CN115352457A - Method for determining vehicle slip state, device thereof, processor and MCU - Google Patents
Method for determining vehicle slip state, device thereof, processor and MCU Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/081—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/10—Change speed gearings
- B60W2510/1005—Transmission ratio engaged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The application provides a method for determining a vehicle roll state, a device thereof, a processor and an MCU, wherein the method comprises the following steps: firstly, acquiring rotating speed information of a motor of a target vehicle in real time, wherein the rotating speed information is used for representing the rotating speed of the motor; then, under the condition that the rotating speed information is smaller than a first threshold value, the moving distance of the target vehicle in a preset time period is obtained; and finally, determining whether the target vehicle is in a slope slipping state or not at least according to the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is larger than or equal to a second threshold value. At least under the condition that the moving distance is larger than or equal to the second threshold value, the target vehicle is in the slope slipping state, the situation that potential safety hazards exist due to the fact that the rotating speed of a motor is small when abnormal working conditions such as sudden braking or external impact and the like of the vehicle are caused when the vehicle is judged by mistake and enters the slope slipping state in the prior art is avoided, and the situation that the potential safety hazards of the target vehicle are small is guaranteed.
Description
Technical Field
The present application relates to the field of vehicles, and in particular, to a method for determining a roll state of a vehicle, an apparatus thereof, a computer-readable storage medium, a processor, an electronic device, and an MCU.
Background
The present electric motor car can have following problem, is in the emergency brake operating mode or the whole car receives the circumstances such as external impact promptly, under this condition, causes the motor to gather the burden rotational speed under the emergency brake operating mode because the transmission clearance, perhaps produces the burden rotational speed because the whole car receives unusual operating modes such as external impact.
At present, the electric vehicle can directly enter the slope slipping prevention function under the condition of meeting the problems.
However, when the electric vehicle encounters a sudden braking condition or the whole vehicle is subjected to external impact, if the electric vehicle directly enters the anti-sliding mode, the motor is easily caused to suddenly enter the rotating speed control mode, and the rotating speed of the motor is rapidly controlled to be zero, so that the potential safety hazard is high.
The above information disclosed in this background section is only for enhancement of understanding of the background of the technology described herein and, therefore, certain information may be included in the background that does not form the prior art that is already known in this country to a person of ordinary skill in the art.
Disclosure of Invention
The main purpose of the present application is to provide a method for determining a vehicle roll-off state, an apparatus thereof, a computer readable storage medium, a processor, an electronic device, and an MCU, so as to solve the problem in the prior art that a vehicle enters an anti-roll-off mode due to abnormal conditions, which results in a large potential safety hazard.
According to an aspect of an embodiment of the present invention, there is provided a method of determining a roll state of a vehicle, the method including: the method comprises the steps of obtaining rotating speed information of a motor of a target vehicle in real time, wherein the rotating speed information is used for representing the rotating speed of the motor; under the condition that the rotating speed information is smaller than a first threshold value, acquiring the moving distance of the target vehicle in a preset time period; and determining whether the target vehicle is in a slope slipping state or not at least according to the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is greater than or equal to a second threshold value.
Optionally, determining whether the target vehicle is in a downhill state at least according to the moving distance includes: under the condition that the moving distance is larger than or equal to the second threshold value, acquiring the rotating speed information of the target vehicle at the moment corresponding to the preset duration before the current moment to obtain the preset rotating speed; determining whether the target vehicle is in the slope slipping state or not according to the moving distance and the predetermined rotation speed, and determining that the target vehicle is in the slope slipping state if the moving distance and the predetermined rotation speed satisfy a predetermined condition, wherein the predetermined condition comprises: the predetermined rotation speed is less than a third threshold value and the moving distance is greater than or equal to the second threshold value.
Optionally, the obtaining of the moving distance of the target vehicle within a predetermined time period includes: acquiring a transmission ratio and a wheel radius of the target vehicle, wherein the transmission ratio is a ratio of the rotating speed information to a wheel rotating speed; and determining the moving distance to be L = N x dt x 2 pi R/A, wherein N is the rotating speed information, dt is the preset time period, R is the radius of the wheel, and A is the transmission ratio.
Optionally, after determining that the target vehicle is in the downhill state, the method further comprises: controlling the target vehicle to enter an anti-creep mode such that the rotational speed of the motor is zero.
Optionally, after determining that the target vehicle is not in the downhill state, the method further comprises: controlling the rotational speed of the motor of the target vehicle to be constant.
According to another aspect of the embodiment of the invention, a device for determining a roll state of a vehicle is further provided, and the device comprises a first obtaining unit, a second obtaining unit and a determining unit, wherein the first obtaining unit is used for obtaining rotation speed information of a motor of a target vehicle in real time, and the rotation speed information is used for representing the rotation speed of the motor; the second acquisition unit is used for acquiring the moving distance of the target vehicle in a preset time period under the condition that the rotating speed information is smaller than a first threshold value; the determining unit is used for determining whether the target vehicle is in a slope slipping state or not according to at least the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is larger than or equal to a second threshold value.
According to yet another aspect of embodiments of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program is configured to perform any one of the methods.
According to yet another aspect of the embodiments of the present invention, there is also provided a processor for executing a program, where the program executes to perform any one of the methods.
There is also provided, in accordance with yet another aspect of an embodiment of the present invention, electronic equipment comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described herein.
According to still another aspect of the embodiments of the present invention, there is also provided a vehicle MCU (Motor Control Unit) configured to perform any one of the methods.
In the embodiment of the invention, in the method for determining the vehicle roll state, firstly, the rotating speed information of the motor of the target vehicle is obtained in real time, and the rotating speed information is used for representing the rotating speed of the motor; then, under the condition that the rotating speed information is smaller than a first threshold value, the moving distance of the target vehicle in a preset time period is obtained; and finally, determining whether the target vehicle is in a slope slipping state or not at least according to the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is larger than or equal to a second threshold value. Compared with the problem that potential safety hazards are large due to the fact that a vehicle enters an anti-slope-slipping mode under abnormal working conditions in the prior art, the method for determining the slope-slipping state of the vehicle obtains the moving distance of the target vehicle in the preset time period under the condition that the rotating speed information of the motor of the target vehicle is smaller than the first threshold, and determines whether the target vehicle is in the slope-slipping state at least according to the moving distance, namely, the target vehicle is determined to be in the slope-slipping state under the condition that the moving distance is larger than or equal to the second threshold, and determines that the target vehicle is not in the slope-slipping state under the condition that the moving distance is smaller than the second threshold, so that the problem that the potential safety hazards are large due to the fact that the vehicle enters the anti-slope mode under the abnormal working conditions such as sudden braking or external impact in the prior art is solved, and the potential safety hazards of the target vehicle are small.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, are included to provide a further understanding of the application, and the description of the exemplary embodiments and illustrations of the application are intended to explain the application and are not intended to limit the application. In the drawings:
FIG. 1 illustrates a flow chart of a method of determining a roll state of a vehicle according to an embodiment of the present application;
FIG. 2 shows a schematic diagram of a determination device of a roll state of a vehicle according to an embodiment of the present application;
FIG. 3 shows a flow chart of the determination of the roll state of a vehicle according to an embodiment of the present application.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
In order to make the technical solutions of the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the accompanying drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It will be understood that when an element such as a layer, film, region, or substrate is referred to as being "on" another element, it can be directly on the other element or intervening elements may also be present. Also, in the specification and claims, when an element is described as being "connected" to another element, the element may be "directly connected" to the other element or "connected" to the other element through a third element.
As mentioned in the background of the invention, in order to solve the above problem that a vehicle in the prior art has a great potential safety hazard due to an abnormal operating condition entering into an anti-roll-down mode, in an exemplary embodiment of the present application, a method for determining a roll-down state of a vehicle, an apparatus thereof, a computer-readable storage medium, a processor, an electronic device, and an MCU are provided.
According to an embodiment of the present application, a method of determining a roll state of a vehicle is provided.
Fig. 1 is a flowchart of a determination method of a roll state of a vehicle according to an embodiment of the present application. As shown in fig. 1, the method comprises the steps of:
step S101, obtaining rotation speed information of a motor of a target vehicle in real time, wherein the rotation speed information is used for representing the rotation speed of the motor;
step S102, acquiring the moving distance of the target vehicle in a preset time period under the condition that the rotating speed information is smaller than a first threshold value;
step S103 is a step of determining whether or not the target vehicle is in a downhill state based on at least the travel distance, and determining that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value.
In the method for determining the vehicle slope state, firstly, the rotating speed information of a motor of a target vehicle is obtained in real time, and the rotating speed information is used for representing the rotating speed of the motor; then, under the condition that the rotating speed information is smaller than a first threshold value, the moving distance of the target vehicle in a preset time period is obtained; finally, it is determined whether the target vehicle is in a downhill state based on at least the travel distance, and when the travel distance is equal to or greater than a second threshold value, it is determined that the target vehicle is in the downhill state. Compared with the problem that the potential safety hazard is large when the vehicle enters the anti-slope-slipping mode due to abnormal working conditions in the prior art, the method for determining the slope slipping state of the vehicle obtains the moving distance of the target vehicle in the preset time period when the rotating speed information of the motor of the target vehicle is smaller than the first threshold, determines whether the target vehicle is in the slope slipping state at least according to the moving distance, namely determines that the target vehicle is in the slope slipping state only when the moving distance is larger than or equal to the second threshold, and determines that the target vehicle is not in the slope slipping state when the moving distance is smaller than the second threshold.
The method for determining the vehicle slip state is applied to a pure electric vehicle.
In a specific embodiment, the first threshold includes zero, but may be other relatively small rotation speeds.
Specifically, in the prior art, when the entire vehicle is subjected to an abnormal working condition such as external impact and the like and further generates a negative rotating speed, the vehicle enters an anti-slope slipping mode, so that the rotating speed of the motor is suddenly controlled to zero by suddenly controlling the rotating speed of the motor, and the problem of potential safety hazard of the vehicle is caused.
In addition, the second threshold may be specifically determined according to the actual condition and the application environment of the vehicle, for example, in the case that the vehicle is a heavy vehicle, the second threshold may be selected to be a relatively small value, which ensures that the safety of the vehicle is high.
In order to further ensure that the potential safety hazard of the target vehicle is small, according to an embodiment of the present application, determining whether the target vehicle is in a downhill state at least according to the moving distance includes: under the condition that the moving distance is larger than or equal to the second threshold value, acquiring the rotating speed information of the target vehicle at a moment corresponding to a preset time before the current moment to obtain a preset rotating speed; determining whether or not the target vehicle is in the downhill state based on the travel distance and the predetermined number of revolutions, and determining that the target vehicle is in the downhill state when the travel distance and the predetermined number of revolutions satisfy a predetermined condition, the predetermined condition including: the predetermined rotation speed is less than a third threshold value and the moving distance is equal to or greater than the second threshold value. When the moving distance is greater than or equal to the second threshold, whether the predetermined rotating speed of the target vehicle at the time corresponding to the predetermined time length before the current time is less than the third threshold is obtained and judged, that is, whether the target vehicle is in the slippery state is determined according to the moving distance and the predetermined rotating speed, that is, when the predetermined rotating speed is less than the third threshold and the moving distance is greater than or equal to the second threshold, the target vehicle is determined to be in the slippery state, so that whether the target vehicle is in the slippery state is determined according to the moving distance and the predetermined rotating speed, the determination process of the slippery state is ensured to be more in line with the actual situation, the problem that the potential safety hazard is large due to the fact that the motor rotating speed is small when the vehicle is in an abnormal working condition such as sudden braking and the like in the prior art, and the vehicle is mistakenly judged to be in the slippery state is avoided, and the potential safety hazard is caused is solved, and the potential safety hazard of the vehicle in the prior art is further ensured to be small.
Specifically, when the vehicle is in an abnormal condition such as sudden braking, the rotation speed information of the motor is small, but the preset rotation speed is large due to sudden braking, so that the target vehicle does not meet the preset condition.
In a specific embodiment, the third threshold may be specifically determined according to an actual condition of the vehicle and an application environment, for example, in a case where the application environment of the vehicle is a slope, both the second threshold and the third threshold may be determined to be relatively small values.
According to another specific embodiment of the present application, obtaining a moving distance of the target vehicle within a predetermined time period includes: acquiring a transmission ratio and a wheel radius of the target vehicle, wherein the transmission ratio is a ratio of the rotating speed information to a wheel rotating speed; determining the moving distance as L = N × dt × 2 pi R/a, where N is the rotational speed information, dt is the predetermined time period, R is the wheel radius, and a is the gear ratio. The moving distance is calculated according to the transmission ratio, the wheel radius, the rotating speed information and the preset time period by obtaining the transmission ratio and the wheel radius of the target vehicle, so that the accuracy of the moving distance is high.
In order to further ensure that the potential safety hazard of the target vehicle is small, according to another specific embodiment of the present application, after determining that the target vehicle is in the downhill state, the method further includes: and controlling the target vehicle to enter an anti-creep mode so that the rotating speed of the motor is zero. After the target vehicle is determined to be in the slope slipping state, the target vehicle is controlled to enter the slope slipping prevention mode, namely the rotating speed of the motor is controlled to be zero, so that the target vehicle is ensured to timely control the rotating speed of the motor to be reduced to zero after the slope slipping prevention mode is determined, the risk of slope slipping is avoided, and the potential safety hazard of the target vehicle is further ensured to be small.
To further ensure that the target vehicle is less susceptible to safety hazards, in accordance with a particular embodiment of the present application, after determining that the target vehicle is not in the rolling state, the method further comprises: controlling the rotational speed of the motor of the above-mentioned target vehicle to be constant. After the target vehicle is determined not to be in the slope slipping state, the rotating speed of the target vehicle is controlled to be unchanged, the situation that potential safety hazards exist due to the fact that the rotating speed of a motor is small when abnormal working conditions such as sudden braking or external impact of the vehicle in the prior art are further avoided, and the vehicle is misjudged to enter the slope slipping state, is solved, the problem that potential safety hazards are large due to the fact that the vehicle enters the slope slipping prevention mode under the abnormal working conditions in the prior art is solved, and the potential safety hazards of the target vehicle are further guaranteed to be small.
Specifically, in the determining process of the vehicle slope slipping state of the application, when the electric vehicle is suddenly braked and a negative rotating speed signal is judged to enter the slope slipping prevention mode, whether the vehicle is in an abnormal working condition is judged through signal processing such as the preset rotating speed and the moving distance, the motor is prevented from triggering the slope slipping prevention function, and whether the target vehicle is in the slope slipping state can be judged more accurately.
The embodiment of the present application further provides a device for determining a vehicle roll state, and it should be noted that the device for determining a vehicle roll state according to the embodiment of the present application may be used to execute the method for determining a vehicle roll state according to the embodiment of the present application. The following describes a device for determining a vehicle roll state according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a determination device of a roll state of a vehicle according to an embodiment of the present application. As shown in fig. 2, the apparatus includes a first obtaining unit 10, a second obtaining unit 20, and a determining unit 30, where the first obtaining unit 10 is configured to obtain rotation speed information of a motor of a target vehicle in real time, and the rotation speed information is used to represent a rotation speed of the motor; the second obtaining unit 20 is configured to obtain a moving distance of the target vehicle within a predetermined time period when the rotation speed information is smaller than a first threshold; the determination unit 30 is configured to determine whether or not the target vehicle is in a downhill state based on at least the travel distance, and determine that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value.
In the device for determining a state of a vehicle rolling down on a slope, the first acquiring means acquires information on a rotational speed of a motor of a target vehicle in real time, the information indicating a rotational speed of the motor; acquiring, by the second acquisition unit, a movement distance of the target vehicle within a predetermined time period when the rotation speed information is smaller than a first threshold; the determination means determines whether or not the target vehicle is in a downhill state based on at least the travel distance, and determines that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value. Compared with the problem of high potential safety hazard caused by the fact that the vehicle enters the anti-creep mode under abnormal working conditions in the prior art, the determining device for the creep state of the vehicle obtains the moving distance of the target vehicle within the preset time period when the rotating speed information of the motor of the target vehicle is smaller than the first threshold, determines whether the target vehicle is in the creep state at least according to the moving distance, namely determines that the target vehicle is in the creep state only when the moving distance is larger than or equal to the second threshold, and determines that the target vehicle is not in the creep state when the moving distance is smaller than the second threshold.
The method for determining the vehicle slip state is applicable to a pure electric vehicle.
In a specific embodiment, the first threshold includes zero, but may be other relatively small rotational speeds.
Specifically, in the prior art, when the vehicle is subjected to abnormal conditions such as external impact and the like and further generates negative rotation speed, the vehicle enters a landslide prevention mode, so that the motor suddenly enters rotation speed control to suddenly control the rotation speed of the motor to be zero, and the problem of potential safety hazard of the vehicle is caused.
In addition, the second threshold may be specifically determined according to the actual condition and the application environment of the vehicle, for example, in the case that the vehicle is a heavy vehicle, the second threshold may be selected to be a relatively small value, which ensures that the safety of the vehicle is high.
In order to further ensure that the potential safety hazard of the target vehicle is small, according to a specific embodiment of the present application, the determining unit includes a first obtaining module and a first determining module, where the first obtaining module is configured to, when the moving distance is greater than or equal to the second threshold, obtain the rotation speed information of the target vehicle at a time corresponding to a predetermined time length before the current time to obtain a predetermined rotation speed; the first determination module is configured to determine whether the target vehicle is in the downhill state based on the travel distance and the predetermined rotation speed, and determine that the target vehicle is in the downhill state when the travel distance and the predetermined rotation speed satisfy a predetermined condition, where the predetermined condition includes: the predetermined rotation speed is less than a third threshold value and the moving distance is equal to or greater than the second threshold value. When the moving distance is greater than or equal to the second threshold, whether the predetermined rotating speed at the time corresponding to the predetermined time length before the current time of the target vehicle is less than the third threshold is obtained and judged, that is, whether the target vehicle is in the slope state is determined according to the moving distance and the predetermined rotating speed, that is, when the predetermined rotating speed is less than the third threshold and the moving distance is greater than or equal to the second threshold, the target vehicle is determined to be in the slope state, and whether the target vehicle is in the slope state is determined according to the moving distance and the predetermined rotating speed is ensured.
Specifically, when the vehicle is in an abnormal working condition such as sudden braking, the rotation speed information of the motor is small, but the preset rotation speed is large due to sudden braking, so that the target vehicle does not meet the preset condition, and the situation that in the prior art, when the vehicle is in the abnormal working condition such as sudden braking, the rotation speed of the motor is small, and further the vehicle is mistakenly judged to enter the slope state, so that potential safety hazards exist is avoided by determining that the target vehicle is not in the slope state.
In a specific embodiment, the third threshold may be specifically determined according to an actual condition of the vehicle and an application environment, for example, in a case where the application environment of the vehicle is a slope, both the second threshold and the third threshold may be determined to be relatively small values.
According to another specific embodiment of the present application, the second obtaining unit includes a second obtaining module and a second determining module, where the second obtaining module is configured to obtain a transmission ratio and a wheel radius of the target vehicle, and the transmission ratio is a ratio of the rotation speed information to a wheel rotation speed; the second determining module is configured to determine that the moving distance is L = N × dt × 2 pi R/a, where N is the rotational speed information, dt is the predetermined time period, R is the wheel radius, and a is the transmission ratio. The moving distance is calculated according to the transmission ratio, the wheel radius, the rotating speed information and the preset time period by obtaining the transmission ratio and the wheel radius of the target vehicle, so that the accuracy of the moving distance is high.
In order to further ensure that the potential safety hazard of the target vehicle is small, according to still another specific embodiment of the present application, the apparatus further includes a first control unit configured to control the target vehicle to enter a hill-drop prevention mode such that the rotation speed of the motor is zero after determining that the target vehicle is in the hill-drop state. After the target vehicle is determined to be in the slope slipping state, the target vehicle is controlled to enter the slope slipping prevention mode, namely the rotating speed of the motor is controlled to be zero, so that the target vehicle is ensured to timely control the rotating speed of the motor to be reduced to zero after the slope slipping prevention mode is determined, the risk of slope slipping is avoided, and the potential safety hazard of the target vehicle is further ensured to be small.
In order to further ensure that the potential safety hazard of the target vehicle is small, according to a specific embodiment of the present application, the apparatus further includes a second control unit for controlling the rotational speed of the motor of the target vehicle to be constant after determining that the target vehicle is not in the roll state. After the target vehicle is determined not to be in the slope slipping state, the rotating speed of the target vehicle is controlled to be unchanged, the situation that potential safety hazards exist due to the fact that the rotating speed of a motor is small when abnormal working conditions such as sudden braking or external impact of the vehicle in the prior art are further avoided, the vehicle is made to enter the slope slipping state by mistake, the problem that the potential safety hazards are large due to the fact that the vehicle enters the slope slipping prevention mode under the abnormal working conditions in the prior art is solved, and the potential safety hazards of the target vehicle are further guaranteed to be small.
Specifically, in the determining process of the vehicle slip state of the application, when the electric vehicle is suddenly braked and a negative rotating speed signal is judged to enter the anti-slip mode, the electric vehicle is judged whether to be in an abnormal working condition or not through signal processing such as the preset rotating speed and the moving distance, the motor is prevented from triggering the anti-slip function, and whether a target vehicle is in the slip state or not can be judged more accurately.
The device for determining the state of the vehicle on the slope includes a processor and a memory, the first acquiring unit, the second acquiring unit, the determining unit, and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. One or more kernels can be set, and the problem that potential safety hazards are large due to the fact that a vehicle enters an anti-slope-slipping mode under abnormal working conditions in the prior art is solved by adjusting kernel parameters.
The memory may include volatile memory in a computer readable medium, random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
An embodiment of the present invention provides a computer-readable storage medium having stored thereon a program that, when executed by a processor, implements the above-described method of determining a state of a downhill of a vehicle.
An embodiment of the present invention provides a processor configured to execute a program, where the program executes a method for determining a slope state of a vehicle when the program is executed.
An embodiment of the present invention provides an apparatus, where the apparatus includes a processor, a memory, and a program that is stored in the memory and is executable on the processor, and when the processor executes the program, at least the following steps are implemented:
step S101, obtaining rotation speed information of a motor of a target vehicle in real time, wherein the rotation speed information is used for representing the rotation speed of the motor;
step S102, acquiring the moving distance of the target vehicle in a preset time period under the condition that the rotating speed information is smaller than a first threshold value;
step S103 is a step of determining whether or not the target vehicle is in a downhill state based on at least the travel distance, and determining that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value.
The device herein may be a server, a PC, a PAD, a mobile phone, etc.
The present application further provides a computer program product adapted to perform a program initialized with at least the following method steps when executed on a data processing device:
step S101, acquiring rotating speed information of a motor of a target vehicle in real time, wherein the rotating speed information is used for representing the rotating speed of the motor;
step S102, acquiring the moving distance of the target vehicle in a preset time period under the condition that the rotating speed information is smaller than a first threshold value;
step S103 is a step of determining whether or not the target vehicle is in a downhill state based on at least the travel distance, and determining that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value.
There is also provided, in accordance with another exemplary embodiment of the present application, electronic equipment comprising one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing any of the methods described above.
According to yet another exemplary embodiment of the present application, there is also provided an MCU of a vehicle for executing any one of the above methods.
The MCU of the vehicle of the present application is configured to execute any one of the above methods, and when the rotation speed information of the motor of the target vehicle is smaller than the first threshold, the MCU of the vehicle of the present application obtains the moving distance of the target vehicle within the predetermined time period, and determines whether the target vehicle is in the downhill state at least according to the moving distance, that is, when the moving distance is greater than or equal to the second threshold, the target vehicle is determined to be in the downhill state, and when the moving distance is smaller than the second threshold, the target vehicle is determined not to be in the downhill state.
Fig. 3 is a flow chart for determining the state of the vehicle rolling down, which will be described in detail with reference to fig. 3.
The motor MCU is electrified and operated, and the MCU monitors the rotating speed information of the motor in real time;
determining whether the rotational speed information of the motor is less than zero, that is, whether the rotational speed information is less than the first threshold, and if the rotational speed information is less than zero, calculating the moving distance of the wheel;
under the condition that the moving distance is larger than or equal to the second threshold value, acquiring the rotating speed information of the target vehicle at the time corresponding to the preset time before the current time to obtain the preset rotating speed, and under the condition that the moving distance is smaller than the second threshold value, ending;
determining that the target vehicle enters the anti-rollback mode when the travel distance and the predetermined rotation speed satisfy the predetermined condition, that is, when the predetermined rotation speed is less than a third threshold value and the travel distance is equal to or greater than the second threshold value, and determining that the target vehicle does not enter the anti-rollback mode when the travel distance and the predetermined rotation speed do not satisfy the predetermined condition, that is, when the predetermined rotation speed is not less than the third threshold value and/or the travel distance is less than the second threshold value;
after the target vehicle is determined to be in the downhill state, the target vehicle is controlled to enter an anti-downhill mode such that the rotation speed of the motor is zero, and after the target vehicle is determined not to be in the downhill state, the rotation speed of the motor of the target vehicle is controlled to be constant.
In the above embodiments of the present invention, the description of each embodiment has its own emphasis, and reference may be made to the related description of other embodiments for parts that are not described in detail in a certain embodiment.
In the embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other manners. The above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a separate product. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk, and various media capable of storing program codes.
From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects:
1) In the method for determining a state of a vehicle rolling down a slope according to the present application, first, rotation speed information of a motor of a target vehicle is acquired in real time, the rotation speed information being used to represent a rotation speed of the motor; then, under the condition that the rotating speed information is smaller than a first threshold value, the moving distance of the target vehicle in a preset time period is obtained; finally, it is determined whether the target vehicle is in a downhill state based on at least the travel distance, and if the travel distance is equal to or greater than a second threshold value, it is determined that the target vehicle is in the downhill state. Compared with the problem that the potential safety hazard is large when the vehicle enters the anti-slope-slipping mode due to abnormal working conditions in the prior art, the method for determining the slope slipping state of the vehicle obtains the moving distance of the target vehicle in the preset time period when the rotating speed information of the motor of the target vehicle is smaller than the first threshold, determines whether the target vehicle is in the slope slipping state at least according to the moving distance, namely determines that the target vehicle is in the slope slipping state only when the moving distance is larger than or equal to the second threshold, and determines that the target vehicle is not in the slope slipping state when the moving distance is smaller than the second threshold.
2) In the apparatus for determining a state of a vehicle rolling down a slope according to the present invention, the first acquiring means acquires, in real time, rotational speed information of a motor of a target vehicle, the rotational speed information representing a rotational speed of the motor; acquiring, by the second acquisition unit, a movement distance of the target vehicle within a predetermined time period when the rotation speed information is smaller than a first threshold; the determination means determines whether or not the target vehicle is in a downhill state based on at least the travel distance, and determines that the target vehicle is in the downhill state when the travel distance is equal to or greater than a second threshold value. Compared with the problem that the potential safety hazard is large when the vehicle enters the anti-slope-slipping mode due to abnormal working conditions in the prior art, the determining device for the slope-slipping state of the vehicle obtains the moving distance of the target vehicle in the preset time period when the rotating speed information of the motor of the target vehicle is smaller than the first threshold, determines whether the target vehicle is in the slope-slipping state at least according to the moving distance, namely determines that the target vehicle is in the slope-slipping state only when the moving distance is larger than or equal to the second threshold, and determines that the target vehicle is not in the slope-slipping state when the moving distance is smaller than the second threshold.
3) The MCU of the vehicle of the present application is configured to acquire the moving distance of the target vehicle within the predetermined time period when the rotational speed information of the motor of the target vehicle is smaller than the first threshold, and determine whether the target vehicle is in the downhill state at least according to the moving distance, that is, when the moving distance is greater than or equal to the second threshold, the target vehicle is determined to be in the downhill state, and when the moving distance is smaller than the second threshold, the target vehicle is determined not to be in the downhill state, thereby avoiding a situation where the rotational speed of the motor is small when the vehicle is in an abnormal condition such as sudden braking or external impact, and further causing the vehicle to enter the downhill state by mistake, and thus, leading to a safety hazard, and solving a problem where the vehicle enters the downhill mode due to an abnormality, and thus leading to a large safety hazard, and ensuring a small safety hazard of the target vehicle.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A method of determining a roll state of a vehicle, the method comprising:
the method comprises the steps of obtaining rotating speed information of a motor of a target vehicle in real time, wherein the rotating speed information is used for representing the rotating speed of the motor;
under the condition that the rotating speed information is smaller than a first threshold value, acquiring the moving distance of the target vehicle in a preset time period;
and determining whether the target vehicle is in a slope slipping state or not at least according to the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is greater than or equal to a second threshold value.
2. The method of claim 1, wherein determining whether the target vehicle is in a downhill state based at least on the travel distance comprises:
under the condition that the moving distance is larger than or equal to the second threshold value, acquiring the rotating speed information of the target vehicle at the moment corresponding to the preset duration before the current moment to obtain a preset rotating speed;
determining whether the target vehicle is in the slope state according to the moving distance and the predetermined rotating speed, and determining that the target vehicle is in the slope state if the moving distance and the predetermined rotating speed meet a predetermined condition, wherein the predetermined condition comprises: the predetermined rotation speed is less than a third threshold and the movement distance is greater than or equal to the second threshold.
3. The method of claim 2, wherein obtaining the distance traveled by the target vehicle over a predetermined period of time comprises:
acquiring a transmission ratio and a wheel radius of the target vehicle, wherein the transmission ratio is a ratio of the rotating speed information to the wheel rotating speed;
determining the movement distance to be L = N × dt × 2 π R/A, wherein N is the rotational speed information, dt is the predetermined time period, R is the wheel radius, and A is the gear ratio.
4. The method of claim 2, wherein after determining that the target vehicle is in the roll state, the method further comprises:
controlling the target vehicle to enter an anti-creep mode such that the rotational speed of the motor is zero.
5. The method of any one of claims 1-4, wherein after determining that the target vehicle is not in the downhill slope state, the method further comprises:
controlling the rotational speed of the motor of the target vehicle to be constant.
6. An apparatus for determining a state of a vehicle's downhill slope, characterized by comprising:
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring the rotating speed information of a motor of a target vehicle in real time, and the rotating speed information is used for representing the rotating speed of the motor;
a second acquisition unit configured to acquire a movement distance of the target vehicle within a predetermined time period, in a case where the rotation speed information is smaller than a first threshold;
and the determining unit is used for determining whether the target vehicle is in a slope slipping state or not according to at least the moving distance, and determining that the target vehicle is in the slope slipping state under the condition that the moving distance is greater than or equal to a second threshold value.
7. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored program, wherein the program performs the method of any one of claims 1 to 5.
8. A processor, characterized in that the processor is configured to run a program, wherein the program when running performs the method of any of claims 1 to 5.
9. An electronic device, comprising: one or more processors, memory, and one or more programs stored in the memory and configured to be executed by the one or more processors, the one or more programs including instructions for performing the method of any of claims 1-5.
10. An MCU of a vehicle, wherein the MCU is configured to perform the method of any one of claims 1 to 5.
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| CN202211072211.7A CN115352457B (en) | 2022-09-02 | 2022-09-02 | Method and device for determining landslide state of vehicle, processor and MCU |
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| CN202211072211.7A CN115352457B (en) | 2022-09-02 | 2022-09-02 | Method and device for determining landslide state of vehicle, processor and MCU |
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