reaches the constant rotating speed, the first running parameter of the vehicle is obtained, and the first running parameter is analyzed, so that the risk level of the stirring barrel is determined through the first running parameter. Furtherly, according to the operating parameter of the risk grade control agitator of agitator, and then can take place to get rid of the size of the probability of bucket to the agitator and carry out corresponding control respectively for what to the agitator prevents that to get rid of the bucket control more corresponding, and then improve and prevent getting rid of the efficiency of bucket control, further avoid the agitator to get rid of the emergence of bucket accident, improve the security of vehicle.
In addition, according to the vehicle control method in the above technical solution provided by the present invention, the vehicle control method may further have the following additional technical features:
in the above technical solution, further, the step of determining the risk level of the mixing drum according to the first operation parameter specifically includes: based on the first operation parameter being in the first interval, the risk level is first grade; within the preset time, the frequency of the first operation parameter in the second interval is greater than the preset frequency, and the risk level is in a second level; and in the preset time, the frequency of the third interval based on the first operation parameter is greater than the preset frequency, and the risk level is three levels.
In this technical solution, the risk level of the mixing drum may be specifically three levels, and further, the step of determining the risk of the mixing drum may specifically include: when the first operation parameter of the vehicle is in the first interval, judging that the risk level of the mixing drum is first grade, and the mixing drum has no risk of drum throwing accidents; further, within a preset time, when the first operation parameter of the vehicle reaches a second interval and the number of times of reaching the second interval is greater than a preset number of times, judging that the risk level of the mixing tank is in a second level at the moment, namely the mixing tank has a lower probability of rollover; further, within the preset time, the first operation parameter of the vehicle reaches the third interval, and the number of times of reaching the third interval is greater than the preset number of times, it is determined that the risk level of the mixing drum is three-level at the moment, that is, the mixing drum has a higher probability of causing a drum throwing accident.
The first operation parameter of the vehicle is divided into three sections, so that the risk grade of the probability of throwing the stirring barrel is divided according to the section where the first operation parameter is located and the frequency of reaching each section, corresponding countermeasures can be carried out according to the risk grade of the stirring barrel, and the countermeasures for the accident of throwing the barrel are improved.
When can understand, at the vehicle operation in-process, the first operating parameter of vehicle probably because the difference of road conditions takes place to fluctuate, for example take place to jolt at the unevenness of road surface, first operating parameter probably changes this moment, fluctuate to second interval or third interval from first interval, consequently, this application is through acquireing the number of times that first operating parameter reaches second interval or third interval in the time of predetermineeing, judge the risk level that the agitator was located, thereby the road conditions of getting rid of is to the interference of getting rid of bucket risk judgement, wrong judgement has been avoided, the accuracy of getting rid of bucket risk judgement has been improved.
In any of the above technical solutions, further, the step of adjusting the second operating parameter of the mixing drum according to the risk level of the mixing drum specifically includes: controlling the stirring barrel to keep the current rotating speed based on the first-level or second-level risk grade; and controlling the stirring barrel to rotate at the target rotating speed based on the risk level as three levels.
In the technical scheme, the controller can adjust a second operation parameter of the stirring barrel according to the risk level of the stirring barrel, specifically, when the risk level of the stirring barrel is in a first level, the stirring barrel has no risk of barrel throwing accidents, and at this time, the second parameter of the stirring barrel does not need to be adjusted, and the current rotating speed of the stirring barrel is kept to operate; further, when the risk level of the mixing drum is in the second level, the mixing drum has a lower probability of causing a drum throwing accident, at the moment, the second parameter of the mixing drum can be not adjusted, the current rotating speed of the mixing drum is still kept, and a driver can decelerate or stop the mixing drum for maintenance through manual operation; further, when the risk level of agitator was in the tertiary, the agitator had higher probability to take place to get rid of the bucket accident, and at this moment, the controller controls the agitator automatic deceleration immediately and shuts down to safe rotational speed or direct control agitator to in time avoid the agitator to take place to get rid of the bucket accident, improve the security of vehicle.
In any of the above technical solutions, further, the vehicle control method further includes: controlling the vehicle to send out a low risk prompt based on the risk grade as the second grade; and controlling the vehicle to send out a high risk prompt based on the risk grade of three grades.
In the technical scheme, when the risk level of the stirring barrel is in the second level or the third level, corresponding warning measures can be taken to prompt a driver to respond in time. Specifically, when the risk level of agitator was in the second grade, the agitator had lower risk to take place to get rid of the bucket accident, and control vehicle sent low risk suggestion this moment to the suggestion driver agitator had lower probability to take place to get rid of the bucket risk this moment, thereby makes the driver in time to make the reply. In particular, the low risk alert may be a low frequency flashing of lights or an alert tone.
Further, when the risk level of agitator was in the tertiary, the agitator had higher probability to take place to get rid of the bucket, was controlling the agitator to slow down to the colleague of safe rotational speed immediately this moment, sent the high risk suggestion to the driver to the suggestion driver makes corresponding correspondence immediately, thereby further avoids getting rid of the emergence of bucket accident. In particular, the high risk alert may be a light flashing or alert tone with a higher frequency.
In any of the above technical solutions, further, the first operating parameter includes: torque of the motor and current of the motor; the first interval is an interval in which the first operating parameter is less than or equal to a first threshold value; the second interval is an interval in which the first operating parameter is greater than the first threshold value and less than or equal to a second threshold value; the third interval is an interval in which the first operating parameter is greater than the second threshold.
In this technical solution, the first interval, the second interval, and the third interval may be divided according to a specific value of the first operating parameter, specifically, the first interval may be an interval in which the first operating parameter is less than or equal to a first threshold, the second interval may be an interval in which the first operating parameter is greater than the first threshold and is less than or equal to a second threshold, and the third interval may be an interval in which the first operating parameter is greater than the second threshold. The first threshold and the second threshold may be determined according to data such as model load of the vehicle.
Specifically, the first operating parameter may include: the torque of the motor, the current of the motor, the rotating speed of the stirring barrel, the running speed of the vehicle, the lateral acceleration of the vehicle, the inclination angle of the vehicle and the like.
Accordingly, the first interval, the second interval and the third interval according to the specific value of the first operating parameter may be divided according to the torque of the motor or the current of the motor, specifically, the first interval may be an interval in which the torque of the motor or the current of the motor is less than or equal to a first threshold, the second interval may be an interval in which the torque of the motor or the current of the motor is greater than the first threshold and less than or equal to a second threshold, and the third interval may be an interval in which the torque of the motor or the current of the motor is greater than the second threshold.
In any of the above technical solutions, further, before the step of determining the risk level of the mixing drum according to the first operating parameter, the method further includes: and determining the load torque of the vehicle according to the torque of the motor and a preset formula.
In the technical scheme, before the risk grade of the stirring barrel is determined, the load torque of the vehicle can be determined according to the torque of the motor and the preset formula, so that when the vehicle has the risk of throwing the stirring barrel, the second parameter of the stirring barrel is adjusted according to the risk grade of the stirring barrel and the load torque of the vehicle, the adjustment precision of the second parameter of the stirring barrel is further improved, and the probability of the accident of throwing the stirring barrel of the vehicle is further reduced.
In any of the above technical solutions, further, the step of controlling the agitator to rotate at the target rotation speed specifically includes: controlling the stirring barrel to operate at a target rotating speed based on the load torque being greater than 0, wherein the target rotating speed is less than the current rotating speed of the stirring barrel and greater than 0; and controlling the stirring barrel to decelerate until the stirring barrel stops rotating based on the load equal to 0.
In this technical scheme, when the risk level of agitator was in when tertiary, the agitator had higher probability to take place to get rid of the bucket accident, the second operating parameter of agitator should in time be controlled this moment to and reduce the agitator in time and take place to get rid of the probability of bucket, specifically, when the load torque of vehicle was greater than 0, also when the vehicle had the load, control the agitator and slow down and rotate to the target rotational speed, thereby when reducing the agitator and get rid of the bucket probability, prevent that the material in the agitator from taking place to tie up a jar phenomenon. When the load torque of vehicle equals 0, there is not the material in the agitator this moment, consequently direct control agitator slows down until stall to reduce the agitator effectively and take place to get rid of the bucket accident.
The control of agitator second parameter is carried out in the load torque combination through the risk grade with the agitator and vehicle, both can avoid the agitator to take place to get rid of the bucket, can also protect the interior material of agitator not to take place to tie the jar simultaneously to reduce economic loss.
In any one of the above technical solutions, further, based on that the torque of the motor is smaller than a third threshold, the vehicle is controlled to issue a barrel-throwing alarm, where the third threshold is smaller than the first threshold.
In this technical scheme, the vehicle operation in-process and agitator reach the constant speed, if the torque that detects the motor is less than the third threshold value, then judge that the agitator has taken place to get rid of the bucket this moment, should send immediately this moment and get rid of the bucket alarm, get rid of the prompt tone that the bucket alarm can be higher volume to the suggestion driver and near personnel of vehicle keep away from the vehicle immediately. Specifically, the third threshold is smaller than the first threshold.
Further, when the agitator had taken place to get rid of the bucket accident, the controller when the control vehicle sent immediately and gets rid of the bucket alarm, can collect and save the process of getting rid of the bucket accident through the video acquisition transposition, and the data of going of getting rid of bucket in-process vehicle and the data of agitator are saved simultaneously to the reason that supplies to get rid of the bucket to the agitator carries out the analysis, avoids appearing this type of situation once more.
In any of the above technical solutions, further, based on that the torque of the electric machine is greater than a fourth threshold value and the duration exceeds a time threshold value, the vehicle is controlled to send out an overload alarm, wherein the fourth threshold value is greater than the second threshold value.
In the technical scheme, the vehicle runs and the stirring barrel reaches a constant rotating speed, if the torque of the motor is detected to be greater than a fourth threshold value, the vehicle is judged to be overloaded or stuck in the rotation process of the stirring barrel at the moment, and the vehicle is controlled to send an overload alarm to prompt a driver to reduce the load of the vehicle in time or overhaul the stirring barrel, so that accidents in the running of the vehicle are avoided. Specifically, the fourth threshold is greater than the second threshold.
In any of the above technical solutions, further, the vehicle further includes a reduction gearbox, the mixing tank is connected with the motor through the reduction gearbox, and the preset formula is:
Figure BDA0003020964070000061
wherein, TlTorque of the motor, TeThe load torque is represented by eta, the transmission efficiency is represented by eta, and the reduction ratio of the reduction gearbox is represented by 1/R.
In the technical scheme, the motor of the vehicle is connected with the stirring barrel through the reduction gearbox, the rotating speed of the stirring barrel can be adjusted through the reduction gearbox, and the control process is simple and easy to realize. Further, the load torque of the vehicle may be controlled by a preset formula
Figure BDA0003020964070000062
To obtain, wherein, TlIs the torque of the motor, TeThe load torque is, eta is the transmission efficiency, and 1/R is the reduction ratio of the reduction gearbox.
In any of the above technical solutions, further, the vehicle control method further includes: judging whether the vehicle has a rollover risk or not according to the first operation parameter; and controlling the stirring barrel to stop rotating or rotate in the direction opposite to the current rotating direction based on the fact that the vehicle has the rollover risk.
In the technical scheme, in the running process of the vehicle, whether the vehicle has the risk of side turning can be judged through the first running parameter of the vehicle, if the vehicle is detected to have the risk of side turning, the stirring barrel can be controlled to be decelerated immediately to stop rotating, or the stirring barrel is controlled to rotate in the direction opposite to the current rotating direction, so that the rotating inertia of the stirring barrel is reduced, the side turning trend of the vehicle is relieved, and further the safety accident caused by side turning of the vehicle is avoided.
Whether the measurement has the risk of turning on one's side is judged through the first operating parameter of vehicle, and then control agitator speed reduction or reversal when the vehicle has the risk of turning on one's side, realize avoiding the vehicle to turn on one's side, need not complicated external equipment, the cost of the vehicle that reduces has improved the security of vehicle.
In any of the above technical solutions, further, the first operating parameter further includes: the step of judging whether the vehicle has the risk of turning on one's side according to first operating parameter, the speed of going of vehicle, the lateral acceleration of vehicle and the inclination of vehicle specifically includes: determining that the vehicle has a rollover risk based on the fact that the running speed of the vehicle is greater than a speed threshold and the lateral acceleration of the vehicle is greater than a first acceleration threshold; or determining that the vehicle has the rollover risk based on the fact that the running speed of the vehicle is smaller than the speed threshold and the inclination angle of the vehicle is larger than the first angle threshold; or determining that the vehicle is at the risk of rollover based on the lateral acceleration of the vehicle being greater than the second acceleration threshold and the inclination angle of the vehicle being greater than the second angle threshold.
In the technical scheme, the vehicle rollover risk can be judged according to the speed, the lateral acceleration and the inclination angle of the vehicle, and specifically, when the speed of the vehicle is greater than a speed threshold and the lateral acceleration is greater than a first acceleration threshold, it is judged that the vehicle has the rollover risk.
Further, if the speed of the vehicle is smaller than the speed threshold value, but the inclination angle of the vehicle is larger than the first angle threshold value, it can be determined that the vehicle is at the risk of rollover.
Further, if the lateral acceleration of the vehicle is greater than a second acceleration threshold value, and the inclination angle is greater than a second angle threshold value, wherein the second acceleration threshold value is smaller than the first acceleration threshold value, and the second angle threshold value is smaller than the first angle threshold value. It can also be determined that the vehicle is at risk of rollover.
Whether the vehicle has the rollover risk or not can be evaluated from multiple aspects by combining the speed, the lateral acceleration and the inclination angle of the vehicle, so that the rollover risk in the driving process of the vehicle can be accurately judged, corresponding control can be timely carried out, and safety accidents are avoided.
According to a second aspect of the present invention, there is provided a vehicle comprising: a processor and a memory, wherein the processor, when executing a computer program stored on the memory and executable on the processor, implements the vehicle control method as set forth in any one of the preceding claims.
According to the vehicle in the technical solution, the control processor executes the computer program stored in the memory, and when the computer program is executed, the vehicle control method in any one of the first aspect of the technical solution is implemented, so that all beneficial effects of the technical solution are achieved, and details are not repeated herein.
According to a third aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method of any one of the above-described aspects. Therefore, the computer readable storage medium has all the advantages of the vehicle control method provided by the first aspect, and will not be described herein again.
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
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 shows a flow chart diagram of a vehicle control method of one embodiment of the invention;
FIG. 2 shows a flow chart of a vehicle control method of yet another embodiment of the invention;
FIG. 3 shows a flow chart of a vehicle control method of yet another embodiment of the invention;
FIG. 4 shows a flow chart of a vehicle control method of yet another embodiment of the invention;
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
A vehicle control method, a vehicle, and a computer-readable storage medium according to some embodiments of the invention are described below with reference to fig. 1 to 4.
Example (b):
as shown in fig. 1, according to an embodiment of the present invention, there is provided a vehicle control method including:
Step S102, acquiring a first running parameter of the vehicle;
step S104, determining the risk level of the mixing barrel according to the first operation parameter;
and step S106, adjusting a second operation parameter of the mixing tank according to the risk level of the mixing tank.
The vehicle comprises a stirring barrel and a motor, and the motor is used for driving the stirring barrel to rotate.
According to the vehicle control method provided by the invention, the stirring barrel reaches a constant rotating speed in the running process of the vehicle, at the moment, the controller firstly obtains the first running parameter of the vehicle and analyzes the first running parameter, so that the risk level of the stirring barrel at the moment is determined according to the first running parameter, namely the risk level of the stirring barrel in a barrel throwing accident, namely the possibility of the stirring barrel in the barrel throwing accident, the risk level can comprise multiple levels, and the higher the risk level is, the higher the probability of the stirring barrel in the barrel throwing accident is. Specifically, the risk level may include three levels, where when the risk level of the mixing drum is at the first level, the probability of the mixing drum being thrown is zero, that is, there is no possibility of the mixing drum being thrown; when the risk level of the mixing barrel is in the second level, the mixing barrel has lower probability of being thrown; when the risk level of agitator was in the tertiary, then judge that the agitator takes place to get rid of the probability of bucket accident this moment great. Further, after the risk level of the stirring barrel is determined, the controller controls the stirring barrel according to the risk level and adjusts the second operation parameter of the stirring barrel so as to avoid the stirring barrel from being thrown.
According to the vehicle control method provided by the invention, when the vehicle runs and the stirring barrel reaches the constant rotating speed, the first running parameter of the vehicle is obtained, and the first running parameter is analyzed, so that the risk level of the stirring barrel is determined through the first running parameter. Further, according to the operating parameter of the risk level control agitator of agitator, and then can take place to carry out corresponding control respectively to the size of the probability that the agitator got rid of the bucket for what the agitator prevented getting rid of the bucket control more corresponding, and then improve and prevent getting rid of the efficiency of bucket control, further avoid the agitator to get rid of the emergence of bucket accident, improve the security of vehicle.
In the above embodiment, further, the step of determining the risk level of the mixing drum according to the first operating parameter specifically includes: based on the first operation parameter being in the first interval, the risk level is first grade; within the preset time, the frequency of the first operation parameter in the second interval is greater than the preset frequency, and the risk level is in a second level; and in the preset time, the frequency of the third interval based on the first operation parameter is greater than the preset frequency, and the risk level is three levels.
Specifically, the risk level of the mixing drum may be three levels, and further, the step of determining the risk of the mixing drum may specifically include: when the first operation parameter of the vehicle is in the first interval, judging that the risk level of the mixing drum is first grade at the moment, and the mixing drum has no risk of drum throwing accidents at the moment; further, within a preset time, when the first operation parameter of the vehicle reaches a second interval and the number of times of reaching the second interval is greater than a preset number of times, judging that the risk level of the mixing tank is in a second level at the moment, namely the mixing tank has a lower probability of rollover; further, within the preset time, the first operation parameter of the vehicle reaches the third interval, and the number of times of reaching the third interval is greater than the preset number of times, it is determined that the risk level of the mixing drum is three-level at the moment, that is, the mixing drum has a higher probability of causing a drum throwing accident.
The first operation parameter of the vehicle is divided into three sections, so that the risk grade of the probability of throwing the stirring barrel is divided according to the section where the first operation parameter is located and the frequency of reaching each section, corresponding countermeasures can be carried out according to the risk grade of the stirring barrel, and the countermeasures for the accident of throwing the barrel are improved.
When can understand, at the vehicle operation in-process, the first operating parameter of vehicle probably because the difference of road conditions takes place to fluctuate, for example take place to jolt at the unevenness of road surface, first operating parameter probably changes this moment, fluctuate to second interval or third interval from first interval, consequently, this application is through acquireing the number of times that first operating parameter reaches second interval or third interval in the time of predetermineeing, judge the risk level that the agitator was located, thereby the road conditions of getting rid of is to the interference of getting rid of bucket risk judgement, wrong judgement has been avoided, the accuracy of getting rid of bucket risk judgement has been improved.
Further, according to the risk level of the mixing drum, the step of adjusting the second operation parameter of the mixing drum specifically includes: controlling the stirring barrel to keep the current rotating speed based on the first level or the second level of the risk grade; and controlling the stirring barrel to rotate at the target rotating speed based on the risk level as three levels.
Specifically, the controller can adjust a second operating parameter of the stirring barrel according to the risk level of the stirring barrel, specifically, when the risk level of the stirring barrel is in a first level, the stirring barrel has no risk of barrel throwing accidents, and at this time, the second parameter of the stirring barrel does not need to be adjusted, and the current rotating speed of the stirring barrel is kept to operate; further, when the risk level of the mixing drum is in the second level, the mixing drum has a lower probability of causing a drum throwing accident, at the moment, the second parameter of the mixing drum can be not adjusted, the current rotating speed of the mixing drum is still kept, and a driver can decelerate or stop the mixing drum for maintenance through manual operation; further, when the risk level of agitator was in the tertiary, the agitator had higher probability to take place to get rid of the bucket accident, and at this moment, the controller controls the agitator automatic deceleration immediately and shuts down to safe rotational speed or direct control agitator to in time avoid the agitator to take place to get rid of the bucket accident, improve the security of vehicle.
Further, the vehicle control method further includes: controlling the vehicle to send out a low risk prompt based on the risk grade as a second grade; and controlling the vehicle to send out a high risk prompt based on the risk grade of three grades.
Specifically, when the risk level of the mixing drum is in the second level or the third level, corresponding warning measures can be taken to prompt a driver to respond in time. Specifically, when the risk level of agitator was in the second grade, the agitator had lower risk to take place to get rid of the bucket accident, and control vehicle sent low risk suggestion this moment to the suggestion driver agitator had lower probability to take place to get rid of the bucket risk this moment, thereby makes the driver in time to make the reply. In particular, the low risk alert may be a low frequency flashing of lights or an alert tone.
Further, when the risk level of agitator was in the tertiary, the agitator had higher probability to take place to get rid of the bucket, was controlling the agitator to slow down to the colleague of safe rotational speed immediately this moment, sent the high risk suggestion to the driver to the suggestion driver makes corresponding correspondence immediately, thereby further avoids getting rid of the emergence of bucket accident. In particular, the high risk alert may be a light flashing or alert tone with a higher frequency.
In any of the above embodiments, further the first operating parameter includes: the torque of the motor and the current of the motor; the first interval is an interval in which the first operating parameter is less than or equal to a first threshold value; the second interval is an interval in which the first operating parameter is greater than the first threshold value and less than or equal to a second threshold value; the third interval is an interval in which the first operating parameter is greater than the second threshold.
Specifically, the first interval, the second interval and the third interval may be divided according to specific values of the first operating parameter, specifically, the first interval may be an interval in which the first operating parameter is less than or equal to a first threshold, the second interval may be an interval in which the first operating parameter is greater than the first threshold and less than or equal to a second threshold, and the third interval may be an interval in which the first operating parameter is greater than the second threshold. The first threshold and the second threshold may be determined according to data such as model load of the vehicle.
Specifically, the first operating parameter may include: the torque of the motor, the current of the motor, the rotating speed of the stirring barrel, the running speed of the vehicle, the lateral acceleration of the vehicle, the inclination angle of the vehicle and the like.
Accordingly, the first interval, the second interval and the third interval according to the specific value of the first operating parameter may be divided according to the torque of the motor or the current of the motor, specifically, the first interval may be an interval in which the torque of the motor or the current of the motor is less than or equal to a first threshold, the second interval may be an interval in which the torque of the motor or the current of the motor is greater than the first threshold and less than or equal to a second threshold, and the third interval may be an interval in which the torque of the motor or the current of the motor is greater than the second threshold.
According to an embodiment of the present invention, as shown in fig. 2, there is provided a vehicle control method including:
step S202, acquiring a first operating parameter of the vehicle;
step S204, determining the load torque of the vehicle according to the torque of the motor and a preset formula;
step S206, determining the risk level of the mixing barrel according to the first operation parameter;
and step S208, adjusting a second operation parameter of the stirring barrel according to the risk level of the stirring barrel.
In this embodiment, before determining the risk level of the agitator, the load torque of the vehicle may be determined according to the torque of the motor and the preset formula, so that when the vehicle is at risk of throwing the agitator, the second parameter of the agitator is adjusted according to the risk level of the agitator and the load torque of the vehicle, thereby further improving the adjustment accuracy of the second parameter of the agitator and further reducing the probability of the vehicle causing an accident of throwing the agitator.
Further, the step of controlling the stirring barrel to rotate at the target rotating speed specifically comprises: controlling the stirring barrel to operate at a target rotating speed based on the load torque being greater than 0, wherein the target rotating speed is less than the current rotating speed of the stirring barrel and greater than 0; and controlling the stirring barrel to decelerate until the stirring barrel stops rotating based on the load equal to 0.
Specifically, when the risk level of agitator was in the tertiary, the agitator had higher probability to take place to get rid of the bucket accident, the second operating parameter of in time control agitator this moment to and reduce the agitator in time and take place to get rid of the probability of bucket, specifically, when the load torque of vehicle was greater than 0, also when the vehicle had the load, control agitator slowed down and rotated to the target rotational speed, thereby when reducing the agitator and get rid of the bucket probability, prevent that the material in the agitator from taking place to become a jar phenomenon. When the load torque of vehicle equals 0, do not have the material in the agitator this moment, consequently the speed reduction of direct control agitator is until stall to it takes place to get rid of the bucket accident to reduce the agitator effectively.
The control that carries out the agitator second parameter through the load torque who combines the risk grade with the agitator and vehicle both can avoid the agitator to take place to get rid of the bucket, can also protect the interior material of agitator simultaneously and do not take place to tie the jar to reduce economic loss.
In any of the above embodiments, further, the vehicle is controlled to issue a barrel throwing alarm based on the torque of the electric machine being less than a third threshold, wherein the third threshold is less than the first threshold.
Specifically, the vehicle operation in-process and agitator reach the constant rate of rotation, if the torque that detects the motor is less than the third threshold value, then judge this moment agitator and have taken place to get rid of the bucket, should send immediately this moment and get rid of the bucket alarm, get rid of the prompt tone that the bucket alarm can be higher volume to the vehicle is kept away from immediately to the personnel near suggestion driver and vehicle. Specifically, the third threshold is smaller than the first threshold.
Further, when the agitator had taken place to get rid of the bucket accident, the controller when the control vehicle sent immediately and gets rid of the bucket alarm, can collect and save the process of getting rid of the bucket accident through the video acquisition transposition, will get rid of the data of traveling data and the data of agitator of bucket in-process vehicle simultaneously and save to supply to get rid of the reason of bucket to the agitator and carry out the analysis, avoid appearing this type of situation once more.
In any of the above embodiments, further controlling the vehicle to issue an overload warning based on the torque of the electric machine being greater than a fourth threshold and the duration exceeding the time threshold, wherein the fourth threshold is greater than the second threshold.
Specifically, the vehicle operation process and the agitator reach the constant speed, if the torque that detects the motor is greater than the fourth threshold value, then judge that the vehicle takes place the overload phenomenon or the agitator rotates the in-process and appear the jamming this moment, control the vehicle and send the overload alarm this moment to the suggestion driver in time reduces the load of vehicle or overhauls the agitator, avoids the vehicle to appear the accident in service. Specifically, the fourth threshold is greater than the second threshold.
Further, the vehicle still includes the reducing gear box, and the agitator passes through the reducing gear box to be connected with the motor, and the formula of predetermineeing is:
Figure BDA0003020964070000131
Wherein, TlIs the torque of the motor, TeThe load torque is, eta is the transmission efficiency, and 1/R is the reduction ratio of the reduction gearbox.
Specifically, the motor of the vehicle is connected with the stirring barrel through the reduction gearbox, the rotating speed of the stirring barrel can be adjusted through the reduction gearbox, and the control process is simple and easy to achieve. Further, the load torque of the vehicle may be controlled by a preset formula
Figure BDA0003020964070000132
To obtain, wherein, TlIs the torque of the motor, TeThe load torque is, eta is the transmission efficiency, and 1/R is the reduction ratio of the reduction gearbox.
According to an embodiment of the present invention, as shown in fig. 3, there is provided a vehicle control method including:
step S302, acquiring a first operating parameter of the vehicle;
step S304, determining the load torque of the vehicle according to the torque of the motor and a preset formula;
step S306, judging whether the vehicle has a rollover risk or not according to the first operation parameter;
step S308, controlling the stirring barrel to stop rotating or rotate in the direction opposite to the current rotating direction based on the fact that the vehicle has the rollover risk;
step S310, determining the risk level of the mixing barrel according to the first operation parameter;
step S312, adjusting a second operation parameter of the blending tank according to the risk level of the blending tank.
In this embodiment, in the running process of the vehicle, whether the vehicle has a risk of rollover or not may be determined according to the first running parameter of the vehicle, and if it is detected that the vehicle has the risk of rollover, the stirring barrel may be controlled to decelerate immediately to stop rotating, or the stirring barrel may be controlled to rotate in a direction opposite to the current rotation direction, so as to reduce the rotational inertia of the stirring barrel, alleviate the rollover trend of the vehicle, and further avoid a safety accident caused by the rollover of the vehicle.
Whether the measurement has the risk of turning on one's side is judged through the first operating parameter of vehicle, and then control the agitator and slow down or reverse when the vehicle has the risk of turning on one's side, realize avoiding the vehicle to turn on one's side, need not complicated external equipment, the cost of the vehicle that reduces has improved the security of vehicle.
Further, the first operating parameter further comprises: the method comprises the following steps of judging whether the vehicle has a rollover risk according to a first operation parameter, wherein the running speed of the vehicle, the lateral acceleration of the vehicle and the inclination angle of the vehicle specifically comprise the following steps: determining that the vehicle is at a rollover risk based on the fact that the running speed of the vehicle is greater than a speed threshold and the lateral acceleration of the vehicle is greater than a first acceleration threshold; or determining that the vehicle has the rollover risk based on that the running speed of the vehicle is less than the speed threshold and the inclination angle of the vehicle is greater than the first angle threshold; or determining that the vehicle is at the risk of rollover based on that the lateral acceleration of the vehicle is greater than the second acceleration threshold and the inclination angle of the vehicle is greater than the second angle threshold.
Specifically, the vehicle rollover risk can be determined according to the speed of the vehicle, the lateral acceleration and the inclination angle of the vehicle, and specifically, when the speed of the vehicle is greater than a speed threshold and the lateral acceleration is greater than a first acceleration threshold, it is determined that the vehicle has a rollover risk.
Further, if the speed of the vehicle is less than the speed threshold value, but the inclination angle of the vehicle is greater than the first angle threshold value, it may also be determined that the vehicle is at risk of rollover.
Further, if the lateral acceleration of the vehicle is greater than a second acceleration threshold and the inclination angle is greater than a second angle threshold, wherein the second acceleration threshold is less than the first acceleration threshold and the second angle threshold is less than the first angle threshold. It can also be judged that the vehicle is at risk of rollover.
The speed, the lateral acceleration and the inclination angle of the vehicle are combined, so that whether the vehicle has the rollover risk or not can be evaluated from multiple aspects, the rollover risk in the running process of the vehicle can be accurately judged, and then corresponding control is timely carried out, and safety accidents are avoided.
According to an embodiment of a second aspect of the present invention, there is provided a vehicle including: a processor and a memory, wherein the processor, when executing a computer program stored on the memory and executable on the processor, implements the vehicle control method as in any one of the above embodiments.
According to the vehicle of this embodiment, the control processor executes the computer program stored in the memory, and when the computer program is executed, the vehicle control method according to any one of the first aspect of the present invention is implemented, so that all the beneficial effects of the foregoing technical solutions are achieved, and details are not described herein.
According to an embodiment of the third aspect of the present invention, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the vehicle control method according to any one of the above-described aspects. Therefore, the computer-readable storage medium has all the advantages of the vehicle control method according to the first aspect, and will not be described herein again.
DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION
According to an embodiment of the present invention, as shown in fig. 4, there is provided a vehicle control method including:
step S402, the main control unit acquires a first running parameter of the vehicle in real time;
step S404, determining the load torque of the vehicle according to the torque of the motor and a preset formula;
step S406, judging whether the vehicle has a rollover risk or not according to the first operation parameters, if so, executing step S408, and if not, executing step S410;
step S408, controlling the stirring barrel to stop rotating or rotate in the direction opposite to the current rotating direction;
Step S410, in a preset time, determining whether the number of times that the first operation parameter is greater than the second threshold is greater than a preset number of times, if yes, performing step S412, and if no, performing step S414;
step S412, controlling the stirring barrel to rotate at a target rotating speed and sending out a high risk prompt;
step S414, in a preset time, determining whether the number of times that the first operating parameter is greater than the first threshold and less than or equal to the second threshold is greater than a preset number of times, if so, performing step S416, and if not, performing step S418;
step S416, controlling the stirring barrel to keep the current rotating speed and sending out a low risk prompt;
step S418, determining whether the first operating parameter is smaller than a third threshold, if yes, performing step S420, and if no, performing step S422;
step S420, controlling the vehicle to send out a barrel throwing alarm;
step S422, determining whether the rotation speed of the mixing drum is greater than the rotation speed threshold, if so, performing step S424, otherwise, performing step S402;
and step S424, controlling the stirring barrel to decelerate to a safe rotating speed, and sending out an over-speed prompt.
The vehicle comprises a main control unit, an audible and visual alarm device, a stirring barrel and a motor, wherein the motor is used for driving the stirring barrel to rotate, and a reduction gearbox is connected with the motor through the reduction gearbox.
Specifically, when the stirring barrel rotates, most of the time is operated in a stable rotating speed range, and when the stirring barrel is operated at a constant speed and in a steady state, the stirring barrel is operated according to a formula
Figure BDA0003020964070000151
The load torque of the vehicle can be calculated, wherein TlTorque of the motor, TeThe load torque is represented by eta, the transmission efficiency is represented by eta, and the reduction ratio of the reduction gearbox is represented by 1/R. The motor torque and the load torque are in a linear relation, and the motor torque value can be measured by the main control unit, so that the load (concrete volume) corresponding to the load torque at the moment can be calculated. When the torque value of the motor is lower than the torque value corresponding to the empty bucket, the main control unit can judge that the stirring bucket is thrown off or is not installed. The motor torque exceeds the fourth threshold and reaches the time threshold, and the main control unit can judge that the stirring barrel is overloaded or the stirring barrel is blocked in operation. The driver is reminded of overhauling through sound and light.
Further, the main control unit judges that the barrel is thrown, external sound and light alarm is carried out, video and data information is automatically stored, and meanwhile the video and data information can be uploaded to a background for storage.
Further, under the condition of load, when the main control unit identifies the rollover risk, the motor is controlled to output reverse torque, so that the stirring barrel is decelerated and stopped. Thereby reducing the inertia of the mixing drum, reducing the centrifugal force of the whole vehicle, relieving the side turning trend and playing the role of preventing side turning. The magnitude of the reverse torque value output by the motor can be automatically adjusted according to the magnitude of the rollover risk.
Under the no-load condition, when the main control unit identifies the rollover risk, the motor is controlled to output reverse torque, so that the stirring barrel rotates reversely to generate reverse rotational inertia, and the effects of reducing the centrifugal force of the whole vehicle and preventing rollover are achieved.
Further, under the constant rotating speed, the main control unit detects that the number of times that the motor current value and the torque value are greater than the first threshold value and less than or equal to the second threshold value is greater than the preset number of times, and exceeds the preset time, the barrel throwing risk is judged promptly, but the barrel throwing risk is less, reminds the driver through audible and visual alarm, and the stirring barrel joint are overhauled after the driver manually stops.
Under the constant rotating speed, the number of times that the main control unit detects the motor current value and the torque value is greater than the second threshold value is greater than the preset number of times, and exceeds the preset time, and it is great to judge promptly that there is the barrel risk of getting rid of, reminds the driver through audible and visual alarm, and the main control unit control motor output reverse torque simultaneously, when having the load, makes the agitator slow down to the target rotational speed. The incomplete stall is to prevent the concrete from setting the tank. When the stirring barrel is unloaded, the stirring barrel is decelerated to stop rotating. The first threshold and the second threshold are determined by means of calibration or the like.
When the rotating speed of the mixing drum exceeds the rotating speed threshold value, overload and tank throwing risks are also generated, so that the main control unit carries out speed limit measurement processing. The threshold value of the rotating speed is 18 revolutions per minute, and the rotating speed can be adjusted according to different vehicle types and tank bodies.
According to the vehicle control method provided by the invention, when the vehicle runs and the stirring barrel reaches the constant rotating speed, the first running parameter of the vehicle is obtained, and the first running parameter is analyzed, so that the risk level of the stirring barrel is determined through the first running parameter. Further, according to the operating parameter of the risk level control agitator of agitator, and then can take place to carry out corresponding control respectively to the size of the probability that the agitator got rid of the bucket for what the agitator prevented getting rid of the bucket control more corresponding, and then improve and prevent getting rid of the efficiency of bucket control, further avoid the agitator to get rid of the emergence of bucket accident, improve the security of vehicle.
Further, this application judges the risk level that the agitator was located through acquireing the number of times that first operating parameter reached second interval or third interval in the time of predetermineeing to the road conditions of getting rid of the interference that the bucket risk was judged, avoided the erroneous judgement, improved the rate of accuracy of getting rid of bucket risk judgement.
In the description of the present specification, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance unless otherwise explicitly stated or defined; the terms "connected", "mounted", "fixed", and the like are to be construed broadly and may include, for example, fixed connections, detachable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.
In the description of the present specification, the description of "one embodiment," "some embodiments," "specific embodiments," etc., means 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. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The present invention has been described in terms of the preferred embodiment, and it is not intended to be limited to the embodiment. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (12)

1. A vehicle control method, the vehicle including an agitator and a motor for driving the agitator to rotate, the vehicle control method comprising:
acquiring a first operating parameter of the vehicle;
determining the risk level of the mixing barrel according to the first operation parameter;
adjusting a second operation parameter of the stirring barrel according to the risk level of the stirring barrel;
before the step of determining the risk level of the mixing drum according to the first operating parameter, the method further includes:
determining the load torque of the vehicle according to the torque of the motor and a preset formula;
the vehicle further comprises a reduction gearbox, the stirring barrel is connected with the motor through the reduction gearbox, and the preset formula is as follows:
Figure FDA0003649099780000011
wherein, TlIs the torque of the motor, T eEta is the transmission efficiency, and 1/R is the reduction ratio of the reduction gearbox.
2. The vehicle control method according to claim 1, wherein the step of determining the risk level of the mixing drum according to the first operating parameter specifically comprises:
based on the first operation parameter being in a first interval, the risk level is first grade;
within a preset time, the frequency of the first operation parameter in the second interval is greater than a preset frequency, and the risk level is in a second level;
and in the preset time, the frequency of the first operation parameter in the third interval is greater than the preset frequency, and the risk level is three levels.
3. The vehicle control method according to claim 2,
the step of adjusting a second operation parameter of the mixing drum according to the risk level of the mixing drum specifically includes:
controlling the stirring barrel to keep the current rotating speed based on the first level or the second level of the risk grade;
and controlling the stirring barrel to rotate at a target rotating speed based on the risk level being at the third level.
4. The vehicle control method according to claim 2, characterized by further comprising:
Controlling the vehicle to send out a low risk prompt based on the risk grade as the second grade;
and controlling the vehicle to send out a high risk prompt based on the risk grade as the third grade.
5. The vehicle control method according to claim 2, characterized in that the first operating parameter includes: a torque of the motor or a current of the motor;
wherein the first interval is an interval in which the first operating parameter is less than or equal to a first threshold;
the second interval is an interval in which the first operating parameter is greater than the first threshold and less than or equal to a second threshold;
the third interval is an interval in which the first operating parameter is greater than the second threshold.
6. The vehicle control method according to claim 3, wherein the step of controlling the agitator to rotate at the target rotation speed specifically includes:
controlling the stirring barrel to operate at the target rotating speed based on the fact that the load torque is greater than 0, wherein the target rotating speed is smaller than the current rotating speed of the stirring barrel and is greater than 0;
and controlling the stirring barrel to decelerate until the stirring barrel stops rotating based on the load torque being equal to 0.
7. The vehicle control method according to claim 5,
Controlling the vehicle to issue a barrel throwing alarm based on the torque of the motor being less than a third threshold,
wherein the third threshold is less than the first threshold.
8. The vehicle control method according to claim 5,
based on the torque of the electric machine being greater than a fourth threshold and the duration exceeding a time threshold, controlling the vehicle to issue an overload warning,
wherein the fourth threshold is greater than the second threshold.
9. The vehicle control method according to any one of claims 1 to 8, characterized by further comprising:
judging whether the vehicle has a rollover risk or not according to the first operation parameter;
and controlling the stirring barrel to stop rotating or rotate in the direction opposite to the current rotating direction based on the fact that the vehicle has the rollover risk.
10. The vehicle control method according to claim 9, characterized in that the first operating parameter includes: the step of judging whether the vehicle has a rollover risk according to the first operation parameter comprises the following steps of:
determining that the vehicle is at a rollover risk based on the traveling speed of the vehicle being greater than a speed threshold and the lateral acceleration of the vehicle being greater than a first acceleration threshold; or
Determining that the vehicle is at a rollover risk based on the running speed of the vehicle being less than the speed threshold and the inclination angle of the vehicle being greater than a first angle threshold; or
And determining that the vehicle has the rollover risk based on that the lateral acceleration of the vehicle is greater than a second acceleration threshold value and the inclination angle of the vehicle is greater than a second angle threshold value.
11. A vehicle, characterized by comprising:
a processor and a memory, wherein the processor is capable of processing a plurality of data,
wherein the processor, when executing a computer program stored on the memory and executable on the processor, implements the vehicle control method of any one of claims 1 to 10.
12. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a vehicle control method according to any one of claims 1 to 10.
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