CN116767249A - Vehicle limp control method and device, nonvolatile storage medium and vehicle - Google Patents
Vehicle limp control method and device, nonvolatile storage medium and vehicle Download PDFInfo
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- CN116767249A CN116767249A CN202310713414.8A CN202310713414A CN116767249A CN 116767249 A CN116767249 A CN 116767249A CN 202310713414 A CN202310713414 A CN 202310713414A CN 116767249 A CN116767249 A CN 116767249A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 206010022562 Intermittent claudication Diseases 0.000 claims abstract description 22
- 208000024980 claudication Diseases 0.000 claims abstract description 22
- 208000030175 lameness Diseases 0.000 claims description 47
- 238000012545 processing Methods 0.000 claims description 26
- 238000012423 maintenance Methods 0.000 claims description 11
- 230000002159 abnormal effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 238000004590 computer program Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 208000024891 symptom Diseases 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013500 data storage Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
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- Automation & Control Theory (AREA)
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Abstract
The application discloses a vehicle limp control method and device, a nonvolatile storage medium and a vehicle. Wherein the method comprises the following steps: determining a preset fault type set of the target vehicle; determining a limp-home object of the target vehicle in a limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, and determining a target claudication scheme in the claudication scheme set according to the second fault type information and the preset fault type set. The application solves the technical problem that the applicability of the limp plan formulated in the related art is insufficient because the specific limp plan can only be formulated for a specific fault when the limp plan of the vehicle is formulated in the related art.
Description
Technical Field
The present application relates to the field of vehicle control, and in particular, to a vehicle limp control method and device, a nonvolatile storage medium, and a vehicle.
Background
The limp plan of the vehicle in the related art generally can only formulate a specific limp mode for a specific fault, but does not specify the limp plan of the vehicle from the consideration of the running state of the vehicle as a whole, so that the limp plan in the related art has narrow applicability, and cannot meet the actual demands of users in many situations.
In view of the above problems, no effective solution has been proposed at present.
Disclosure of Invention
The embodiment of the application provides a vehicle limp control method and device, a nonvolatile storage medium and a vehicle, which at least solve the technical problem that the limp plan formulated in the related art is inapplicable due to the fact that a specific limp plan can only be formulated aiming at a specific fault when the limp plan of the vehicle is formulated in the related art.
According to an aspect of an embodiment of the present application, there is provided a vehicle limp control method including: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, determining a target lameness scheme in a lameness scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target lameness scheme.
Optionally, the step of determining a lameness scheme associated with the first fault type information according to the lameness target comprises: determining a first type of component and a second type of component in the target vehicle according to the first fault type information, wherein the first type of component is a faulty component, and the second type of component is a component which does not have a fault; determining a target working state of the second type of component under the condition of meeting the limp target according to the limp target; and determining a limp plan corresponding to the first fault type information according to the working state of the second type component.
Optionally, the limp target comprises a safety target, a powertrain protection target; in case of a failure type of the front motor failure, the step of determining the working state of the second type of component in case of meeting the limp target according to the limp target comprises: according to the safety target, the rear motor is determined to continuously provide power for the target vehicle after the front motor fails; and determining the vehicle speed limit information of the target vehicle in a limp state according to the protection target of the power assembly and the back electromotive force information of the back motor, and determining the working parameter range of the back motor according to the vehicle speed limit information.
Optionally, the step of determining the target lameness scheme in the lameness scheme set according to the second fault type information and the preset fault type set comprises: determining target first fault type information with highest similarity with second fault type information in a preset fault type set; a lameness scheme associated with the target first fault type information is determined, and the lameness scheme associated with the target first fault type information is determined as the target lameness scheme.
Optionally, in the preset fault type set, the step of determining the target first fault type information with the highest similarity with the second fault type information includes: determining fault component information in second fault type information, wherein the fault component information comprises fault component type and abnormal parameter information of the fault component; determining alternative first fault type information in a preset fault type set according to the fault component name, wherein the fault component type in the alternative first fault type is the same as the fault component type in the second fault type information; and determining the similarity between the first fault type information and the second fault type information according to the abnormal parameter information, and determining the first fault type information with the largest similarity as the target first fault type information.
Optionally, the step of instructing the target vehicle to execute the target lameness scheme further comprises: acquiring positioning information of a target vehicle; determining a target maintenance point and path information of the target vehicle reaching the target maintenance point according to the positioning information; and adjusting the target lameness scheme according to the path information, and indicating the target vehicle to execute the adjusted target lameness scheme.
According to another aspect of the embodiment of the present application, there is also provided a method for determining a vehicle limp-home plan, including: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; and determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
According to another aspect of the embodiment of the present application, there is also provided a vehicle limp control device including: the first processing module is used for determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information of a limp state of the target vehicle; a second processing module, configured to determine a limp target of the target vehicle in a limp state, where the limp target is a driving state constraint condition that the target vehicle needs to satisfy in the limp state; the third processing module is used for determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises the working state information of each target part in the target vehicle after the target vehicle has the fault indicated by the first fault type information; and the fourth processing module is used for determining second fault type information of the target vehicle under the condition that the target vehicle breaks down, determining a target limp plan in the limp plan set according to the second fault type information and the preset fault type set, and indicating the target vehicle to execute the target limp plan.
According to another aspect of the embodiment of the present application, there is also provided a nonvolatile storage medium in which a program is stored, wherein the device in which the nonvolatile storage medium is controlled to execute the vehicle limp-home control method or the determination method of the vehicle limp-home scheme when the program runs.
According to another aspect of the embodiment of the present application, there is also provided a vehicle, characterized by comprising: the vehicle limp control system comprises a memory and a processor, wherein the processor is used for running a program stored in the memory, and the program is used for executing a vehicle limp control method or a vehicle limp plan determining method when running.
In the embodiment of the application, a preset fault type set of the target vehicle is determined, wherein the preset fault type set comprises first fault type information corresponding to the limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; in the case of a fault of the target vehicle, determining second fault type information of the target vehicle, determining a target claudication scheme in a claudication scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target claudication scheme.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application and do not constitute a limitation on the application. In the drawings:
fig. 1 is a schematic structural view of a computer terminal according to an embodiment of the present application;
FIG. 2 is a flow chart diagram of a vehicle limp control method according to an embodiment of the application;
fig. 3 is a schematic structural view of a vehicle interior structure according to an embodiment of the present application;
fig. 4 is a flow chart of a vehicle limp control flow according to an embodiment of the application;
FIG. 5 is a flow chart of a method of determining a vehicle lameness scheme according to an embodiment of the application;
fig. 6 is a schematic structural view of a vehicle limp-home control device according to an embodiment of the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. 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.
In the related art, when a limp plan of a vehicle is formulated, it is common to specify a corresponding limp plan for a specific fault only in consideration of the type of fault, and when a plurality of faults exist at the same time, it is decided by a user according to experience which limp plan is performed. Therefore, there is a problem in that the formulated limp-home solution is narrow in applicability and severely depends on the personal experience of the user when a plurality of failures occur. In order to solve this problem, related solutions are provided in the embodiments of the present application, and are described in detail below.
According to an embodiment of the present application, a method embodiment of a vehicle limp-home control method is provided, it being noted that the steps shown in the flowchart of the drawings may be performed in a computer system such as a set of computer executable instructions, and, although a logical sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown or described herein.
The method embodiments provided by the embodiments of the present application may be performed in a mobile terminal, a computer terminal, or similar computing device. Fig. 1 shows a hardware block diagram of a computer terminal (or mobile device) for implementing a vehicle limp-home control method. As shown in fig. 1, the computer terminal 10 (or mobile device 10) may include one or more processors 102 (shown as 102a, 102b, … …,102 n) which may include, but are not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA, a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, the method may further include: a display, an input/output interface (I/O interface), a Universal Serial BUS (USB) port (which may be included as one of the ports of the BUS), a network interface, a power supply, and/or a camera. It will be appreciated by those of ordinary skill in the art that the configuration shown in fig. 1 is merely illustrative and is not intended to limit the configuration of the electronic device described above. For example, the computer terminal 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
It should be noted that the one or more processors 102 and/or other data processing circuits described above may be referred to generally herein as "data processing circuits. The data processing circuit may be embodied in whole or in part in software, hardware, firmware, or any other combination. Furthermore, the data processing circuitry may be a single stand-alone processing module, or incorporated, in whole or in part, into any of the other elements in the computer terminal 10 (or mobile device). As referred to in embodiments of the application, the data processing circuit acts as a processor control (e.g., selection of the path of the variable resistor termination connected to the interface).
The memory 104 may be used to store software programs and modules of application software, such as program instructions/data storage devices corresponding to the vehicle limp control method in the embodiment of the present application, and the processor 102 executes the software programs and modules stored in the memory 104, thereby executing various functional applications and data processing, that is, implementing the vehicle limp control method of the application program. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory located remotely from the processor 102, which may be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission means 106 is arranged to receive or transmit data via a network. The specific examples of the network described above may include a wireless network provided by a communication provider of the computer terminal 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module for communicating with the internet wirelessly.
The display may be, for example, a touch screen type Liquid Crystal Display (LCD) that may enable a user to interact with a user interface of the computer terminal 10 (or mobile device).
In the above-mentioned operating environment, the embodiment of the present application provides a vehicle limp control method, as shown in fig. 2, including the following steps:
step S202, determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle;
in the technical solution provided in step S202, the first fault type information refers to fault type information of a fault that causes the target vehicle to enter a limp-home state, where the fault type information includes components in the target vehicle that are in a fault state when the fault occurs, and a fault type and a fault degree of the fault components. Subsequently, when determining the corresponding vehicle lameness scheme, the corresponding vehicle lameness scheme may be determined with reference to the fault type and the fault extent of the faulty component.
Step S204, determining a limp target of the target vehicle in a limp state, wherein the limp target is a running state constraint condition which needs to be met by the target vehicle in the limp state;
in the technical solution provided in step S204, the limp-home goal is a condition that the vehicle should meet even in the limp-home state, for example, it should be ensured that the vehicle will not stall or run away in the limp-home state, and still be able to travel a certain distance, and the user may be timely reminded of a failure, etc.
In some embodiments of the present application, the lameness goal may include, but is not limited to, the following:
functional safety requirements, the target vehicle is required to avoid power interruption, accidental acceleration and the like without symptoms as far as possible in the process of entering a limp-home mode and exiting the limp-home mode;
powertrain protection requires that the target vehicle should ensure that the fault condition of the currently faulty component is not exacerbated in limp-home mode, and that new faults should not be generated for components that have not previously failed to enter limp-home mode;
the driving requirement, the target vehicle entering the limp-home mode, on the basis of the first two implementations, meets the driving requirement as far as possible, wherein the maximum torque within the current capacity range of the output power system, the maximum vehicle speed within the current capacity range of the output power system and the driving performance meet the basic driving requirement;
Human-computer interaction requires that the information of fault state, vehicle performance, expected operation of a driver and the like should be notified to the user through a human-computer interaction interface when the user is in claudication, so that the user can make a correct reaction.
It can be seen that, in the embodiment of the present application, when the limp plan is made, not only the fault information of the vehicle is considered, but also the constraint condition that the vehicle should meet in the limp state is considered, so that when the limp plan is made, the actual requirement of the user can be better met, and the made limp plan is more feasible, so that the greater problem caused by the limp plan is not executed by the target vehicle is ensured.
It should be noted that, step S202 and step S204 may be performed simultaneously, or step S204 may be performed before step S202 is performed.
Step S206, determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each part in the target vehicle after the target vehicle has the fault indicated by the first fault type information;
in the technical solution provided in step S206, the step of determining a lameness scheme associated with the first fault type information includes: determining a first type of component and a second type of component in the target vehicle according to the first fault type information, wherein the first type of component is a faulty component, and the second type of component is a component which does not have a fault; determining a target working state of the second type of component under the condition of meeting the limp target according to the limp target; and determining a limp plan corresponding to the first fault type information according to the working state of the second type component.
As an alternative embodiment, the limp home may include a safety home, a powertrain protection home. In some embodiments of the present application, assuming that the internal structure of the target vehicle is as shown in fig. 3, the step of determining the operating state of the second type component in accordance with the limp-home target in the case where the failure type of the target vehicle is the front motor failure according to the limp-home target includes: according to the safety target, the rear motor is determined to continuously provide power for the target vehicle after the front motor fails; and determining the vehicle speed limit information of the target vehicle in a limp state according to the protection target of the power assembly and the back electromotive force information of the back motor, and determining the working parameter range of the back motor according to the vehicle speed limit information.
Specifically, the target vehicle shown in fig. 3 is normally capable of driving the vehicle by the front and rear motors simultaneously. While in determining a limp-home solution of the target vehicle in the event of a preceding motor failure, the following conditions should be met: after the functional safety requirement is considered, the whole vehicle is ensured not to generate power interruption due to the failure of the front motor, and the rear motor can be used for driving the vehicle to run; meanwhile, prompt information such as motor fault, limited vehicle power, maintenance requirement and the like is displayed to a user through an instrument, so that a driver can know the fault state of the current vehicle, the representation and suggestion measures which are generated by the vehicle, the user can have psychological expectation on the state of the current vehicle, and the danger generated in a specific working condition due to the change of the power output without symptoms is avoided. In addition, it is also necessary to pay attention that the driving capability of the front motor cannot be immediately recovered when the front motor is failed to recover, otherwise the whole vehicle is suddenly accelerated due to the sudden recovery of the driving capability of the front motor.
As an alternative embodiment, when a limp-home scenario in the pre-motor failure state is formulated for the target vehicle as shown in fig. 3, the following scenario may be formulated for each constraint:
when the protection requirement of the power assembly is considered, back electromotive force can be generated under the condition that the front motor breaks down and the rear motor maintains the vehicle to limp, and the vehicle speed is limited according to the generated condition of the back electromotive force, so that the fault state of the current fault assembly is aggravated or the fault of the assembly which does not break down is avoided.
When the drivability requirement is considered, as the front motor is in fault, the whole vehicle still has other power sources to provide driving capability, and has certain driving capability, from the viewpoint of drivability, the maximum capability in the current range of the power system is expected to be output at the moment, so that the emergency requirement of a driver is met.
In summary, when the front motor fails, the rear motor is applied to drive the vehicle to ensure that the vehicle has certain driving capability, the current failure state cannot be deteriorated through the speed limit, and the driver is prompted to have certain expectations on the limp-home behavior of the vehicle through the instrument prompt of the failure state, the vehicle performance and the expected driver action.
Step S208, in the case that the target vehicle fails, determining second failure type information of the target vehicle, determining a target limp plan in the limp plan set according to the second failure type information and the preset failure type set, and indicating the target vehicle to execute the target limp plan.
In the technical solution provided in step S208, the step of determining the target claudication scheme in the claudication scheme set according to the second fault type information and the preset fault type set includes: determining target first fault type information with highest similarity with second fault type information in a preset fault type set; a lameness scheme associated with the target first fault type information is determined, and the lameness scheme associated with the target first fault type information is determined as the target lameness scheme.
As an optional implementation manner, in the preset fault type set, the step of determining the target first fault type information with the highest similarity with the second fault type information includes: determining fault component information in second fault type information, wherein the fault component information comprises fault component type and abnormal parameter information of the fault component; determining alternative first fault type information in a preset fault type set according to the fault component name, wherein the fault component type in the alternative first fault type is the same as the fault component type in the second fault type information; and determining the similarity between the first fault type information and the second fault type information according to the abnormal parameter information, and determining the first fault type information with the largest similarity as the target first fault type information.
In some embodiments of the present application, when determining a final lameness scheme and letting the target vehicle execute the scheme, the method may further determine a nearby maintenance point distribution condition according to the position information of the target vehicle, and correct the lameness scheme according to the maintenance point distribution condition, including: acquiring positioning information of a target vehicle; determining a target maintenance point and path information of the target vehicle reaching the target maintenance point according to the positioning information; and adjusting the target lameness scheme according to the path information, and indicating the target vehicle to execute the adjusted target lameness scheme.
There is also provided a target vehicle limp-home control flow as shown in fig. 4 according to an embodiment of the present application. As shown in fig. 4, the method comprises the following steps:
step S402, determining component information of a component in a target vehicle, and determining component fault information which possibly causes the target vehicle to enter a limp state, thereby determining fault type information of the vehicle according to the component fault information, wherein the fault type information of the vehicle comprises a component which is faulty in the target vehicle under the fault type, a component fault type and a fault degree;
step S404, determining constraint conditions which the target vehicle needs to meet in a limp-home state;
Step S406, according to the fault type information and the constraint condition, making a limp plan corresponding to the fault type information;
in step S408, after the target vehicle fails, a limp-home plan corresponding to the type of failure of the failure that occurred is executed.
It should be noted that, the method for making the limp plan of the vehicle provided by the application may be executed by the processor in the target vehicle, or may be executed by the cloud server or other electronic devices, and the made plan is sent to the target vehicle.
Determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to the limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; in the case of a fault of the target vehicle, determining second fault type information of the target vehicle, determining a target claudication scheme in a claudication scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target claudication scheme.
The embodiment of the application provides a method for determining a vehicle limp-home plan, and fig. 5 is a flow chart of the method. As shown in fig. 5, the method for determining the vehicle limp-home plan includes the steps of:
step S502, determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle;
step S504, determining a limp target of the target vehicle in a limp state, wherein the limp target is a running state constraint condition which needs to be met by the target vehicle in the limp state;
and step S506, determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each part in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
Through the steps, the embodiment of the application provides a method for comprehensively considering the limp target and the fault information of the vehicle when the limp plan is prepared, and provides a theoretical basis for determining the corresponding limp plan of the vehicle in the fault state. It can be seen that, compared with the related art, the lameness scheme formulated in the present application has more comprehensive consideration factors, so that the lameness scheme formulated in the present application is superior to the lameness scheme formulation method that only considers the failure type in the related art in terms of applicability and feasibility.
An embodiment of the present application provides a vehicle limp control device, fig. 6 is a schematic structural diagram of the device, and as shown in fig. 6, the device includes: a first processing module 60, configured to determine a preset failure type set of the target vehicle, where the preset failure type set includes first failure type information of a limp state of the target vehicle; a second processing module 62, configured to determine a limp target of the target vehicle in a limp state, where the limp target is a driving state constraint condition that the target vehicle needs to satisfy in the limp state; a third processing module 64, configured to determine a limp plan associated with the first fault type information according to a limp target, to obtain a limp plan set, where the limp plan includes working state information of each target component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; the fourth processing module 66 is configured to determine second fault type information of the target vehicle in case of a fault of the target vehicle, determine a target limp-home plan in the limp-home plan set according to the second fault type information and the preset fault type set, and instruct the target vehicle to execute the target limp-home plan.
In some embodiments of the present application, the step of the third processing module 64 determining a lameness scheme associated with the first fault type information in accordance with the lameness target includes: determining a first type of component and a second type of component in the target vehicle according to the first fault type information, wherein the first type of component is a faulty component, and the second type of component is a component which does not have a fault; determining a target working state of the second type of component under the condition of meeting the limp target according to the limp target; and determining a limp plan corresponding to the first fault type information according to the working state of the second type component.
In some embodiments of the application, the limp home includes a safety home, a powertrain protection home; the third processing module 64 determines the operating status of the second type of component in compliance with the limp home based on the limp home when the fault type is a pre-motor fault, comprising: according to the safety target, the rear motor is determined to continuously provide power for the target vehicle after the front motor fails; and determining the vehicle speed limit information of the target vehicle in a limp state according to the protection target of the power assembly and the back electromotive force information of the back motor, and determining the working parameter range of the back motor according to the vehicle speed limit information.
In some embodiments of the present application, the step of the third processing module 66 determining the target lameness scheme in the lameness scheme set according to the second fault type information and the preset fault type set includes: determining target first fault type information with highest similarity with second fault type information in a preset fault type set; a lameness scheme associated with the target first fault type information is determined, and the lameness scheme associated with the target first fault type information is determined as the target lameness scheme.
In some embodiments of the present application, the step of determining, by the third processing module 66, the target first fault type information having the highest similarity with the second fault type information in the preset fault type set includes: determining fault component information in second fault type information, wherein the fault component information comprises fault component type and abnormal parameter information of the fault component; determining alternative first fault type information in a preset fault type set according to the fault component name, wherein the fault component type in the alternative first fault type is the same as the fault component type in the second fault type information; and determining the similarity between the first fault type information and the second fault type information according to the abnormal parameter information, and determining the first fault type information with the largest similarity as the target first fault type information.
In some embodiments of the present application, the step of the third processing module 66 instructing the target vehicle to execute the target lameness scheme further comprises: acquiring positioning information of a target vehicle; determining a target maintenance point and path information of the target vehicle reaching the target maintenance point according to the positioning information; and adjusting the target lameness scheme according to the path information, and indicating the target vehicle to execute the adjusted target lameness scheme.
Note that each module in the vehicle limp-home control device may be a program module (for example, a set of program instructions for realizing a specific function), or may be a hardware module, and the latter may be represented by the following form, but is not limited thereto: the expression forms of the modules are all a processor, or the functions of the modules are realized by one processor.
The embodiment of the application provides a nonvolatile storage medium, wherein a program is stored in the nonvolatile storage medium, and equipment where the nonvolatile storage medium is controlled to execute the following vehicle limp control method when the program runs: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, determining a target claudication scheme in a claudication scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target claudication scheme.
In some embodiments of the present application, the program may further control a device in which the nonvolatile storage medium is located to execute the following method for determining a vehicle limp-home scenario: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; and determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
The embodiment of the application provides a vehicle, which comprises a memory and a processor, wherein the processor is used for running a program stored in the memory, and the program runs for executing the following vehicle limp control method: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, determining a target claudication scheme in a claudication scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target claudication scheme.
In some embodiments of the present application, the above-described program may further perform a method of determining a vehicle limp-home plan when running: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; and determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
Embodiments of the present application provide a computer program product executable by a processor. Wherein the computer program product, when executed, performs a vehicle limp control method of: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; determining a limp plan associated with the first fault type information according to a limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has a fault indicated by the first fault type information; and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, determining a target claudication scheme in a claudication scheme set according to the second fault type information and a preset fault type set, and indicating the target vehicle to execute the target claudication scheme.
In some embodiments of the application, the above-described computer program product, when executed, performs a method of determining a vehicle lameness scheme as follows: determining a preset fault type set of the target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle; determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a driving state constraint condition which needs to be met by the target vehicle in the limp-home state; and determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
In the foregoing embodiments of the present application, the descriptions of the embodiments are emphasized, and for a portion of this disclosure that is not described in detail in this embodiment, reference is made to the related descriptions of other embodiments.
In the several embodiments provided in the present application, it should be understood that the disclosed technology may be implemented in other manners. The above-described embodiments of the apparatus are merely exemplary, and the division of the units, for example, may be a logic function division, and may be implemented in another manner, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be through some interfaces, units or modules, or may be in electrical or other forms.
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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the related art or all or part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (10)
1. A vehicle limp-home control method, characterized by comprising:
determining a preset fault type set of a target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle;
determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a running state constraint condition which needs to be met by the target vehicle in the limp-home state;
determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information;
and under the condition that the target vehicle breaks down, determining second fault type information of the target vehicle, determining a target lameness scheme in the lameness scheme set according to the second fault type information and the preset fault type set, and indicating the target vehicle to execute the target lameness scheme.
2. The vehicle limp control method according to claim 1, characterized in that the step of determining the first failure type information-associated limp plan in accordance with the limp target includes:
determining a first type of component and a second type of component in the target vehicle according to the first fault type information, wherein the first type of component is a faulty component, and the second type of component is a component which does not have a fault;
determining the target operating state of the second type of component in accordance with the lameness target;
and determining the limp plan corresponding to the first fault type information according to the working state of the second type component.
3. The vehicle limp control method according to claim 2, wherein the limp target includes a safety target, a powertrain protection target; in case the fault type is a pre-motor fault, the step of determining the working state of the second type of component in compliance with the limp target according to the limp target comprises:
according to the safety target, determining that a rear motor continuously provides power for the target vehicle after the front motor fails;
And determining vehicle speed limit information of the target vehicle in a limp state according to the power assembly protection target and the back electromotive force information of the back motor, and determining the working parameter range of the back motor according to the vehicle speed limit information.
4. The vehicle limp control method according to claim 1, characterized in that the step of determining a target limp plan among the set of limp plans in accordance with the second fault type information and the set of preset fault types includes:
determining target first fault type information with highest similarity with the second fault type information in the preset fault type set;
determining the lameness scheme associated with the target first fault type information, and determining the lameness scheme associated with the target first fault type information as the target lameness scheme.
5. The vehicle limp-home control method according to claim 4, characterized in that the step of determining target first failure type information having highest similarity with the second failure type information among the preset failure type sets includes:
determining fault component information in the second fault type information, wherein the fault component information comprises fault component type and abnormal parameter information of the fault component;
Determining alternative first fault type information in the preset fault type set according to the fault component name, wherein the fault component type in the alternative first fault type is the same as the fault component type in the second fault type information;
and determining the similarity between the first fault type information and the second fault type information according to the abnormal parameter information, and determining the first fault type information with the largest similarity as the target first fault type information.
6. The vehicle limp home control method according to claim 1, characterized in that the step of instructing the target vehicle to execute the target limp home scheme further includes:
acquiring positioning information of the target vehicle;
determining a target maintenance point and path information of the target vehicle reaching the target maintenance point according to the positioning information;
and adjusting the target claudication scheme according to the path information, and indicating the target vehicle to execute the adjusted target claudication scheme.
7. A method of determining a vehicle lameness scheme, comprising:
determining a preset fault type set of a target vehicle, wherein the preset fault type set comprises first fault type information corresponding to a limp state of the target vehicle;
Determining a limp-home target of the target vehicle in a limp-home state, wherein the limp-home target is a running state constraint condition which needs to be met by the target vehicle in the limp-home state;
and determining a limp plan associated with the first fault type information according to the limp target to obtain a limp plan set, wherein the limp plan comprises target working state information of each component in the target vehicle after the target vehicle has the fault indicated by the first fault type information.
8. A vehicle limp-home control device, characterized by comprising:
the first processing module is used for determining a preset fault type set of a target vehicle, wherein the preset fault type set comprises first fault type information of a limp state of the target vehicle;
a second processing module, configured to determine a limp target of the target vehicle in a limp state, where the limp target is a driving state constraint condition that the target vehicle needs to meet in the limp state;
a third processing module, configured to determine a limp plan associated with the first fault type information according to the limp target, to obtain a limp plan set, where the limp plan includes working state information of each target component in the target vehicle after the target vehicle has a fault indicated by the first fault type information;
And the fourth processing module is used for determining second fault type information of the target vehicle under the condition that the target vehicle breaks down, determining a target limp-home plan in the limp-home plan set according to the second fault type information and the preset fault type set, and indicating the target vehicle to execute the target limp-home plan.
9. A nonvolatile storage medium, wherein a program is stored in the nonvolatile storage medium, wherein the program, when executed, controls a device in which the nonvolatile storage medium is located to execute the vehicle limp-home control method according to any one of claims 1 to 6, or the determination method of the vehicle limp-home scheme according to claim 7.
10. A vehicle, characterized by comprising: a memory and a processor for executing a program stored in the memory, wherein the program executes the vehicle limp control method according to any one of claims 1 to 6, or the determination method of the vehicle limp plan when executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310713414.8A CN116767249A (en) | 2023-06-15 | 2023-06-15 | Vehicle limp control method and device, nonvolatile storage medium and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310713414.8A CN116767249A (en) | 2023-06-15 | 2023-06-15 | Vehicle limp control method and device, nonvolatile storage medium and vehicle |
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| CN116767249A true CN116767249A (en) | 2023-09-19 |
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| CN202310713414.8A Pending CN116767249A (en) | 2023-06-15 | 2023-06-15 | Vehicle limp control method and device, nonvolatile storage medium and vehicle |
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| Country | Link |
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| CN (1) | CN116767249A (en) |
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- 2023-06-15 CN CN202310713414.8A patent/CN116767249A/en active Pending
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