CN116176590A

CN116176590A - Gear control method and device, computer equipment and storage medium

Info

Publication number: CN116176590A
Application number: CN202211366120.4A
Authority: CN
Inventors: 龙旺; 赵建飞; 周伦杰; 张慧宇
Original assignee: Chengdu Seres Technology Co Ltd
Current assignee: Chongqing Selis Phoenix Intelligent Innovation Technology Co ltd
Priority date: 2022-10-31
Filing date: 2022-10-31
Publication date: 2023-05-30

Abstract

The application relates to a gear control method, a gear control device, computer equipment and a storage medium. The method comprises the following steps: acquiring a controller local area network message of the electronic parking brake system, and acquiring the current state of the vehicle when determining that the electronic parking brake system fails according to the controller local area network message; if the current gear is a driving gear, receiving a gear shifting request of a user, and acquiring a target gear and a corresponding estimated driving direction according to the gear shifting request; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction; if the risk exists, processing the target gear to obtain an actual gear; and executing gear switching according to the actual gear. The method can solve the problem of vehicle driving safety caused by EPB fault gear shifting.

Description

Gear control method and device, computer equipment and storage medium

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a gear control method, a gear control device, a computer device, and a storage medium.

Background

The electronic parking brake system (Electrical Park Brake, EPB) calculates the gradient through a longitudinal acceleration sensor built in the vehicle, calculates the sliding force of the vehicle on the gradient due to gravity, and balances the sliding force by applying braking force to the rear wheels through a motor, so that the vehicle can stop on the gradient. In a general driving scenario, when a user drives a vehicle, a shifter may be operated to shift a target gear, but when EPB fails, shifting the gear according to the user's operation may pose a risk to the driving safety of the vehicle.

Disclosure of Invention

Based on the method, the device, the computer equipment and the storage medium for controlling the gear are provided, and the problem of vehicle driving safety caused by EPB fault gear shifting in the prior art is solved.

In one aspect, a gear control method is provided, the method including: acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; if the risk exists, the target gear is processed, and an actual gear is obtained; and executing gear switching according to the actual gear.

In one embodiment, the gear shift is performed according to the actual gear, including: if the current gear is inconsistent with the actual gear, switching the current gear into the actual gear; and if the current gear is consistent with the actual gear, maintaining the current gear.

In one embodiment, determining whether there is a risk of switching to the target gear according to at least one feature of the current vehicle speed, the current driving direction, the target gear, and the expected driving direction includes: if the target gear is a parking gear, a first risk exists; and if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold value, and the current running direction is inconsistent with the expected running direction, a second risk exists.

In one embodiment, if there is a risk, the processing the target gear to obtain an actual gear includes: when the first risk exists, if the current vehicle speed is smaller than or equal to a vehicle speed threshold value, converting a request signal of the target gear into the neutral gear, and taking the neutral gear as an actual gear; and if the current vehicle speed is greater than a vehicle speed threshold value, rejecting a request signal of a target gear, and taking the current gear as an actual gear.

In one embodiment, if there is a risk, the processing the target gear to obtain an actual gear includes: and when the second risk exists, converting the request signal of the target gear into the neutral gear, and taking the neutral gear as an actual gear.

In one embodiment, after judging whether there is a risk of switching to the target gear according to at least one feature of the current vehicle speed, the current traveling direction, the target gear, and the estimated traveling direction; and if there is a risk, the method further comprises the steps of: acquiring a brake pedal state and an accelerator pedal opening; when the brake pedal state is a brake starting state and the opening of the accelerator pedal is smaller than or equal to an opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear; and when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

In one embodiment, after the gear shift is performed according to the actual gear, the method further includes: and judging whether the target gear is consistent with the actual gear, and if not, sending a controller area network message to carry out gear shifting prompt.

In another aspect, there is provided a gear control device including: the vehicle state acquisition module is used for acquiring a controller local area network message of the electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; the gear receiving module is used for receiving a gear shifting request of a user if the current gear is a driving gear, and obtaining a target gear and a corresponding estimated driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; the risk judging module is used for judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; the gear processing module is used for processing the target gear if the risk exists, and obtaining an actual gear; and the gear executing module is used for executing gear switching according to the actual gear.

In yet another aspect, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of: acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; if the risk exists, the target gear is processed, and an actual gear is obtained; and executing gear switching according to the actual gear.

In yet another aspect, a computer readable storage medium is provided, having stored thereon a computer program which when executed by a processor performs the steps of: acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; if the risk exists, the target gear is processed, and an actual gear is obtained; and executing gear switching according to the actual gear.

According to the gear control method, the gear control device, the computer equipment and the storage medium, through collecting the controller local area network message of the electronic parking brake system, when the fault of the electronic parking brake system is determined according to the controller local area network message, the current state of the vehicle is obtained, wherein the current state of the vehicle comprises the current gear, the current speed and the current running direction, and the gear comprises the running gear and the parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction; if the risk exists, processing the target gear to obtain an actual gear; and executing gear switching according to the actual gear, so that the gear switching is controlled when the EPB fails, and the safe driving of the vehicle is ensured.

Drawings

FIG. 1 is an application environment diagram of a gear control method in one embodiment;

FIG. 2 is a flow chart of a gear control method according to an embodiment;

FIG. 3 is a block diagram of a gear control device in one embodiment;

fig. 4 is an internal structural diagram of a computer device in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

The gear control method provided by the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the server 104 via a network. The method comprises the steps that a server 104 collects a controller local area network message of an electronic parking brake system, and when a fault of the electronic parking brake system is determined according to the controller local area network message, a current state of a vehicle is obtained, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction; if the risk exists, processing the target gear to obtain an actual gear; and executing gear switching according to the actual gear.

The terminal 102 may be, but not limited to, various personal computers, notebook computers, smartphones, tablet computers, and portable wearable devices, and the server 104 may be implemented by a stand-alone server or a server cluster composed of a plurality of servers.

In one embodiment, as shown in fig. 2, a gear control method is provided, and the method is applied to the terminal in fig. 1 for illustration, and includes the following steps:

step 201, acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when a fault of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear;

step 202, if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear;

step 203, judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction;

step 204, if there is a risk, processing the target gear to obtain an actual gear;

step 205, gear shifting is performed according to the actual gear.

According to the gear control method, when the fault of the electronic parking brake system is determined by collecting the controller area network message of the electronic parking brake system, the current state of the vehicle is obtained, the gear shifting request of a user is received, whether the risk exists in switching to the target gear is judged according to at least one characteristic of the vehicle in accordance with the current speed, the current running direction, the target gear and the expected running direction, if the risk exists, the target gear is processed, the actual gear is obtained, the current gear is converted into the actual gear, and therefore the problem of vehicle driving safety caused by the EPB fault is solved.

In step 201, it should be noted that the vehicle gear includes a forward (D) gear, a parking (P) gear, an empty (N) gear, and a reverse (R) gear, where the D gear, the N gear, and the R gear are driving gears, and if EPB fails when the user drives the vehicle to switch gear, in order to ensure the driving safety of the vehicle, the user needs to process a gear shift request to obtain a corresponding actual gear, and execute the actual gear. The factors for vehicle safety mainly consider the unexpected situation of sliding, and the considerations for the possibility of sliding include the unreliable current EPB state, the pre-EPB fault state and the gradient of the slope on which the vehicle is currently located, wherein the unreliable current EPB state refers to the EPB fault, the pre-EPB fault state comprises clamping or loosening, in some implementation processes, the gradient CAN be acquired through an on-board sensor, and then the corresponding gradient value is acquired from a controller area network (Controller Area Network, CAN) message, so that the received gear shifting request of the user CAN be processed according to the factors, and in particular, the received gear shifting request of the user CAN be processed according to the current gear, the current speed and the current running direction of the vehicle.

In step 202, it should be noted that, in some embodiments, when the current gear is the P gear, in order to ensure vehicle safety and personal safety, reduce the risk of sliding, and when the target gear is the driving gear, the shift request is not executed, so as to ensure that the vehicle has no torque output; in other embodiments, when the current gear is a driving gear, it is required to determine whether to execute a gear shift and how to shift according to the target gear and the expected driving direction, so that the driving experience of the user can be satisfied under the condition that the driving safety is satisfied.

In steps 203 to 204, it should be noted that, when the current gear is a driving gear, risk determination is performed on the vehicle gear shift according to at least one feature of the current vehicle speed, the current driving direction, the target gear, and the predicted driving direction, and the target gear is converted into the actual gear according to the result of the risk determination, so as to execute the actual gear.

In another embodiment, the specific shift process is as follows:

gear switching table

As a specific implementation manner of the foregoing embodiment, performing gear shifting according to an actual gear includes: if the current gear is inconsistent with the actual gear, switching the current gear into the actual gear; and if the current gear is consistent with the actual gear, maintaining the current gear.

As a specific implementation manner of the foregoing embodiment, determining whether there is a risk of switching to the target gear according to at least one feature of the current vehicle speed, the current driving direction, the target gear, and the predicted driving direction includes: if the target gear is a parking gear, a first risk exists; if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold, and the current running direction is inconsistent with the expected running direction, a second risk exists.

It should be noted that, the vehicle speed threshold may be 3km/h (kilometer/hour), specifically, the shift risk may be divided into a first risk and a second risk according to the target gear, in some embodiments, when the target gear is a parking gear, the first risk exists, and then the target gear is converted into the actual gear according to the first risk; in some embodiments, when the target gear is a forward gear or a reverse gear, when the current vehicle speed is greater than the vehicle speed threshold, the vehicle is in motion, when the current running direction is inconsistent with the expected running direction, a second risk exists, when the second risk exists, the target gear is uniformly converted into a neutral gear, and the neutral gear is executed as an actual gear, so that driving safety is ensured.

As a specific implementation manner of the foregoing embodiment, if there is a risk, processing the target gear to obtain an actual gear includes: when a first risk exists, if the current vehicle speed is smaller than or equal to a vehicle speed threshold value, converting a request signal of a target gear into a neutral gear, and taking the neutral gear as an actual gear; and if the current vehicle speed is greater than the vehicle speed threshold value, rejecting the request signal of the target gear, and taking the current gear as the actual gear.

It should be noted that when the first risk exists, different treatments are required to be performed on the target gear according to different situations, in some embodiments, if the current vehicle speed is less than or equal to the vehicle speed threshold, the vehicle is at a static state at this time, and the shift risk is low, so in order to meet the driving experience of the user, the target gear may be shifted to a neutral gear, and the neutral gear is executed; in other embodiments, if the current vehicle speed is greater than the vehicle speed threshold, and the vehicle speed is dynamic at this time, that is, at a higher speed, the shift risk is increased accordingly, so that the current gear is maintained in order to further ensure the driving safety of the user, and thus the shift is not performed.

As a specific implementation manner of the foregoing embodiment, if there is a risk, processing the target gear to obtain an actual gear includes: when there is a second risk, the request signal of the target gear is converted into a neutral gear, and the neutral gear is taken as the actual gear.

As a specific implementation manner of the above embodiment, after judging whether there is a risk of switching to the target gear according to at least one feature of the current vehicle speed, the current traveling direction, the target gear, and the predicted traveling direction; and if there is a risk, then the target gear is processed, and before the actual gear is obtained, the method further comprises: acquiring a brake pedal state and an accelerator pedal opening; when the brake pedal state is a brake opening state and the opening of the accelerator pedal is smaller than or equal to the opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear; when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

It should be noted that, the brake pedal state includes a brake on state after the brake is depressed and a brake off state when the brake is not depressed, the accelerator pedal opening is smaller than or equal to the opening threshold being the state when the accelerator pedal is not depressed, the accelerator pedal opening is larger than the opening threshold being the state when the accelerator pedal is depressed, and when the vehicle is shifted, the brake pedal state and the accelerator pedal opening need to be considered in advance for the following reasons: firstly, in order to meet the national standard and the legal requirements of automobiles; secondly, from the safety aspect, guiding a driver to safely drive, and preventing the vehicle from being shifted successfully, wherein torque is output to drive the vehicle to run or preventing the vehicle from being shifted successfully and having larger accelerator opening, the vehicle can rapidly output large torque to cause forward movement, and a sudden impact event or unexpected acceleration occurs, so that a safety accident is caused; thirdly, judging that the stepping brake is subjective consciousness of a driver as a precondition of gear shifting of the driver, and executing the gear shifting; when the brake is not stepped, the mistaken touch of the gear shifting lever can also be successfully shifted, so that traffic accidents can be caused; fourth, in some vehicle types, the vehicle is equipped with a shift lock function that prohibits shifting of the P range to other ranges without brake actuation.

As a specific implementation manner of the foregoing embodiment, after performing the gear shift according to the actual gear, the method further includes: and judging whether the target gear is consistent with the actual gear, and if not, sending a controller local area network message to carry out gear shifting prompt.

It should be noted that, in some implementation processes, the vehicle controller (Vehicle control unit, VCU) determines that the current user request is inconsistent with the actual gear being switched, and sends a message to the meter to prompt the meter. In other implementations, when EPB fails, VCU sends CAN message to integrated circuit (Instrument Cluster) when VCU judges that the gear shift request is inconsistent with the actual gear shift _， IC) meters, the IC may perform related prompts, such as meter bezel prompts and audible prompts, based on shift failure prompts issued by the VCU.

It should be understood that, although the steps in the flowchart of fig. 2 are shown in sequence as indicated by the arrows, the steps are not necessarily performed in sequence as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2 may include multiple sub-steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor do the order in which the sub-steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the sub-steps or stages of other steps or other steps.

In one embodiment, as shown in fig. 3, there is provided a gear control device including: the system comprises a vehicle state acquisition module, a gear receiving module, a risk judging module, a gear processing module and a gear executing module, wherein:

the vehicle state acquisition module is used for acquiring a controller local area network message of the electronic parking brake system, and acquiring a current state of the vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear;

the gear receiving module is used for receiving a gear shifting request of a user if the current gear is a driving gear, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear;

the risk judging module is used for judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction;

the gear processing module is used for processing the target gear if the risk exists, and obtaining an actual gear;

and the gear executing module is used for executing gear switching according to the actual gear.

In one embodiment, the device is further configured to switch the current gear to the actual gear if the current gear is inconsistent with the actual gear; and if the current gear is consistent with the actual gear, maintaining the current gear.

In one embodiment, the device is further configured to present a first risk if the target gear is a park gear; if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold, and the current running direction is inconsistent with the expected running direction, a second risk exists.

In one embodiment, the device is further configured to, when there is a first risk, convert the request signal of the target gear to a neutral gear if the current vehicle speed is less than or equal to the vehicle speed threshold, and take the neutral gear as the actual gear; and if the current vehicle speed is greater than the vehicle speed threshold value, rejecting the request signal of the target gear, and taking the current gear as the actual gear.

In an embodiment, the device is further adapted to, when there is a second risk, switch the request signal of the target gear to a neutral gear and take the neutral gear as the actual gear.

In one embodiment, the device is further configured to obtain a brake pedal status and an accelerator pedal opening; when the brake pedal state is a brake opening state and the opening of the accelerator pedal is smaller than or equal to the opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear; when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

In one embodiment, the device is further configured to determine whether the target gear is consistent with the actual gear, and if not, send a controller area network message to perform a shift prompt.

The specific limitation of the gear control device can be found in the above limitation of the gear control method, and the description thereof is omitted here. The above-described respective modules in the gear control device may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a computer device is provided, which may be a server, the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used for storing gear control data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a gear control method.

In one embodiment, a computer device is provided, which may be a terminal, and the internal structure of which may be as shown in fig. 4. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a gear control method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the structures shown in FIG. 4 are block diagrams only and do not constitute a limitation of the computer device on which the present aspects apply, and that a particular computer device may include more or less components than those shown, or may combine some of the components, or have a different arrangement of components.

In one embodiment, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the steps of when executing the computer program: acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction; if the risk exists, processing the target gear to obtain an actual gear; and executing gear switching according to the actual gear.

In one embodiment, the processor when executing the computer program further performs the steps of: executing gear switching according to the actual gear comprises the following steps: if the current gear is inconsistent with the actual gear, switching the current gear into the actual gear; and if the current gear is consistent with the actual gear, maintaining the current gear.

In one embodiment, the processor when executing the computer program further performs the steps of: judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction, wherein the method comprises the following steps of: if the target gear is a parking gear, a first risk exists; if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold, and the current running direction is inconsistent with the expected running direction, a second risk exists.

In one embodiment, the processor when executing the computer program further performs the steps of: if there is a risk, the target gear is processed to obtain an actual gear, including: when a first risk exists, if the current vehicle speed is smaller than or equal to a vehicle speed threshold value, converting a request signal of a target gear into a neutral gear, and converting the neutral gear into an actual gear; and if the current vehicle speed is greater than the vehicle speed threshold value, rejecting the request signal of the target gear, and taking the current gear as the actual gear.

In one embodiment, the processor when executing the computer program further performs the steps of: if there is a risk, the target gear is processed to obtain an actual gear, including: when there is a second risk, the request signal of the target gear is converted into a neutral gear, and the neutral gear is taken as the actual gear.

In one embodiment, the processor when executing the computer program further performs the steps of: judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; and if there is a risk, then the target gear is processed, and before the actual gear is obtained, the method further comprises: acquiring a brake pedal state and an accelerator pedal opening; when the brake pedal state is a brake opening state and the opening of the accelerator pedal is smaller than or equal to the opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear; when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

In one embodiment, the processor when executing the computer program further performs the steps of: after the gear shift is performed according to the actual gear, further comprising:

and judging whether the target gear is consistent with the actual gear, and if not, sending a controller local area network message to carry out gear shifting prompt.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear; if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear; judging whether the risk exists in switching to the target gear according to at least one characteristic of the current speed, the current running direction, the target gear and the expected running direction; if the risk exists, processing the target gear to obtain an actual gear; and executing gear switching according to the actual gear.

In one embodiment, the computer program when executed by the processor further performs the steps of: executing gear switching according to the actual gear comprises the following steps: if the current gear is inconsistent with the actual gear, switching the current gear into the actual gear; and if the current gear is consistent with the actual gear, maintaining the current gear.

In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction, wherein the method comprises the following steps of: if the target gear is a parking gear, a first risk exists; if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold, and the current running direction is inconsistent with the expected running direction, a second risk exists.

In one embodiment, the computer program when executed by the processor further performs the steps of: if there is a risk, the target gear is processed to obtain an actual gear, including: when a first risk exists, if the current vehicle speed is smaller than or equal to a vehicle speed threshold value, converting a request signal of a target gear into a neutral gear, and taking the neutral gear as an actual gear; and if the current vehicle speed is greater than the vehicle speed threshold value, rejecting the request signal of the target gear, and taking the current gear as the actual gear.

In one embodiment, the computer program when executed by the processor further performs the steps of: if there is a risk, the target gear is processed to obtain an actual gear, including: when there is a second risk, the request signal of the target gear is converted into a neutral gear, and the neutral gear is taken as the actual gear.

In one embodiment, the computer program when executed by the processor further performs the steps of: judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction; and if there is a risk, then the target gear is processed, and before the actual gear is obtained, the method further comprises: acquiring a brake pedal state and an accelerator pedal opening; when the brake pedal state is a brake opening state and the opening of the accelerator pedal is smaller than or equal to the opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear; when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

In one embodiment, the computer program when executed by the processor further performs the steps of: after the gear shift is performed according to the actual gear, further comprising: and judging whether the target gear is consistent with the actual gear, and if not, sending a controller local area network message to carry out gear shifting prompt.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the various embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A gear control method, characterized by comprising:

acquiring a controller local area network message of an electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear;

if the current gear is a driving gear, receiving a gear shifting request of a user, and obtaining a target gear and a corresponding predicted driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear;

judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction;

if the risk exists, the target gear is processed, and an actual gear is obtained;

and executing gear switching according to the actual gear.

2. The gear control method according to claim 1, characterized in that performing gear shift according to the actual gear includes:

if the current gear is inconsistent with the actual gear, switching the current gear into the actual gear;

and if the current gear is consistent with the actual gear, maintaining the current gear.

3. The gear control method according to claim 1, characterized in that determining whether there is a risk of switching to the target gear based on at least one feature of the current vehicle speed, the current traveling direction, the target gear, and the estimated traveling direction, includes:

if the target gear is a parking gear, a first risk exists;

and if the target gear is a forward gear or a reverse gear, the current vehicle speed is greater than a vehicle speed threshold value, and the current running direction is inconsistent with the expected running direction, a second risk exists.

4. A gear control method according to claim 3, characterized in that, if there is a risk, the target gear is processed to obtain an actual gear, comprising:

when the first risk exists, if the current vehicle speed is smaller than or equal to a vehicle speed threshold value, converting a request signal of the target gear into the neutral gear, and taking the neutral gear as an actual gear;

and if the current vehicle speed is greater than a vehicle speed threshold value, rejecting a request signal of a target gear, and taking the current gear as an actual gear.

5. A gear control method according to claim 3, characterized in that, if there is a risk, the target gear is processed to obtain an actual gear, comprising:

and when the second risk exists, converting the request signal of the target gear into the neutral gear, and taking the neutral gear as an actual gear.

6. The shift control method according to any one of claims 1 to 5, characterized in that after judging whether or not there is a risk of switching to the target shift according to at least one feature of the current vehicle speed, the current traveling direction, the target shift, and the estimated traveling direction; and if there is a risk, the method further comprises the steps of:

acquiring a brake pedal state and an accelerator pedal opening;

when the brake pedal state is a brake starting state and the opening of the accelerator pedal is smaller than or equal to an opening threshold value, the brake pedal state is in a preparation state for obtaining a corresponding actual gear;

and when the brake pedal state is a brake closing state or the accelerator pedal opening is larger than the opening threshold, the state of maintaining the current gear is maintained.

7. The gear control method according to claim 6, characterized by further comprising, after performing a gear shift according to the actual gear:

and judging whether the target gear is consistent with the actual gear, and if not, sending a controller area network message to carry out gear shifting prompt.

8. A gear control device characterized by comprising:

the vehicle state acquisition module is used for acquiring a controller local area network message of the electronic parking brake system, and acquiring a current state of a vehicle when the failure of the electronic parking brake system is determined according to the controller local area network message, wherein the current state of the vehicle comprises a current gear, a current vehicle speed and a current running direction, and the gear comprises a running gear and a parking gear;

the gear receiving module is used for receiving a gear shifting request of a user if the current gear is a driving gear, and obtaining a target gear and a corresponding estimated driving direction according to the gear shifting request, wherein the driving gear comprises a forward gear, a reverse gear and a neutral gear;

the risk judging module is used for judging whether the risk exists in switching to the target gear according to at least one characteristic of the current vehicle speed, the current running direction, the target gear and the expected running direction;

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 7 when the computer program is executed by the processor.

10. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 7.