CN115303238B - Auxiliary braking and whistle method and device, vehicle, readable storage medium and chip - Google Patents
Auxiliary braking and whistle method and device, vehicle, readable storage medium and chip Download PDFInfo
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- CN115303238B CN115303238B CN202211211427.7A CN202211211427A CN115303238B CN 115303238 B CN115303238 B CN 115303238B CN 202211211427 A CN202211211427 A CN 202211211427A CN 115303238 B CN115303238 B CN 115303238B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q5/00—Arrangement or adaptation of acoustic signal devices
- B60Q5/005—Arrangement or adaptation of acoustic signal devices automatically actuated
Abstract
The utility model relates to an auxiliary brake and whistle method, device, vehicle, readable storage medium and chip, including the vehicle-mounted automatic diagnostic system interface connection of auxiliary equipment and vehicle, enable the vehicle chassis area controller and the SOA service of service oriented architecture in the body area controller, control auxiliary equipment and connect SOA service, under the condition that auxiliary equipment is triggered, calculate the corresponding executive parameter according to the trigger condition of auxiliary equipment, call SOA service and send the executive parameter to chassis area controller and/or body area controller, chassis area controller accomplishes the brake action according to the executive parameter, body area controller accomplishes the whistle action according to the executive parameter; make outside auxiliary brake pedal and supplementary equipment of whistling can pass through on-vehicle automatic diagnosis system interface connection vehicle bus, plug-and-play need not reequip the vehicle through the welding, convenient to use can replace driving school student's brake and/or whistle under dangerous condition.
Description
Technical Field
The disclosure relates to the field of automatic driving, in particular to an auxiliary braking and whistle method, an auxiliary braking and whistle device, a vehicle, a readable storage medium and a chip.
Background
The learner-driven vehicle in driving school generally can weld a section steel pipe on the footboard bracing piece of brake, extends to the copilot position, welds a brake pedal and whistling equipment again in the steel pipe other end. When the student of driving school appears unsafe driving action, the coach can step on the supplementary brake pedal of vice driving position and/or press the equipment of whistling, drives vehicle brake pedal bracing piece through the steel pipe and pushes down, drives hydraulic braking, helps the student to accomplish the braking action, and help is pressed the warning under the condition that the student forgets to whistling. However, this method requires modification of the vehicle by welding, is inconvenient to use, and has an influence on the appearance of the vehicle.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides an auxiliary brake and whistle method, device, vehicle, readable storage medium and chip, so as to solve the problem of inconvenient use caused by welding the auxiliary brake pedal.
According to a first aspect of the embodiments of the present disclosure, there is provided an auxiliary braking and whistle method applied to a vehicle, the vehicle being equipped with an auxiliary device; the auxiliary equipment is connected with an on-board automatic diagnosis system interface of the vehicle, and comprises: enabling Service Oriented Architecture (SOA) services in the vehicle chassis domain controller and the vehicle body domain controller; controlling auxiliary equipment to be connected with the SOA service; under the condition that the auxiliary equipment is triggered, calculating corresponding execution parameters according to the triggering condition of the auxiliary equipment; calling the SOA service to send the execution parameters to the chassis domain controller, and/or calling the SOA service to send the execution parameters to the body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the vehicle body domain controller to finish whistling action.
Optionally, the SOA service includes an SOA service brake service and an SOA whistle service; enabling service-oriented architecture (SOA) services in the vehicle chassis domain controller and the vehicle body domain controller comprises the following steps: initiating information security verification to a TSP cloud of an automobile remote service provider; applying for opening the SOA braking service and the SOA whistling service to the TSP cloud under the condition that the information security verification is passed; and receiving SOA brake service configuration and SOA whistle service configuration issued by the TSP cloud, and enabling the SOA brake service in the chassis area controller and the SOA whistle service in the vehicle body area controller.
Optionally, the auxiliary equipment comprises an auxiliary brake pedal and an auxiliary whistle equipment; the SOA service comprises SOA service brake service and SOA whistle service; the control auxiliary equipment is connected with the SOA service and comprises: the controller for controlling the auxiliary brake pedal is connected with the SOA brake service; and/or a controller for controlling the auxiliary whistle device is connected with the SOA whistle service.
Optionally, the controlling the auxiliary brake pedal by the controller is connected to the SOA brake service, and the controlling the auxiliary brake pedal by the controller includes: controlling the auxiliary brake pedal to broadcast a first message to an Ethernet bus of the vehicle; the first message is used for representing that the auxiliary brake pedal is a chassis domain participant; controlling the SOA brake service to broadcast a second message in a chassis domain; the second message is used for the auxiliary brake pedal to discover the SOA brake service; controlling the auxiliary brake pedal to initiate information safety verification to the SOA brake service according to the second message; and under the condition that the information safety verification is passed, controlling a controller of the auxiliary brake pedal to be connected with the SOA brake service.
Optionally, the controlling the controller of the auxiliary whistle device is connected to the SOA whistle service, and includes: controlling the auxiliary whistling equipment to broadcast a third message to an Ethernet bus of the vehicle; the third message is used for representing that the auxiliary whistling equipment is a car body area participant; controlling the SOA whistling service to broadcast a fourth message in the vehicle body area; the fourth message is used for the auxiliary whistle device to discover the SOA whistle service; controlling the auxiliary whistle device to initiate information security verification to the SOA whistle service according to the fourth message; and under the condition that the information safety verification is passed, controlling a controller of the auxiliary whistle device to be connected with the SOA whistle service.
Optionally, when the auxiliary device is triggered, calculating a corresponding execution parameter according to the triggering condition of the auxiliary device, including: under the condition that the auxiliary brake pedal is triggered, calculating corresponding brake torque according to the trigger stroke of the auxiliary brake pedal; and/or under the condition that the auxiliary whistle device is triggered, calculating a corresponding direct current value according to the trigger pressure of the auxiliary brake pedal; the braking torque and the direct current value are both the execution parameters.
Optionally, the chassis domain controller comprises a controller of the auxiliary brake pedal; the calling the SOA service to send the execution parameters to the chassis domain controller comprises the following steps: controlling the auxiliary brake pedal to call the SOA brake service; the SOA braking service is used for sending a braking request and the braking torque to a controller of the auxiliary brake pedal; the controller for controlling the auxiliary brake pedal sends the brake request and the brake torque to a chassis actuator; the brake torque is used for indicating the chassis actuator to complete a braking action.
Optionally, the body area controller comprises a controller of the auxiliary whistling device; the calling of the SOA service and the sending of the execution parameters to the vehicle body domain controller comprise: controlling the auxiliary whistle device to call the SOA whistle service; the SOA whistling service is used for sending a whistling request and the direct current value to a controller of the auxiliary whistling equipment; and controlling the auxiliary whistle equipment to finish whistle actions according to the whistle request and the direct current value.
Optionally, the auxiliary brake pedal is mounted at a passenger driving position of the vehicle and/or the auxiliary whistle device is mounted at a passenger driving position of the vehicle.
According to a second aspect of the embodiments of the present disclosure, there is provided an auxiliary braking and whistle device for a vehicle, the vehicle being equipped with an auxiliary device; the auxiliary device interfaces with an on-board automatic diagnostic system of the vehicle, including: a processing module configured to enable Service Oriented Architecture (SOA) services in the vehicle chassis domain controller and body domain controller; a control module configured to control an auxiliary device to connect to the SOA service; the processing module is further configured to calculate corresponding execution parameters according to the triggering condition of the auxiliary device when the auxiliary device is triggered; the calling module is configured to call the SOA service to send the execution parameters to the chassis domain controller, and/or call the SOA service to send the execution parameters to the body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the vehicle body domain controller to finish whistling action.
According to a third aspect of the embodiments of the present disclosure, there is provided a vehicle including: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to execute the executable instructions to implement the steps of the auxiliary braking and whistle method described previously.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the auxiliary braking and whistle method provided by the first aspect of the present disclosure.
According to a fifth aspect of embodiments of the present disclosure, there is provided a chip comprising a processor and an interface; the processor is configured to read instructions to perform the steps of the aforementioned assisted braking and whistle method.
The technical scheme provided by the embodiment of the disclosure can have the following beneficial effects: the method comprises the steps that auxiliary equipment is connected with an interface of a vehicle-mounted automatic diagnosis system of a vehicle, service oriented architecture SOA service in a vehicle chassis domain controller and a vehicle body domain controller is enabled, the auxiliary equipment is controlled to be connected with the SOA service, corresponding execution parameters are calculated according to the triggering condition of the auxiliary equipment under the condition that the auxiliary equipment is triggered, the SOA service is called to send the execution parameters to the chassis domain controller and/or the vehicle body domain controller, the chassis domain controller completes braking action according to the execution parameters, and the vehicle body domain controller completes whistling action according to the execution parameters; make outside auxiliary brake pedal and supplementary equipment of whistling can pass through on-vehicle automatic diagnosis system interface connection vehicle bus, plug-and-play need not reequip the vehicle through the welding, convenient to use can replace driving school student's brake and/or whistle under dangerous condition.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart illustrating a method of assisting braking and whistling, according to an exemplary embodiment.
FIG. 2 is a block diagram illustrating an auxiliary braking and whistle device according to one exemplary embodiment.
FIG. 3 is a functional block diagram schematic of a vehicle shown in an exemplary embodiment.
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 implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
It is understood that "a plurality" in this disclosure means two or more, and other words are analogous. "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. The singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It will be further understood that the terms "first," "second," and the like are used to describe various information and that such information should not be limited by these terms. These terms are only used to distinguish one type of information from another and do not denote a particular order or importance. Indeed, the terms "first," "second," and the like are fully interchangeable. For example, a first message may also be referred to as a second message, and similarly, a second message may also be referred to as a first message, without departing from the scope of this disclosure.
It will be further appreciated that while operations are depicted in the drawings in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in serial order, or that all illustrated operations be performed, to achieve desirable results. In certain environments, multitasking and parallel processing may be advantageous.
The disclosed exemplary embodiment shows a flowchart of an auxiliary braking and whistle method applied to a vehicle, such as an autonomous vehicle, the auxiliary braking and whistle method including the steps of: enabling Service Oriented Architecture (SOA) services in a vehicle chassis domain controller and a vehicle body domain controller; the SOA service is a software design method for distributed operations. Enabling the SOA service in the vehicle body area controller may be enabling an SOA service braking service for being invoked to cause the vehicle to complete a braking action and an SOA whistle service for being invoked to cause the vehicle to complete a whistle action. Controlling the auxiliary equipment to be connected with the SOA service; the auxiliary equipment comprises an auxiliary brake pedal and an auxiliary whistle device, and the controlling of the auxiliary equipment to connect the SOA service can comprise: and the controller for controlling the auxiliary brake pedal is connected with the SOA brake service, and/or the controller for controlling the auxiliary whistle device is connected with the SOA whistle service, and corresponding execution parameters are calculated according to the triggering condition of the auxiliary device under the condition that the auxiliary device is triggered. Calling SOA service to send the execution parameters to a chassis domain controller, and/or calling SOA service to send the execution parameters to a vehicle body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the body domain controller to finish whistling action, the execution parameters comprise braking torque and direct current value, the braking torque is used for indicating the chassis domain controller to finish braking action, the direct current value is used for indicating the body domain controller to finish whistling action, when a driving school student mistakenly operates the vehicle, the vehicle is about to enter a dangerous state, a coach can step on an auxiliary brake pedal and/or press auxiliary whistling equipment, and the corresponding triggering condition of stepping on the auxiliary brake pedal is as follows: generating a trigger stroke, and calculating to obtain a braking torque corresponding to the trigger stroke according to the trigger stroke; the corresponding trigger condition of the auxiliary whistling device is as follows: generating a trigger pressure, and calculating to obtain a direct current value corresponding to the trigger pressure according to the trigger pressure.
Through the auxiliary brake and whistle method, the external auxiliary brake pedal and the auxiliary whistle device can be connected with a vehicle bus through an interface of the vehicle-mounted automatic diagnosis system, the plug and play is realized, the vehicle does not need to be refitted by welding, the use is convenient, the brake and/or whistle of a driving school student can be replaced under the dangerous condition, and the function expansion of the vehicle is realized under the condition that the internal and external decoration structures of the vehicle are not damaged.
Referring to fig. 1, fig. 1 is a flowchart illustrating an auxiliary braking and whistle method according to an exemplary embodiment of the present disclosure. The auxiliary braking and whistle method is applied to a vehicle, such as an autonomous vehicle. The auxiliary braking and whistle method shown in fig. 1 includes the steps of:
in step S21, service oriented architecture, SOA, services in the vehicle chassis domain controller and the body domain controller are enabled.
The SOA service is a software design method for distributed operation, and a part of components (callers) of the software can call another application software component to run and operate through a general protocol on a network, so that the callers obtain the service. For example, the caller CAN call some services such as moving a window by calling the SOA service, configure window position parameters through the SOA service, and then send a window position adjusting signal through the window control subsystem, where the window position adjusting signal is used to trigger a corresponding CAN signal, and the CAN signal is used to adjust the window position.
It should be noted that, the SOA service includes a plurality of domains, each domain has several tens of atomic services or combined services, the atomic services individually control one subsystem, and the combined services simultaneously control a plurality of subsystems.
In the disclosure, enabling the SOA service in the chassis domain controller and the SOA service in the body domain controller may be enabling an SOA brake service in the chassis domain controller and an SOA whistle service in the body domain controller, wherein the SOA brake service is used for being called to enable the vehicle to complete a braking action, and the SOA whistle service is used for being called to enable the vehicle to complete a whistle action.
Exemplary enabling SOA braking services in a vehicle chassis domain controller and SOA whistle services in a body domain controller includes: the vehicle is registered as a driving school practice vehicle, the vehicle initiates information security verification to a TSP (Telematics Service Provider) cloud end, the information security verification is bidirectional authentication, namely the vehicle sends a vehicle certificate to the TSP cloud end, the TSP cloud end also sends the TSP certificate to the vehicle, the vehicle certificate contains vehicle information such as an IP address and a vehicle type (one of the driving school practice vehicle is a type) vehicle model, the TSP cloud end conducts information security verification on the vehicle information in the vehicle certificate, the TSP certificate contains information of the TSP cloud end, such as a vehicle equipment manufacturer, a network operator and a lower content Provider related to the TSP cloud end, the vehicle conducts information security verification on the information of the TSP cloud end in the TSP certificate, and when the vehicle information and the information of the TSP cloud end both meet preset requirements, the vehicle is determined to pass the information security verification, and if the vehicle type is the preset requirement met by the driving school practice vehicle. Under the condition that the information safety verification is passed, the vehicle applies for open SOA brake service and SOA whistle service to the TSP cloud, the TSP cloud issues SOA brake service configuration and SOA whistle service configuration, the vehicle receives the SOA brake service configuration and the SOA whistle service configuration issued by the TSP cloud, and SOA brake service in the chassis area controller and SOA whistle service in the vehicle body area controller are enabled.
In step S22, the auxiliary device is controlled to connect the SOA service.
The auxiliary equipment comprises an auxiliary brake pedal and auxiliary whistle equipment, the auxiliary brake pedal and the auxiliary whistle equipment are external auxiliary equipment, the vehicle bus (Ethernet bus) can be connected through an On-Board Diagnostics (OBD) interface of the vehicle, and the auxiliary brake pedal and the auxiliary whistle equipment can also be connected with a power supply of the vehicle through the OBD interface so as to supply power to the auxiliary brake pedal and the auxiliary whistle equipment. It should be noted that the OBD interface is an interface similar to a plug-in power supply in an automobile. Make outside supplementary equipment of whistling can pass through OBD interface connection vehicle bus, realize supplementary whistling and press equipment plug-and-play, convenient to use.
Controlling the auxiliary device to connect to the SOA service may include: the controller for controlling the auxiliary brake pedal is connected with the SOA brake service, and/or the controller for controlling the auxiliary whistle device is connected with the SOA whistle service; when the SOA brake service is called, a brake request can be sent to the control auxiliary brake pedal, so that the control auxiliary brake pedal completes the brake action; and under the condition that the SOA whistle service is called, sending a whistle request to the control auxiliary whistle device so as to control the auxiliary whistle device to finish whistle actions.
For example, the controller controlling the auxiliary brake pedal connecting the SOA brake service may include: controlling an auxiliary brake pedal to broadcast a first message to an Ethernet bus of the vehicle, wherein the first message is used for representing that the auxiliary brake pedal is a chassis domain participant, and the auxiliary brake pedal declares that the auxiliary brake pedal is a chassis domain participant to the Ethernet bus of the vehicle through the first message; controlling the SOA brake service to broadcast a second message in the chassis domain, wherein the second message is used for assisting the brake pedal to find the SOA brake service; controlling an auxiliary brake pedal to detect a second message, discovering SOA brake service, and initiatively initiating registration to an Ethernet bus; the registration process comprises bidirectional information safety verification of the auxiliary brake pedal and the SOA brake service, wherein the bidirectional information safety verification comprises the following steps: controlling the auxiliary brake pedal to initiate information safety verification to the SOA brake service according to the second message, controlling the auxiliary brake pedal to send auxiliary brake pedal information to the SOA brake service, sending SOA brake service information to the auxiliary brake pedal by the SOA brake service, verifying the safety and the legality of the auxiliary brake pedal information and the SOA brake service information, and determining that the information safety verification is passed under the condition that the safety and the legality of the auxiliary brake pedal information and the SOA brake service information both meet preset requirements; and under the condition that the information safety verification is passed, the controller for controlling the auxiliary brake pedal is connected with the SOA brake service.
For example, the controller-connected SOA blast service controlling the auxiliary blast apparatus may include: the auxiliary whistling equipment is controlled to broadcast a third message to an Ethernet bus of the vehicle, the third message is used for representing that the auxiliary whistling equipment is a vehicle body domain participant, and the auxiliary whistling equipment declares that the auxiliary whistling equipment is a vehicle body domain participant to the Ethernet bus of the vehicle through the third message; controlling the SOA whistling service to broadcast a fourth message in the vehicle body area, wherein the fourth message is used for assisting the whistling equipment to discover the SOA whistling service; controlling the auxiliary whistle device to detect the fourth message, discovering SOA whistle service, and actively initiating registration to the Ethernet bus; the registration process comprises the steps that bidirectional information safety verification is carried out on the auxiliary whistle device and the SOA whistle service, and the bidirectional information safety verification comprises the following steps: the auxiliary whistle device is controlled to initiate information safety verification to the SOA whistle service according to the fourth message, the auxiliary whistle device is controlled to send auxiliary whistle device information to the SOA whistle service, the SOA whistle service sends the SOA whistle service information to the auxiliary whistle device, safety and legality of the auxiliary whistle device information and the SOA whistle service information are verified, and the information safety verification is confirmed to be passed under the condition that the safety and legality of the auxiliary whistle device information and the SOA whistle service information meet preset requirements; and under the condition that the information safety verification is passed, the controller for controlling the auxiliary whistle device is connected with the SOA whistle service.
In step S23, if the auxiliary device is triggered, the corresponding execution parameter is calculated according to the triggering condition of the auxiliary device.
When a driving school student mistakenly operates the vehicle, namely the vehicle is about to enter a dangerous state, the coach may step on the auxiliary brake pedal and/or press the auxiliary whistle device, and the triggering condition corresponding to the step on the auxiliary brake pedal is as follows: generating a trigger stroke; the corresponding trigger condition of pressing the auxiliary whistling equipment is as follows: a trigger pressure is generated.
Illustratively, when a coach steps on an auxiliary brake pedal, the auxiliary brake pedal is triggered and generates a trigger stroke, and a brake torque corresponding to the trigger stroke is calculated according to the trigger stroke of the auxiliary brake pedal, wherein the brake torque is an execution parameter indicating that a chassis actuator completes a braking action.
Illustratively, when a coach presses the auxiliary whistling device, the auxiliary whistling device is triggered and generates a trigger pressure, a direct current value corresponding to the trigger pressure is calculated according to the trigger pressure of the auxiliary whistling device, and the direct current value is an execution parameter indicating the auxiliary whistling device to finish whistling actions.
And in step S24, calling the SOA service to send the execution parameters to the chassis domain controller, and/or calling the SOA service to send the execution parameters to the body domain controller.
The chassis zone controller includes a controller to assist with a brake pedal, and the body zone controller includes a controller to assist with a whistling device.
For example, invoking the SOA service to send the execution parameters to the chassis domain controller may include: calling the SOA brake service to send the execution parameters to a chassis domain controller, controlling an auxiliary brake pedal to call the SOA brake service so that the SOA brake service generates a brake request, and sending the brake request and the brake torque to a controller of the auxiliary brake pedal; the controller of the auxiliary brake pedal sends a brake request and a brake torque to the chassis actuator, and the chassis actuator completes a brake action according to the brake torque.
For example, invoking the SOA service to send the execution parameters to the body domain controller may include: calling the SOA whistling service, sending the execution parameters to a vehicle body domain controller, controlling the auxiliary whistling equipment to call the SOA whistling service, enabling the SOA whistling service to generate a whistling request, sending the whistling request and the direct current value to a controller of the auxiliary whistling equipment, and enabling the auxiliary whistling equipment to finish whistling actions according to the whistling request and the direct current value.
In one embodiment, the auxiliary brake pedal is mounted in a secondary driving position of the vehicle and/or the auxiliary whistle device is mounted in a secondary driving position of the vehicle.
Make outside auxiliary brake footboard and supplementary equipment of whistling can realize auxiliary brake and supplementary whistling through OBD interface connection vehicle bus, plug-and-play, convenient to use. The coach can replace the brake and/or whistle of the school student in dangerous conditions, and the function of the vehicle can be expanded without damaging the interior and exterior decoration structure of the vehicle.
In summary, the auxiliary braking and whistle method provided by the present disclosure includes interfacing an auxiliary device with a vehicle-mounted automatic diagnostic system of a vehicle, enabling a service oriented architecture SOA service in a vehicle chassis domain controller and a vehicle body domain controller, controlling the auxiliary device to connect with the SOA service, calculating corresponding execution parameters according to a trigger condition of the auxiliary device when the auxiliary device is triggered, invoking the SOA service to send the execution parameters to the chassis domain controller and/or the vehicle body domain controller, completing a braking action according to the execution parameters by the chassis domain controller, and completing a whistle action according to the execution parameters by the vehicle body domain controller; make outside auxiliary brake pedal and supplementary equipment of whistling can pass through on-vehicle automatic diagnosis system interface connection vehicle bus, plug-and-play need not reequip the vehicle through the welding, convenient to use can replace driving school student's brake and/or whistle under dangerous condition.
FIG. 2 is a block diagram illustrating an auxiliary braking and whistle device according to an exemplary embodiment. Referring to fig. 2, the auxiliary braking and whistle device 20 includes a processing module 201, a control module 202, and a calling module 203.
The processing module 201 is configured to enable Service Oriented Architecture (SOA) services in the vehicle chassis domain controller and the vehicle body domain controller;
the control module 202 is configured to control auxiliary equipment to connect with the SOA service;
the processing module 201 is further configured to, in a case that the auxiliary device is triggered, calculate a corresponding execution parameter according to a triggering condition of the auxiliary device;
the calling module 203 is configured to call the SOA service to send the execution parameters to the chassis domain controller, and/or call the SOA service to send the execution parameters to the body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the vehicle body domain controller to finish whistling action.
Optionally, the processing module 201 is further configured to initiate information security verification to a TSP cloud of an automobile remote service provider;
applying for opening the SOA braking service and the SOA whistling service to the TSP cloud under the condition that the information security verification is passed;
and receiving SOA brake service configuration and SOA whistle service configuration issued by the TSP cloud, and enabling the SOA brake service in the chassis area controller and the SOA whistle service in the vehicle body area controller.
Optionally, the control module 202 is further configured to control the controller of the auxiliary brake pedal to connect to the SOA brake service;
and/or the controller for controlling the auxiliary whistle device is connected with the SOA whistle service.
Optionally, the control module 202 is further configured to control the auxiliary brake pedal to broadcast a first message to an ethernet bus of the vehicle; the first message is used for representing that the auxiliary brake pedal is a chassis domain participant;
controlling the SOA brake service to broadcast a second message in a chassis domain; the second message is used for the auxiliary brake pedal to discover the SOA brake service;
controlling the auxiliary brake pedal to initiate information safety verification to the SOA brake service according to the second message;
and under the condition that the information safety verification is passed, controlling a controller of the auxiliary brake pedal to be connected with the SOA brake service.
Optionally, the control module 202 is further configured to control the auxiliary whistling device to broadcast a third message to an ethernet bus of the vehicle; the third message is used for representing that the auxiliary whistling equipment is a car body area participant;
controlling the SOA whistling service to broadcast a fourth message in the vehicle body domain; the fourth message is used for the auxiliary whistle device to discover the SOA whistle service;
controlling the auxiliary whistle device to initiate information security verification to the SOA whistle service according to the fourth message;
and under the condition that the information safety verification is passed, controlling a controller of the auxiliary whistle device to be connected with the SOA whistle service.
Optionally, the processing module 201 is further configured to calculate a corresponding braking torque according to a trigger stroke of the auxiliary brake pedal when the auxiliary brake pedal is triggered;
and/or under the condition that the auxiliary whistle device is triggered, calculating a corresponding direct current value according to the trigger pressure of the auxiliary brake pedal;
the braking torque and the direct current value are both the execution parameters.
Optionally, the invoking module 203 is further configured to control the auxiliary brake pedal to invoke the SOA brake service; the SOA braking service is used for sending a braking request and the braking torque to a controller of the auxiliary brake pedal;
the controller for controlling the auxiliary brake pedal sends the brake request and the brake torque to a chassis actuator; the braking torque is used for indicating the chassis actuator to complete a braking action.
Optionally, the invoking module 203 is further configured to control the auxiliary whistle device to invoke the SOA whistle service; the SOA whistling service is used for sending a whistling request and the direct current value to a controller of the auxiliary whistling equipment;
and controlling the auxiliary whistle device to finish whistle action according to the whistle request and the direct current value.
Optionally, the auxiliary brake pedal is mounted at a passenger driving position of the vehicle and/or the auxiliary whistle device is mounted at a passenger driving position of the vehicle.
With regard to the apparatus in the above embodiment, the specific manner in which each module performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
The present disclosure also provides a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the auxiliary braking and whistle method provided by the present disclosure.
The apparatus may be a part of a stand-alone electronic device, for example, in an embodiment, the apparatus may be an Integrated Circuit (IC) or a chip, where the IC may be one IC or a collection of multiple ICs; the chip may include, but is not limited to, the following categories: a GPU (Graphics Processing Unit), a CPU (Central Processing Unit), an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an SOC (System on Chip, SOC, system on Chip, or System on Chip), and the like. The integrated circuit or chip may be configured to execute executable instructions (or code) to implement the auxiliary braking and whistle method described above. The executable instructions may be stored in the integrated circuit or chip or may be obtained from other devices or apparatuses, for example, the integrated circuit or chip may include the first processor, the first memory, and an interface for communicating with other devices. The executable instructions may be stored in the first memory, and when executed by the first processor, implement the above-described auxiliary braking and whistle method; alternatively, the integrated circuit or chip may receive executable instructions through the interface and transmit the executable instructions to the first processor for execution, so as to implement the auxiliary braking and whistle method.
Referring to fig. 3, fig. 3 is a functional block diagram of a vehicle 600 according to an exemplary embodiment. The vehicle 600 may be configured in a fully or partially autonomous driving mode. For example, the vehicle 600 may acquire environmental information of its surroundings through the sensing system 620 and derive an automatic driving strategy based on an analysis of the surrounding environmental information to implement full automatic driving, or present the analysis result to the user to implement partial automatic driving.
Vehicle 600 may include various subsystems such as infotainment system 610, perception system 620, decision control system 630, drive system 640, and computing platform 650. Alternatively, vehicle 600 may include more or fewer subsystems, and each subsystem may include multiple components. In addition, each of the sub-systems and components of the vehicle 600 may be interconnected by wire or wirelessly.
In some embodiments, the infotainment system 610 may include a communication system 611, an entertainment system 612, and a navigation system 613.
The communication system 611 may comprise a wireless communication system that may communicate wirelessly with one or more devices, either directly or via a communication network. For example, the wireless communication system may use 3G cellular communication, such as CDMA, EVD0, GSM/GPRS, or 4G cellular communication, such as LTE. Or 5G cellular communication. The wireless communication system may communicate with a Wireless Local Area Network (WLAN) using WiFi. In some embodiments, the wireless communication system may communicate directly with the device using an infrared link, bluetooth, or ZigBee. Other wireless protocols, such as various vehicular communication systems, for example, a wireless communication system may include one or more Dedicated Short Range Communications (DSRC) devices that may include public and/or private data communications between vehicles and/or roadside stations.
The entertainment system 612 may include a display device, a microphone and a sound, and a user may listen to a radio in the car based on the entertainment system, playing music; or the mobile phone is communicated with the vehicle, screen projection of the mobile phone is realized on the display equipment, the display equipment can be in a touch control type, and a user can operate the display equipment by touching the screen.
In some cases, the voice signal of the user may be acquired through a microphone, and certain control of the vehicle 600 by the user, such as adjusting the temperature in the vehicle, etc., may be implemented according to the analysis of the voice signal of the user. In other cases, music may be played to the user through a stereo.
The navigation system 613 may include a map service provided by a map provider to provide navigation of a route of travel for the vehicle 600, and the navigation system 613 may be used in conjunction with a global positioning system 621 and an inertial measurement unit 622 of the vehicle. The map service provided by the map supplier can be a two-dimensional map or a high-precision map.
The sensing system 620 may include several types of sensors that sense information about the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system 621 (the global positioning system may be a GPS system, a beidou system or other positioning system), an Inertial Measurement Unit (IMU) 622, a laser radar 623, a millimeter wave radar 624, an ultrasonic radar 625, and a camera 626. The sensing system 620 may also include sensors of internal systems of the monitored vehicle 600 (e.g., an in-vehicle air quality monitor, a fuel gauge, an oil temperature gauge, etc.). Sensor data from one or more of these sensors may be used to detect the object and its corresponding characteristics (position, shape, orientation, velocity, etc.). Such detection and identification is a critical function of the safe operation of the vehicle 600.
The inertial measurement unit 622 is used to sense a pose change of the vehicle 600 based on the inertial acceleration. In some embodiments, inertial measurement unit 622 may be a combination of accelerometers and gyroscopes.
Lidar 623 utilizes laser light to sense objects in the environment in which vehicle 600 is located. In some embodiments, lidar 623 may include one or more laser sources, laser scanners, and one or more detectors, among other system components.
The millimeter-wave radar 624 utilizes radio signals to sense objects within the surrounding environment of the vehicle 600. In some embodiments, in addition to sensing objects, the millimeter-wave radar 624 may also be used to sense the speed and/or heading of objects.
The ultrasonic radar 625 may sense objects around the vehicle 600 using ultrasonic signals.
The camera 626 is used to capture image information of the surrounding environment of the vehicle 600. The image capturing device 626 may include a monocular camera, a binocular camera, a structured light camera, a panoramic camera, and the like, and the image information acquired by the image capturing device 626 may include still images or video stream information.
Decision control system 630 includes a computing system 631 that makes analytical decisions based on information acquired by sensing system 620, decision control system 630 further includes a vehicle control unit 632 that controls the powertrain of vehicle 600, and a steering system 633, throttle 634, and brake system 635 for controlling vehicle 600.
The computing system 631 may operate to process and analyze the various information acquired by the perception system 620 to identify objects, and/or features in the environment surrounding the vehicle 600. The targets may include pedestrians or animals, and the objects and/or features may include traffic signals, road boundaries, and obstacles. The computing system 631 may use object recognition algorithms, motion from Motion (SFM) algorithms, video tracking, and the like. In some embodiments, the computing system 631 may be used to map an environment, track objects, estimate the speed of objects, and so forth. The computing system 631 may analyze the various information obtained and derive a control strategy for the vehicle.
The vehicle controller 632 may be used to perform coordinated control on the power battery and the engine 641 of the vehicle to improve the power performance of the vehicle 600.
The steering system 633 is operable to adjust the heading of the vehicle 600. For example, in one embodiment, a steering wheel system.
The throttle 634 is used to control the operating speed of the engine 641 and thus the speed of the vehicle 600.
The brake system 635 is used to control the deceleration of the vehicle 600. The braking system 635 may use friction to slow the wheel 644. In some embodiments, the braking system 635 may convert the kinetic energy of the wheels 644 into electrical current. The braking system 635 may also take other forms to slow the rotational speed of the wheel 644 to control the speed of the vehicle 600.
The drive system 640 may include components that provide powered motion to the vehicle 600. In one embodiment, the drive system 640 may include an engine 641, an energy source 642, a transmission 643, and wheels 644. The engine 641 may be an internal combustion engine, an electric motor, an air compression engine, or other types of engine combinations, such as a hybrid engine consisting of a gasoline engine and an electric motor, a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine 641 converts the energy source 642 into mechanical energy.
Examples of energy sources 642 include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electrical power. The energy source 642 may also provide energy to other systems of the vehicle 600.
The transmission 643 may transmit mechanical power from the engine 641 to the wheels 644. The transmission 643 may include a gearbox, a differential, and a drive shaft. In one embodiment, the transmission 643 may also include other components, such as clutches. Wherein the drive shaft may include one or more axles that may be coupled to one or more wheels 644.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 can include at least one second processor 651, which second processor 651 can execute instructions 653 stored in a non-transitory computer-readable medium, such as second memory 652. In some embodiments, computing platform 650 may also be a plurality of computing devices that control individual components or subsystems of vehicle 600 in a distributed manner.
The second processor 651 may be any conventional processor, such as a commercially available CPU. Alternatively, the second processor 651 may also include a processor such as a Graphics Processor Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof. Although fig. 3 functionally illustrates a second processor, a second memory, and other elements of the computer in the same block, those skilled in the art will appreciate that the second processor, computer, or second memory may actually comprise a plurality of second processors, computers, or second memories that may or may not be stored within the same physical housing. For example, the second memory may be a hard disk drive or other storage medium located in a different enclosure than the computer. Thus, references to a second processor or computer will be understood to include references to a set of second processors or computers or second memories which may or may not operate in parallel. Rather than using a single second processor to perform the steps described herein, some components, such as the steering and deceleration components, may each have their own second processor that performs only computations related to the component-specific functions.
In the disclosed embodiment, the second processor 651 may perform the above-described auxiliary braking and whistle method.
In various aspects described herein, the second processor 651 can be located remotely from the vehicle and in wireless communication with the vehicle. In other aspects, some of the processes described herein are executed on a second processor disposed within the vehicle and others are executed by a remote second processor, including taking the steps necessary to execute a single maneuver.
In some embodiments, the second memory 652 can contain instructions 653 (e.g., program logic), which instructions 653 can be executed by the second processor 651 to perform various functions of the vehicle 600. The second memory 652 may also contain additional instructions, including instructions to send data to, receive data from, interact with, and/or control one or more of the infotainment system 610, the perception system 620, the decision control system 630, the drive system 640.
In addition to instructions 653, second memory 652 may also store data such as road maps, route information, the location, direction, speed, and other such vehicle data of the vehicle, as well as other information. Such information may be used by the vehicle 600 and the computing platform 650 during operation of the vehicle 600 in autonomous, semi-autonomous, and/or manual modes.
Computing platform 650 may control functions of vehicle 600 based on inputs received from various subsystems (e.g., drive system 640, perception system 620, and decision control system 630). For example, computing platform 650 may utilize input from decision control system 630 in order to control steering system 633 to avoid obstacles detected by perception system 620. In some embodiments, the computing platform 650 is operable to provide control over many aspects of the vehicle 600 and its subsystems.
Optionally, one or more of these components described above may be mounted separately from or associated with the vehicle 600. For example, the second memory 652 may exist partially or completely separate from the vehicle 600. The above components may be communicatively coupled together in a wired and/or wireless manner.
Optionally, the above components are only an example, in an actual application, components in the above modules may be added or deleted according to an actual need, and fig. 3 should not be construed as limiting the embodiment of the present disclosure.
An autonomous automobile traveling on a roadway, such as vehicle 600 above, may identify objects within its surrounding environment to determine an adjustment to the current speed. The object may be another vehicle, a traffic control device, or another type of object. In some examples, each identified object may be considered independently, and based on the respective characteristics of the object, such as its current speed, acceleration, separation from the vehicle, etc., may be used to determine the speed at which the autonomous vehicle is to be adjusted.
Optionally, the vehicle 600 or a sensory and computing device associated with the vehicle 600 (e.g., computing system 631, computing platform 650) may predict behavior of the identified object based on characteristics of the identified object and the state of the surrounding environment (e.g., traffic, rain, ice on the road, etc.). Optionally, each identified object depends on the behavior of each other, so it is also possible to predict the behavior of a single identified object taking all identified objects together into account. The vehicle 600 is able to adjust its speed based on the predicted behavior of the identified object. In other words, the autonomous vehicle is able to determine what steady state the vehicle will need to adjust to (e.g., accelerate, decelerate, or stop) based on the predicted behavior of the object. In this process, other factors may also be considered to determine the speed of the vehicle 600, such as the lateral position of the vehicle 600 in the road being traveled, the curvature of the road, the proximity of static and dynamic objects, and so forth.
In addition to providing instructions to adjust the speed of the autonomous vehicle, the computing device may also provide instructions to modify the steering angle of the vehicle 600 to cause the autonomous vehicle to follow a given trajectory and/or maintain a safe lateral and longitudinal distance from objects in the vicinity of the autonomous vehicle (e.g., vehicles in adjacent lanes on the road).
The vehicle 600 may be any type of vehicle, such as a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a recreational vehicle, a train, etc., and the disclosed embodiment is not particularly limited.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-described method of assisted braking and whistle when executed by the programmable apparatus.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice in the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (13)
1. The auxiliary braking and whistle method is characterized by being applied to a vehicle, wherein the vehicle is provided with auxiliary equipment, and the auxiliary equipment comprises an auxiliary brake pedal and auxiliary whistle equipment; the auxiliary device is connected with an interface of a vehicle-mounted automatic diagnosis system of the vehicle in a plug-and-play manner, and comprises:
enabling Service Oriented Architecture (SOA) services in the vehicle chassis domain controller and the vehicle body domain controller;
controlling auxiliary equipment to connect the SOA service;
under the condition that the auxiliary equipment is triggered, calculating corresponding execution parameters according to the triggering condition of the auxiliary equipment;
calling the SOA service to send the execution parameters to the chassis domain controller, and/or calling the SOA service to send the execution parameters to the body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the vehicle body domain controller to finish whistling action.
2. The method of claim 1, wherein the SOA services include SOA brake services and SOA whistle-blowing services; the enabling of SOA services in the vehicle chassis domain controller and the vehicle body domain controller comprises:
initiating information security verification to a TSP cloud of an automobile remote service provider;
applying for opening the SOA braking service and the SOA whistling service to the TSP cloud under the condition that the information security verification is passed;
and receiving SOA brake service configuration and SOA whistle service configuration issued by the TSP cloud, and enabling the SOA brake service in the chassis area controller and the SOA whistle service in the vehicle body area controller.
3. The method of claim 1, wherein the SOA services include a SOA service brake service and a SOA whistle-blowing service; the control auxiliary equipment is connected with the SOA service and comprises:
the controller for controlling the auxiliary brake pedal is connected with the SOA brake service;
and/or the controller for controlling the auxiliary whistle device is connected with the SOA whistle service.
4. The method of claim 3, wherein the controller controlling the auxiliary brake pedal is connected to the SOA braking service and comprises:
controlling the auxiliary brake pedal to broadcast a first message to an Ethernet bus of the vehicle; the first message is used for representing that the auxiliary brake pedal is a chassis domain participant;
controlling the SOA brake service to broadcast a second message in a chassis domain; the second message is used for the auxiliary brake pedal to discover the SOA brake service;
controlling the auxiliary brake pedal to initiate information safety verification to the SOA brake service according to the second message;
and under the condition that the information safety verification is passed, controlling a controller of the auxiliary brake pedal to be connected with the SOA brake service.
5. The method of claim 3, wherein the controller controlling the auxiliary whistle device is connected to the SOA whistle service and comprises:
controlling the auxiliary whistling equipment to broadcast a third message to an Ethernet bus of the vehicle; the third message is used for representing that the auxiliary whistling equipment is a car body area participant;
controlling the SOA whistling service to broadcast a fourth message in the vehicle body area; the fourth message is used for the auxiliary whistle device to discover the SOA whistle service;
controlling the auxiliary whistle device to initiate information safety verification to the SOA whistle service according to the fourth message;
and under the condition that the information safety verification is passed, controlling a controller of the auxiliary whistle device to be connected with the SOA whistle service.
6. The method according to claim 3, wherein the calculating the corresponding execution parameter according to the triggering condition of the auxiliary device in the case that the auxiliary device is triggered comprises:
under the condition that the auxiliary brake pedal is triggered, calculating corresponding brake torque according to the trigger stroke of the auxiliary brake pedal;
and/or under the condition that the auxiliary whistle device is triggered, calculating a corresponding direct current value according to the trigger pressure of the auxiliary brake pedal;
the braking torque and the direct current value are both the execution parameters.
7. The method of claim 6, wherein the chassis domain controller comprises a controller of the auxiliary brake pedal; the calling the SOA service to send the execution parameters to the chassis domain controller comprises the following steps:
controlling the auxiliary brake pedal to call the SOA brake service; the SOA braking service is used for sending a braking request and the braking torque to a controller of the auxiliary brake pedal;
the controller for controlling the auxiliary brake pedal sends the brake request and the brake torque to a chassis actuator; the braking torque is used for indicating the chassis actuator to complete a braking action.
8. The method of claim 6, wherein the body area controller comprises a controller of the auxiliary whistle device; the calling of the SOA service and the sending of the execution parameters to the vehicle body domain controller comprise:
controlling the auxiliary whistle device to call the SOA whistle service; the SOA whistling service is used for sending a whistling request and the direct current value to a controller of the auxiliary whistling equipment;
and controlling the auxiliary whistle device to finish whistle action according to the whistle request and the direct current value.
9. The method of claim 1, wherein the auxiliary brake pedal is mounted in a passenger driving position of the vehicle and/or the auxiliary whistling device is mounted in a passenger driving position of the vehicle.
10. An auxiliary braking and whistle device is characterized by being applied to a vehicle, wherein auxiliary equipment is arranged on the vehicle, and the auxiliary equipment comprises an auxiliary braking pedal and auxiliary whistle equipment; the auxiliary device is connected with an interface of a vehicle-mounted automatic diagnosis system of the vehicle in a plug-and-play manner, and comprises:
a processing module configured to enable Service Oriented Architecture (SOA) services in the vehicle chassis domain controller and the body domain controller;
a control module configured to control an auxiliary device to connect to the SOA service;
the processing module is further configured to calculate corresponding execution parameters according to the triggering condition of the auxiliary device when the auxiliary device is triggered;
the calling module is configured to call the SOA service to send the execution parameters to the chassis domain controller, and/or call the SOA service to send the execution parameters to the body domain controller; the execution parameters are used for indicating the chassis domain controller to finish braking action and/or indicating the vehicle body domain controller to finish whistling action.
11. A vehicle, characterized by comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to execute the executable instructions to implement the steps of the method of any one of claims 1 to 9.
12. A computer readable storage medium having computer program instructions stored thereon, which when executed by a processor, implement the steps of the method of any one of claims 1 to 9.
13. A chip comprising a processor and an interface; the processor is configured to read instructions to perform the method of any one of claims 1 to 9.
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