CN109367500B - Vehicle control processing method, device, equipment and storage medium - Google Patents
Vehicle control processing method, device, equipment and storage medium Download PDFInfo
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- CN109367500B CN109367500B CN201811008848.3A CN201811008848A CN109367500B CN 109367500 B CN109367500 B CN 109367500B CN 201811008848 A CN201811008848 A CN 201811008848A CN 109367500 B CN109367500 B CN 109367500B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The application provides a control processing method, a control processing device, equipment and a storage medium of a vehicle, wherein the method comprises the following steps: the control processing equipment of the vehicle circularly receives a control instruction sent by the unmanned system according to a preset rule; and if the control instruction is judged to be interrupted, the control processing equipment of the vehicle controls the running state of the vehicle. The control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received at the last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved.
Description
Technical Field
The present application relates to the field of unmanned driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling a vehicle.
Background
The unmanned vehicle is a novel intelligent vehicle, and the full-automatic operation of the vehicle is realized by accurately controlling, calculating and analyzing each part in the vehicle through an Electronic Control Unit (ECU), so that the purpose of unmanned driving of the vehicle is achieved.
In the unmanned system, if the unmanned vehicle has system software and hardware failures in the driving process, data cannot be transmitted in time, and the vehicle continues to drive, resulting in unpredictable potential safety hazards.
Disclosure of Invention
The application provides a control processing method, a control processing device, equipment and a storage medium of a vehicle, and aims to overcome the defects that in the prior art, the safety of an unmanned vehicle is low and the like.
A first aspect of the present application provides a control processing method for a vehicle, including:
the control processing equipment of the vehicle circularly receives a control instruction sent by the unmanned system according to a preset rule;
and if the control instruction is judged to be interrupted, the control processing equipment of the vehicle controls the running state of the vehicle.
A second aspect of the present application provides a control processing device of a vehicle, including:
the receiving module is used for circularly receiving a control instruction sent by the unmanned system by the control processing equipment of the vehicle according to a preset rule;
and the processing module is used for controlling the running state of the vehicle by the control processing equipment of the vehicle if the control instruction is judged to be interrupted.
A third aspect of the present application provides a control processing apparatus of a vehicle, including: at least one processor and memory;
the memory stores a computer program; the at least one processor executes the computer program stored by the memory to implement the method provided by the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed, implements the method provided by the first aspect.
According to the control processing method, the control processing device, the control processing equipment and the storage medium of the vehicle, the control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received at the last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic diagram of a control processing system of a vehicle to which embodiments of the present application are applicable;
fig. 2 is a schematic flowchart of a control processing method for a vehicle according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a control processing device of a vehicle according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a control processing device of a vehicle according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The terms referred to in this application are explained first:
the vehicle control unit: a Vehicle Control Unit, VCU for short, is an important component of an unmanned Vehicle or an electric Vehicle, and is disposed on a chassis of the Vehicle. Ride comfort, energy economy, and operational reliability of the vehicle are all closely related to the effective control of the VCU. The main functions of the VCU can be divided into the following aspects: 1. acquiring a driving intention: the VCU needs to judge the driving intention through driving input signals such as an accelerator pedal, a brake pedal, gear states and the like. 2. Acquiring the actual state of the vehicle: the VCU needs to acquire running information such as vehicle speed and attitude through a sensor or a controller to determine the current actual state of the vehicle. 3. Powertrain control: the VCU needs to match driving requirements and powertrain response capabilities to formulate reasonable power output and energy recovery strategies. 4. HMI information feedback: the VCU needs to feed back critical information to HMI (human machine interface) to inform the driver of the vehicle status.
Unmanned system: the device refers to a computing device, such as an industrial personal computer, which is arranged on an unmanned vehicle to realize unmanned driving.
The vehicle control processing method provided by the embodiment of the application can be suitable for an unmanned vehicle, the unmanned vehicle is provided with an unmanned system, the unmanned system collects sensing data, makes a decision, generates a control command and sends the control command to a steering system, a running system, a braking system and the like on a vehicle chassis through CANBUS (computer aided bus), so that the automatic control of the vehicle is realized, and a vehicle control unit is further arranged on the chassis and used for ensuring the driving smoothness, the energy consumption economy and the running reliability of the vehicle. Fig. 1 is a schematic structural diagram of a control processing system of a vehicle to which the embodiment of the present application is applied. Here, the control processing device of the vehicle may be a vehicle control unit, or may be a control processing device of an independently provided vehicle. Taking a vehicle control unit as an example, configuring an unmanned system to circularly send a control instruction to the vehicle control unit according to a preset rule, judging whether the unmanned system fails or not by the vehicle control unit according to the control instruction sent by the unmanned system, and controlling a vehicle by the vehicle control unit if the unmanned system fails, so as to solve the problem that if the unmanned system fails due to software and hardware problems, a chassis continues to run according to the instruction received at the last time, and the vehicle is in an out-of-control state. The vehicle control processing method provided in the embodiment of the present application is not limited to being used in an unmanned vehicle, and may be applied to other similar scenes.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
Example one
The embodiment provides a control processing method of a vehicle, which is used for controlling the vehicle and improving the safety of the vehicle. The execution subject of the embodiment is a control processing device of a vehicle, and the device may be arranged in the control processing device of the vehicle, and specifically may be arranged in a vehicle control unit.
As shown in fig. 2, a flow chart of a control processing method for a vehicle according to the present embodiment is schematically shown, and the method includes:
And 102, if the control instruction is interrupted, controlling the running state of the vehicle by the control processing equipment of the vehicle.
Specifically, the unmanned vehicle is provided with an unmanned system, the unmanned system can automatically control the vehicle by collecting sensing data, making a decision, generating a control command and sending the control command to a steering system, a running system, a braking system and the like on a vehicle chassis through CANBUS, and the chassis is also provided with a vehicle control unit for ensuring the driving smoothness, the energy consumption economy and the running reliability of the vehicle. Here, the control processing device of the vehicle may be a vehicle control unit, or may be a control processing device of an independently provided vehicle. Taking a vehicle control unit as an example, configuring the unmanned system to circularly send a control instruction to the vehicle control unit according to a preset rule, judging whether the unmanned system fails or not by the vehicle control unit according to the control instruction sent by the unmanned system, and if the control instruction is determined to be interrupted, proving that the unmanned system fails. If the unmanned system is judged to have a fault, the vehicle is controlled by the vehicle control unit, so that the problem that the vehicle is in an out-of-control state because the chassis continues to run according to the instruction received at the last time if the unmanned system fails due to software and hardware problems is solved.
Alternatively, the control command may be a steering command, an acceleration command, a deceleration command, or other control commands, or may be a heartbeat detection command, or other communication commands, as long as the control processing device of the vehicle is enabled to know whether the unmanned system is operating normally. The setting may be specifically performed according to actual requirements, and this embodiment is not limited.
Alternatively, the preset rule here may be a preset time interval, i.e. the unmanned system periodically sends control instructions to the control processing device of the vehicle.
Alternatively, the control processing device of the vehicle controlling the running state of the vehicle may include controlling steering, deceleration, parking, and the like of the vehicle.
The control instruction interrupt may mean that the control processing apparatus of the vehicle has not received the control instruction within a preset rule. For example, the unmanned system sends a control instruction to the control processing device of the vehicle according to a cycle of 2 seconds, and if the control instruction is not received after a cycle is reached, the unmanned system is confirmed to be in a fault.
According to the control processing method for the vehicle, the control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved.
Example two
The present embodiment further supplements the method provided in the first embodiment.
As a practical manner, on the basis of the first embodiment, optionally, after each time the control processing device of the vehicle receives the control instruction sent by the unmanned system, the method further includes:
in step 201, a control processing apparatus of a vehicle determines whether a control instruction is interrupted.
Specifically, the control processing device of the vehicle continuously receives the control instruction sent by the unmanned system, and proves that the unmanned system is working normally. The vehicle control processing equipment needs to restart to judge whether the control instruction is interrupted or not after receiving the control instruction sent by the unmanned system every time, and if the control instruction is not received when the control instruction is received next time after the control instruction is received once, the fact that the unmanned system is possibly in fault, the control instruction cannot be sent normally can be shown, and corresponding safety measures need to be taken.
Optionally, the preset rule is a preset time interval, and the determining, by the control processing device of the vehicle, whether the control instruction is interrupted includes:
if the control processing equipment of the vehicle does not receive the control instruction sent by the unmanned system after the preset time interval is reached, the control processing equipment of the vehicle determines that the control instruction is interrupted.
Specifically, the preset rule may be that at preset time intervals, that is, every preset time interval, the unmanned system sends a control instruction to the control processing device of the vehicle, so that the control processing device of the vehicle knows that the unmanned system is working normally. If the control processing equipment of the vehicle does not receive the control instruction sent by the unmanned system after the preset time interval is reached, the control processing equipment of the vehicle determines that the control instruction is interrupted, the unmanned system is considered to be in a fault, the control instruction cannot be normally sent, the vehicle is in an out-of-control state, and the control processing equipment of the vehicle controls the running state of the vehicle, so that accidents caused by the out-of-control of the vehicle are avoided.
Optionally, the preset time interval may be 200 milliseconds, 400 milliseconds, 1 second, and the like, and may be specifically set according to an actual situation, or different preset time intervals may be configured according to a current driving speed road condition of the vehicle, and the like. For example, the preset time interval may be longer when the current driving speed is low, the driving speed is high, the preset time interval needs to be shorter, and the like. The setting can be specifically carried out according to actual requirements.
As another practicable manner, on the basis of the first embodiment, optionally, if it is determined that the control instruction is interrupted, the controlling and processing device of the vehicle controlling the driving state of the vehicle includes:
and if the control command is determined to be interrupted, the control processing equipment of the vehicle controls the emergency braking of the vehicle.
Specifically, when the control processing equipment of the vehicle determines that the control command is interrupted, the control processing equipment indicates that the unmanned system is likely to have a fault, the control command cannot be normally issued, and in order to avoid an accident caused by the out-of-control vehicle, the control processing equipment of the vehicle controls the vehicle to be braked emergently, so that the vehicle can be stopped in time.
Optionally, the control processing device of the vehicle controls the vehicle emergency brake, including:
the control processing equipment of the vehicle sends an emergency braking instruction to the braking system to control the vehicle to stop emergently.
Specifically, corresponding control authority can be configured for the control processing equipment of the vehicle, so that the control processing equipment of the vehicle can send an emergency braking instruction to the braking system when the unmanned system is determined to be in fault, the braking system can perform emergency braking according to the emergency braking instruction, the vehicle can be stopped in time, and accidents are avoided.
Optionally, the control processing device of the vehicle controls the vehicle emergency brake, including:
the control processing device of the vehicle sends an emergency parking instruction to the parking system to control the vehicle to be parked emergently.
Specifically, when the control processing device of the vehicle determines that the unmanned system fails, an emergency parking instruction can be sent to the parking system to control the vehicle to stop emergently, so that accidents are avoided.
As another practical way, on the basis of the first embodiment, optionally, the method may further include:
and if the control instruction is determined to be interrupted, the control processing equipment of the vehicle carries out emergency alarm processing.
Specifically, after determining that the unmanned system is in fault, the control processing device of the vehicle may further perform emergency alarm processing on the basis of emergency control of the vehicle driving state to prompt relevant personnel to perform corresponding processing, such as prompting maintenance personnel to maintain the unmanned system, prompting passengers on the vehicle to take corresponding safety measures, and the like, and may be specifically set according to actual requirements.
Optionally, the performing, by a control processing device of the vehicle, emergency alert processing may specifically include:
the control processing equipment of the vehicle generates emergency warning audio and sends the emergency warning audio to the playing equipment on the vehicle for playing so as to prompt related personnel to carry out maintenance or other processing.
Optionally, the performing, by a control processing device of the vehicle, emergency alert processing may specifically include:
the control processing equipment of the vehicle generates emergency warning information and sends the emergency warning information to a display screen of the vehicle for display so as to prompt passengers or other related personnel to process.
Alternatively, the control processing device of the vehicle may generate the emergency alert audio and the prompt message for screen display and sound playing simultaneously.
It can be understood that the specific alarm manner may be set according to actual requirements, and the embodiment of the present application is not limited.
Optionally, the control processing device of the vehicle may further generate a prompt message to send to the remote server, so as to prompt the relevant manager to perform corresponding processing.
As still another implementable manner, on the basis of the above embodiment, optionally, the control instruction may be at least one of a steering instruction, an acceleration instruction, a deceleration instruction, a heartbeat detection instruction, and the like. The specific content of the control command may be set according to actual requirements, and is not limited herein.
For example, when the unmanned system sends a deceleration instruction to the brake system, the unmanned system sends the deceleration instruction to the control processing device of the vehicle if a preset time interval arrives, and when the unmanned system sends an acceleration instruction to the running system at the next preset time interval, the unmanned system sends the acceleration instruction to the control processing device of the vehicle. That is, the control instructions periodically sent by the unmanned system to the control processing device of the vehicle may coincide with its current control state. The unmanned system may also periodically send heartbeat messages to the control processing device of the vehicle based on a heartbeat mechanism, and so on.
As still another implementable manner, on the basis of the above embodiment, optionally, the control processing device of the vehicle is a vehicle control unit. Or may be a processing device independent of the vehicle control unit.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
According to the control processing method for the vehicle, the control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved. And emergency alarm processing can be carried out, related personnel can be prompted to maintain or take safety measures and the like in time, and the safety and the use experience of the vehicle are further improved.
EXAMPLE III
The present embodiment provides a control processing device for a vehicle, which is used for executing the control processing method for the vehicle of the first embodiment.
As shown in fig. 3, a schematic structural diagram of a control processing device of a vehicle according to the present embodiment is provided. The control processing device 30 of the vehicle includes a receiving module 31 and a processing module 32.
The receiving module 31 is used for the control processing device of the vehicle to circularly receive the control instruction sent by the unmanned system according to a preset rule.
The processing module 32 is configured to control the driving state of the vehicle if the control instruction is determined to be interrupted.
The specific manner in which the respective modules perform operations has been described in detail in relation to the apparatus in this embodiment, and will not be elaborated upon here.
According to the control processing device of the vehicle provided by the embodiment, the control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved. .
Example four
The present embodiment will further complement the description of the control processing device for a vehicle provided in the third embodiment.
As a practical manner, on the basis of the third embodiment, optionally, the processing module is further configured to:
after the control processing device of the vehicle receives the control instruction sent by the unmanned system every time, the control processing device of the vehicle judges whether the control instruction is interrupted.
Optionally, the preset rule is a preset time interval, and the processing module is specifically configured to:
if the control processing equipment of the vehicle does not receive the control instruction sent by the unmanned system after the preset time interval is reached, the control processing equipment of the vehicle determines that the control instruction is interrupted.
As another implementable manner, on the basis of the third embodiment, optionally, the processing module is specifically configured to:
and if the control command is determined to be interrupted, the control processing equipment of the vehicle controls the emergency braking of the vehicle.
Optionally, the processing module is specifically configured to:
the control processing equipment of the vehicle sends an emergency braking instruction to the braking system to control the vehicle to stop emergently.
Optionally, the processing module is specifically configured to:
the control processing device of the vehicle sends an emergency parking instruction to the parking system to control the vehicle to be parked emergently.
As another implementable manner, on the basis of the third embodiment, optionally, the processing module is further configured to:
and if the control instruction is determined to be interrupted, the control processing equipment of the vehicle carries out emergency alarm processing.
As another implementable manner, on the basis of the third embodiment, optionally, the control instruction includes at least one of a steering instruction, an acceleration instruction, a deceleration instruction, and a heartbeat detection instruction.
As another practicable manner, on the basis of the third embodiment, optionally, the control processing device of the vehicle is a vehicle control unit.
The specific manner in which the respective modules perform operations has been described in detail in relation to the apparatus in this embodiment, and will not be elaborated upon here.
It should be noted that the respective implementable modes in the present embodiment may be implemented individually, or may be implemented in combination in any combination without conflict, and the present application is not limited thereto.
According to the control processing device of the vehicle in the embodiment, the control processing equipment of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing equipment of the vehicle controls the running state of the vehicle, so that the problem that the vehicle is in an out-of-control state because the chassis continues to run according to the instruction received last time if the unmanned system fails due to software and hardware problems is solved. The safety of the vehicle is effectively improved. And emergency alarm processing can be carried out, related personnel can be prompted to maintain or take safety measures and the like in time, and the safety and the use experience of the vehicle are further improved.
EXAMPLE five
The present embodiment provides a control processing apparatus of a vehicle for executing the control processing method of the vehicle provided in the above-described embodiment.
As shown in fig. 4, a schematic diagram of a control processing device of a vehicle provided in the present embodiment is shown. The control processing device 50 of the vehicle includes: at least one processor 51 and memory 52;
the memory stores a computer program; the at least one processor executes the computer program stored in the memory to implement the control processing method of the vehicle provided by the above-described embodiments.
According to the control processing device of the vehicle in the embodiment, the control processing device of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing device of the vehicle controls the running state of the vehicle, so that the problem that if the unmanned system fails due to software and hardware problems, the chassis continues to run according to the instruction received last time, and the vehicle is in an out-of-control state is solved. The safety of the vehicle is effectively improved. And emergency alarm processing can be carried out, related personnel can be prompted to maintain or take safety measures and the like in time, and the safety and the use experience of the vehicle are further improved.
EXAMPLE six
The present embodiment provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed, the method provided by any one of the above embodiments is implemented.
According to the computer-readable storage medium of the embodiment, the control processing device of the vehicle circularly receives the control instruction sent by the unmanned system according to the preset rule, and if the control instruction terminal is judged, the control processing device of the vehicle controls the running state of the vehicle, so that the problem that the vehicle is in an out-of-control state because the chassis continues to run according to the instruction received last time if the unmanned system fails due to software and hardware problems is solved. The safety of the vehicle is effectively improved. And emergency alarm processing can be carried out, related personnel can be prompted to maintain or take safety measures and the like in time, and the safety and the use experience of the vehicle are further improved.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (14)
1. A control processing method for a vehicle, characterized by comprising:
the control processing equipment of the vehicle circularly receives a control instruction sent by an unmanned system on the vehicle according to a preset rule; wherein the preset rule is a preset time interval;
the control processing device of the vehicle judges whether a control instruction is interrupted;
wherein the control processing device of the vehicle judging whether the control instruction is interrupted includes:
if the control processing equipment of the vehicle does not receive the control instruction sent by the unmanned system after the preset time interval is reached, the control processing equipment of the vehicle determines that the control instruction is interrupted;
if the control instruction is judged to be interrupted, the control processing equipment of the vehicle controls the running state of the vehicle;
wherein, if the control instruction is judged to be interrupted, the control processing device of the vehicle controls the running state of the vehicle, and the method comprises the following steps:
and the control processing equipment of the vehicle acquires the running information of the vehicle, formulates a braking strategy matching the driving requirement and the powertrain response capacity, and controls the vehicle to brake emergently if the control command is determined to be interrupted.
2. The method of claim 1, wherein the control processing device of the vehicle controls vehicle emergency braking, comprising:
and the control processing equipment of the vehicle sends an emergency braking instruction to a braking system so as to control the vehicle to stop emergently.
3. The method of claim 1, wherein the control processing device of the vehicle controls vehicle emergency braking, comprising:
the control processing device of the vehicle sends an emergency parking instruction to a parking system to control the vehicle to be parked emergently.
4. The method of claim 1, further comprising:
and if the control instruction is determined to be interrupted, the control processing equipment of the vehicle carries out emergency alarm processing.
5. The method of any of claims 1-4, wherein the control command comprises at least one of a steering command, an acceleration command, a deceleration command, a heartbeat detection command.
6. The method according to any one of claims 1-4, characterized in that the control processing device of the vehicle is a vehicle control unit.
7. A control processing device of a vehicle, characterized by comprising:
the receiving module is used for circularly receiving a control instruction sent by an unmanned system on the vehicle according to a preset rule by control processing equipment of the vehicle; wherein the preset rule is a preset time interval;
the processing module is used for judging whether the control instruction is interrupted or not by the control processing equipment of the vehicle, and if the control instruction is interrupted, the control processing equipment of the vehicle controls the running state of the vehicle;
wherein, the processing module is specifically configured to:
if the control processing equipment of the vehicle does not receive the control instruction sent by the unmanned system after the preset time interval is reached, the control processing equipment of the vehicle determines that the control instruction is interrupted;
and if the control instruction is determined to be interrupted, the control processing equipment of the vehicle acquires the running information of the vehicle, a braking strategy matching the driving requirement and the powertrain response capacity is formulated, and the control processing equipment of the vehicle controls the vehicle to brake emergently.
8. The apparatus of claim 7, wherein the processing module is specifically configured to:
and the control processing equipment of the vehicle sends an emergency braking instruction to a braking system so as to control the vehicle to stop emergently.
9. The apparatus of claim 7, wherein the processing module is specifically configured to:
the control processing device of the vehicle sends an emergency parking instruction to a parking system to control the vehicle to be parked emergently.
10. The apparatus of claim 7, wherein the processing module is further configured to:
and if the control instruction is determined to be interrupted, the control processing equipment of the vehicle carries out emergency alarm processing.
11. The apparatus of any of claims 7-10, wherein the control instructions comprise at least one of steering instructions, acceleration instructions, deceleration instructions, and heartbeat detection instructions.
12. The apparatus according to any one of claims 7-10, wherein the control processing device of the vehicle is a vehicle control unit.
13. A control processing apparatus of a vehicle, characterized by comprising: at least one processor and memory;
the memory stores a computer program; the at least one processor executes the memory-stored computer program to implement the method of any of claims 1-6.
14. A computer-readable storage medium, characterized in that a computer program is stored in the computer-readable storage medium, which computer program, when executed, implements the method of any of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008848.3A CN109367500B (en) | 2018-08-31 | 2018-08-31 | Vehicle control processing method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811008848.3A CN109367500B (en) | 2018-08-31 | 2018-08-31 | Vehicle control processing method, device, equipment and storage medium |
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| CN110606070B (en) * | 2019-08-30 | 2021-11-02 | 驭势科技（北京）有限公司 | Intelligent driving vehicle and braking method thereof, vehicle-mounted equipment and storage medium |
| CN112462636B (en) * | 2019-09-06 | 2022-03-08 | 中车株洲电力机车研究所有限公司 | Safety control system and control method of electric car |
| CN113212460B (en) * | 2021-06-17 | 2022-08-09 | 广州文远知行科技有限公司 | Vehicle control method, device, equipment and storage medium |
| CN113359572A (en) * | 2021-06-30 | 2021-09-07 | 中船重工海为郑州高科技有限公司 | Dual-mode hot backup unmanned control system and method |
| CN113928283B (en) * | 2021-11-30 | 2023-08-25 | 广州文远知行科技有限公司 | Vehicle collision control method, device, equipment and medium |
| CN115923686B (en) * | 2022-12-17 | 2024-06-18 | 中国重汽集团济南动力有限公司 | Dual-engine hot standby whole vehicle control system, method and new energy vehicle |
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| US9612123B1 (en) * | 2015-11-04 | 2017-04-04 | Zoox, Inc. | Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes |
| CN106740572A (en) * | 2016-12-13 | 2017-05-31 | 清华大学苏州汽车研究院（吴江） | A kind of automobile line traffic control drive device, system and automobile |
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