CN115285043A - Gear monitoring method and device, electronic device, storage medium - Google Patents
Gear monitoring method and device, electronic device, storage mediumDownload PDFInfo
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- 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
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- 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
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本申请涉及自动驾驶技术领域，尤其涉及一种档位监控方法及装置、电子设备、存储介质。The present application relates to the technical field of automatic driving, and in particular to a gear position monitoring method and device, electronic equipment, and a storage medium.
背景技术Background technique
电子档杆由于其换挡快，操作便捷、体积小等被越来越多的应用到自动驾驶车辆或新能源车上。Electronic gear levers are more and more applied to self-driving vehicles or new energy vehicles due to their fast shifting, convenient operation, and small size.
相关技术中，由于电子档杆的换挡操作完全由电子电气系统控制，所以对于电子电气的安全性具有一定的要求，但目前缺少对电子档杆档位信号的安全性监控，从而容易发生跳档输出档位，进而对车辆正常行驶带来安全隐患。In related technologies, since the shifting operation of the electronic gear lever is completely controlled by the electronic and electrical system, there are certain requirements for the safety of the electronic and electrical systems. Gear output gear, and then bring safety hazards to the normal driving of the vehicle.
发明内容Contents of the invention
本申请实施例提供了档位监控方法及装置、电子设备、存储介质，以提高驾驶过程中的安全性。Embodiments of the present application provide a gear position monitoring method and device, electronic equipment, and a storage medium, so as to improve safety during driving.
本申请实施例采用下述技术方案：The embodiment of the application adopts the following technical solutions:
第一方面，本申请实施例提供一种档位监控方法，其中，应用于电子档杆，所述方法包括：In the first aspect, the embodiment of the present application provides a gear position monitoring method, which is applied to an electronic gear lever, and the method includes:
采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息；Collecting vehicle gear position information, wherein the vehicle gear position information includes the gear position information of the electronic gear lever;
根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。According to the gear position function layer and the gear position function monitoring layer, determine the target gear position actually output in the vehicle gear position information, wherein the gear position function monitoring layer includes the user-defined security level generated based on the gear position function layer Monitoring strategy.
在一些实施例中，所述根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，包括：In some embodiments, the determining the actual output target gear in the vehicle gear information according to the gear function layer and the gear function monitoring layer includes:
确定所述档位功能层中档位信号第一输出结果；determining the first output result of the gear signal in the gear functional layer;
确定所述档位功能监控层中档位信号第二输出结果；Determine the second output result of the gear signal in the gear function monitoring layer;
基于所述档位功能层产生的自定义安全等级的监控策略，监测所述档位功能层中档位信号第一输出结果是否异常；Based on the monitoring strategy of the self-defined security level generated by the gear function layer, monitor whether the first output result of the gear signal in the gear function layer is abnormal;
如果异常，则按照所述档位功能监控层中档位信号第二输出结果，作为所述车辆档位信息中实际输出的目标档位；If abnormal, the second output result of the gear signal in the gear function monitoring layer is used as the target gear actually output in the vehicle gear information;
如果正常，则按照所述档位功能层中档位信号第一输出结果，作为所述车辆档位信息中实际输出的目标档位。If it is normal, the first output result of the gear position signal in the gear position functional layer is used as the target gear position actually output in the vehicle gear position information.
在一些实施例中，所述档位功能层包括车载应用层软件的功能，所述档位功能层与所述档位功能监控层独立，且通过所述档位功能监控层实时监控所述档位功能层的档位输出情况。In some embodiments, the gear function layer includes the function of the vehicle application layer software, the gear function layer is independent from the gear function monitoring layer, and the gear is monitored in real time through the gear function monitoring layer The gear output of the bit function layer.
在一些实施例中，所述方法还包括：监控EPB电子驻车制动模块的制动信号，所述监控EPB电子驻车制动模块的制动信号包括：In some embodiments, the method further includes: monitoring the brake signal of the EPB electronic parking brake module, and the monitoring of the brake signal of the EPB electronic parking brake module includes:
当所述档位功能监控层未使能所述EPB且所述档位功能层使能所述EPB时，根据车辆当前车速判断是否使能所述EPB；When the gear function monitoring layer does not enable the EPB and the gear function layer enables the EPB, judge whether to enable the EPB according to the current speed of the vehicle;
当档位功能监控层使能EPB信号时，则根据车辆当前车速判断是否使能所述EPB。When the gear position function monitoring layer enables the EPB signal, it judges whether to enable the EPB according to the current speed of the vehicle.
在一些实施例中，所述根据车辆当前车速判断是否使能所述EPB，包括：In some embodiments, the judging whether to enable the EPB according to the current vehicle speed includes:
如果车速绝对值不大于预设速度，则使能所述EPB同时档位信号切换为空档；If the absolute value of the vehicle speed is not greater than the preset speed, the EPB is enabled and the gear position signal is switched to neutral;
如果车速绝对值大于所述预设速度，则不使能EPB同时保持当前档位。If the absolute value of the vehicle speed is greater than the preset speed, the EPB is not enabled and the current gear is maintained.
在一些实施例中，所述车辆档位信息包括：D前进档，R倒挡，N空档，根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略，包括：In some embodiments, the vehicle gear information includes: D forward gear, R reverse gear, N neutral gear, according to the gear position function layer and the gear position function monitoring layer, determine the actual output target in the vehicle gear position information gear, wherein the gear function monitoring layer includes a monitoring strategy based on a self-defined security level generated by the gear function layer, including:
当所述档位功能监控层档位信号为D时，若所述档位功能层输出档位信号为D，则所述目标档位为D，若所述档位功能层输出档位信号为N，则所述目标档位为N；When the gear signal of the gear function monitoring layer is D, if the output gear signal of the gear function layer is D, then the target gear is D, and if the output gear signal of the gear function layer is N, then the target gear is N;
若所述档位功能层输出档位信号为R，则所述目标档位为N；当所述档位功能监控层档位为N时，所述目标档位输出为N；If the output gear signal of the gear function layer is R, then the target gear is N; when the gear function monitoring layer gear is N, the target gear output is N;
当所述档位功能监控层档位为R时，若档位功能层档位信号为D，则所述目标档位为N，若所述档位功能层输出档位信号为N，则所述目标档位为N；When the gear position of the gear function monitoring layer is R, if the gear signal of the gear function layer is D, then the target gear is N, and if the output gear signal of the gear function layer is N, then the The above target gear is N;
若所述档位功能层输出档位信号输出为R，则所述目标档位为R。If the gear position signal output by the gear function layer is R, then the target gear is R.
在一些实施例中，所述根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位之前，还包括：在车辆高压系统上电，且在扭矩模式下启动档位监控。In some embodiments, before determining the target gear actually output in the vehicle gear information according to the gear function layer and the gear function monitoring layer, it also includes: powering on the high-voltage system of the vehicle, and in the torque mode Next, start the gear monitoring.
第二方面，本申请实施例还提供一种一种档位监控装置，其中，应用于电子档杆，所述装置包括：In the second aspect, the embodiment of the present application also provides a gear position monitoring device, which is applied to an electronic gear lever, and the device includes:
采集模块，用于采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息；A collection module, configured to collect vehicle gear position information, wherein the vehicle gear position information includes the gear position information of the electronic gear lever;
档位确定模块，用于根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。A gear determination module, configured to determine the target gear actually output in the vehicle gear information according to the gear function layer and the gear function monitoring layer, wherein the gear function monitoring layer includes Generated custom security level monitoring policy.
第三方面，本申请实施例还提供一种电子设备，包括：处理器；以及被安排成存储计算机可执行指令的存储器，所述可执行指令在被执行时使所述处理器执行前述之任一所述方法。In a third aspect, the embodiment of the present application further provides an electronic device, including: a processor; and a memory arranged to store computer-executable instructions, and the executable instructions cause the processor to perform any of the foregoing tasks when executed. a method.
第四方面，本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储一个或多个程序，所述一个或多个程序当被包括多个应用程序的电子设备执行时，使得所述电子设备执行前述之任一所述方法。In a fourth aspect, the embodiment of the present application further provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and when the one or more programs are executed by an electronic device including multiple application programs , causing the electronic device to execute any one of the aforementioned methods.
本申请实施例采用的上述至少一个技术方案能够达到以下有益效果：The above at least one technical solution adopted in the embodiment of the present application can achieve the following beneficial effects:
通过采集车辆档位信息，之后根据档位功能层以及档位功能监控层再确定出所述车辆档位信息中实际输出的目标档位。采用档位功能层以及档位功能监控层的架构，对档位的功能软件层进行功能安全监控，实现档位信号的安全性。同时针对于电子档杆的档位信息，提高了行车安全和得到更舒适的驾驶体验。By collecting the vehicle gear information, the actual output target gear in the vehicle gear information is determined according to the gear function layer and the gear function monitoring layer. The structure of the gear function layer and the gear function monitoring layer is adopted to monitor the functional safety of the gear function software layer to realize the security of the gear signal. At the same time, it is aimed at the gear information of the electronic gear lever, which improves driving safety and obtains a more comfortable driving experience.
附图说明Description of drawings
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:
图1为本申请实施例中档位监控方法的架构示意图；FIG. 1 is a schematic diagram of the structure of the gear position monitoring method in the embodiment of the present application;
图2为本申请实施例中档位监控方法的流程示意图；FIG. 2 is a schematic flow diagram of a gear position monitoring method in an embodiment of the present application;
图3为本申请实施例中档位监控装置的结构示意图；FIG. 3 is a schematic structural diagram of a gear position monitoring device in an embodiment of the present application;
图4为本申请实施例中一种电子设备的结构示意图。FIG. 4 is a schematic structural diagram of an electronic device in an embodiment of the present application.
具体实施方式Detailed ways
为使本申请的目的、技术方案和优点更加清楚，下面将结合本申请具体实施例及相应的附图对本申请技术方案进行清楚、完整地描述。显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with specific embodiments of the present application and corresponding drawings. Apparently, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.
以下结合附图，详细说明本申请各实施例提供的技术方案。The technical solutions provided by various embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.
如图1所示，分层设计的电子档位信号监控策略，设计档位功能层L1和档位功能监控层L2以及档位功能层L1根据QM标准要求进行开发，档位功能监控层L2根据公司内部所要求的档位功能的安全等级进行开发。As shown in Figure 1, the hierarchical design of the electronic gear signal monitoring strategy, the gear function layer L1 and the gear function monitoring layer L2 are designed, and the gear function layer L1 is developed according to the requirements of the QM standard, and the gear function monitoring layer L2 is developed according to the requirements of the QM standard. Develop the safety level of the gear function required by the company.
QM标准(Quality Management)属于ISO26262功能安全等级，带等级有ASIL A/B/C/D，其中，QM是不带功能安全等级的一种表述。The QM standard (Quality Management) belongs to the ISO26262 functional safety level, with ASIL A/B/C/D, among which, QM is an expression without a functional safety level.
本申请实施例中的通过档位监控方法，干过增加带有功能安全等级的档位监控层，通过设计档位监控策略，提高档位信号输出的容错性。The gear monitoring method in the embodiment of the present application increases the gear monitoring layer with a functional safety level, and improves the fault tolerance of the gear signal output by designing a gear monitoring strategy.
此外，在增加档位监控层后，可有效避免档位的跳变(比如从D档直接跳到R档)，提高行车安全性。In addition, after adding the gear position monitoring layer, it can effectively avoid gear jumps (such as directly jumping from D gear to R gear) and improve driving safety.
图1中当车辆状态采集到档位信息之后会输入档位功能层L1-QM以及档位功能监控层L2-ASIL，通过两者分别输出的功能档位以及安全档位，在档位输出策略中进行判断，最终输出目标档位。In Figure 1, when the vehicle state collects the gear information, it will input the gear function layer L1-QM and the gear function monitoring layer L2-ASIL. Through the functional gear and the safety gear respectively output by the two, the gear output strategy Judgment is made, and the target gear is finally output.
本申请实施例提供了一种档位监控方法，如图2所示，提供了本申请实施例中档位监控方法流程示意图，所述方法至少包括如下的步骤S210至步骤S220：The embodiment of the present application provides a stall monitoring method. As shown in FIG. 2 , it provides a schematic flow chart of the stall monitoring method in the embodiment of the present application. The method includes at least the following steps S210 to S220:
步骤S210，采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息。Step S210, collecting vehicle gear information, wherein the vehicle gear information includes gear information of an electronic gear lever.
采集得到车辆档位信息，且所述车辆档位信息包括电子档杆的档位信息，这里考虑到了可能存在的其他与车辆档位信息相关的信息，但至少需要包括电子档杆的档位信息。比如，通常商用车是没有P档而其他类型的车辆是存在P档的。The vehicle gear information is collected, and the vehicle gear information includes the gear information of the electronic gear lever. Here, other possible information related to the vehicle gear information is considered, but at least the gear information of the electronic gear lever needs to be included . For example, commercial vehicles usually do not have a P file, while other types of vehicles have a P file.
进一步地，采集的电子档杆的档位信息是指上层系统的档位信息，并不是底层系统中电机、变速器等的档位信息。或者，可以认为是计算机程序层面的采集。Further, the collected gear position information of the electronic gear lever refers to the gear position information of the upper system, not the gear position information of the motor, transmission, etc. in the bottom system. Alternatively, it can be considered as collection at the computer program level.
步骤S220，根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。Step S220, according to the gear function layer and the gear function monitoring layer, determine the target gear actually output in the vehicle gear information, wherein the gear function monitoring layer includes the user-defined gear generated based on the gear function layer. Security level monitoring strategy.
根据所述档位功能层、所述档位功能监控层，综合确定出所述车辆档位信息中实际输出的目标档位。需要注意的是，所述档位功能监控层是用于监控所述档位功能层的。According to the gear function layer and the gear function monitoring layer, the actual output target gear in the vehicle gear information is comprehensively determined. It should be noted that the gear function monitoring layer is used to monitor the gear function layer.
在所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略，这里的自定义安全等级主要与实际应用场景相关，不同场景下具有不同的安全等级。所述监控策略主要用于防止通过档位功能层直接输出档位信息而没有相应的校验或者监控机制。同时所述监控策略也以档位输出容错性、行驶安全性为主进行考虑。The gear function monitoring layer includes a monitoring strategy based on a self-defined security level generated by the gear function layer. The self-defined security level here is mainly related to actual application scenarios, and different scenarios have different security levels. The monitoring strategy is mainly used to prevent gear information from being directly output through the gear function layer without a corresponding verification or monitoring mechanism. At the same time, the monitoring strategy also focuses on gear output fault tolerance and driving safety.
在一些实施例中，通过所述档位功能监控层可实现对所述档位功能层输出档位进行调优，从而更加符合安全驾驶的要求。In some embodiments, the output gear of the gear function layer can be adjusted through the gear function monitoring layer, so as to better meet the requirements of safe driving.
在一些实施例中，所述档位功能监控层的安全等级高于所述档位功能层，但是其优先级低于所述档位功能层，从而使得档位功能层可以被优先考虑但如果触及安全策略则会由档位功能监控层执行兜底操作，以防止出现影响安全性的档位输出操作。In some embodiments, the security level of the gear function monitoring layer is higher than that of the gear function layer, but its priority is lower than that of the gear function layer, so that the gear function layer can be given priority but if When the security policy is touched, the gear function monitoring layer will perform a cover-up operation to prevent gear output operations that affect safety.
在本申请的一个实施例中，所述根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，包括：确定所述档位功能层中档位信号第一输出结果；确定所述档位功能监控层中档位信号第二输出结果；基于所述档位功能层产生的自定义安全等级的监控策略，监测所述档位功能层中档位信号第一输出结果是否异常；如果异常，则按照所述档位功能监控层中档位信号第二输出结果，作为所述车辆档位信息中实际输出的目标档位；如果正常，则按照所述档位功能层中档位信号第一输出结果，作为所述车辆档位信息中实际输出的目标档位。In an embodiment of the present application, said determining the actual output target gear in the vehicle gear information according to the gear function layer and the gear function monitoring layer includes: determining the gear in the gear function layer The first output result of the signal; determine the second output result of the gear signal in the gear function monitoring layer; monitor the gear position in the gear function layer based on the monitoring strategy of the self-defined security level generated by the gear function layer Whether the first output result of the signal is abnormal; if abnormal, then follow the second output result of the gear signal in the gear function monitoring layer as the target gear actually output in the vehicle gear information; if normal, follow the The first output result of the gear position signal in the gear position functional layer is used as the target gear position actually output in the vehicle gear position information.
具体实施时，首先确定所述档位功能层中档位信号第一输出结果，然后确定所述档位功能监控层中档位信号第二输出结果，基于所述档位功能层产生的自定义安全等级的监控策略对所述第一输出结果、第二输出结果进行异常判断，如果正常则会执行第一输出结果，如果非正常则会执行第二输出结果。During specific implementation, first determine the first output result of the gear signal in the gear function layer, then determine the second output result of the gear signal in the gear function monitoring layer, based on the self-defined output generated by the gear function layer The monitoring strategy of the security level judges the abnormality of the first output result and the second output result, and if it is normal, the first output result will be executed, and if it is abnormal, the second output result will be executed.
进一步地，基于所述档位功能层产生的自定义安全等级的监控策略，监测所述档位功能层中档位信号第一输出结果是否异常，需要注意的是监测所述档位功能层中档位信号第一输出结果是否异常可以包括但不限于，根据第一输出结果和第二输出结果中的档位类型判断是否异常，或者根据第一输出结果和第二输出结果中的档位安全等级判断是否属于异常。Further, based on the monitoring strategy of the self-defined security level generated by the gear function layer, it is monitored whether the first output result of the gear signal in the gear function layer is abnormal. Whether the first output result of the gear signal is abnormal may include but not limited to, judging whether it is abnormal according to the gear type in the first output result and the second output result, or judging whether it is abnormal according to the gear position safety in the first output result and the second output result The level judges whether it is abnormal.
由于第二输出结果是依照安全档位设计的、第一输出结果是依照功能档位设计的，所以第一输出结果需要依从所述第二输出结果。也就是说，只有在满足安全档位设计的前提之前，才会使用第一输出结果。如果不满足，则不会使用第一输出结果或者选择使用第一输出结果。Since the second output result is designed according to the safety gear and the first output result is designed according to the functional gear, the first output result needs to comply with the second output result. That is to say, the first output result will be used only before the premise of the safe gear design is met. If not, the first output result will not be used or selected to be used.
如果异常，则按照所述档位功能监控层中档位信号第二输出结果，作为所述车辆档位信息中实际输出的目标档位；如果正常，则按照所述档位功能层中档位信号第一输出结果，作为所述车辆档位信息中实际输出的目标档位。If abnormal, according to the second output result of the gear signal in the gear function monitoring layer, as the target gear actually output in the vehicle gear information; if normal, according to the gear in the gear function layer The first output result of the signal is used as the target gear actually output in the vehicle gear information.
在本申请的一个实施例中，所述档位功能层包括车载应用层软件的功能，所述档位功能层与所述档位功能监控层独立，且通过所述档位功能监控层实时监控所述档位功能层的档位输出情况。In one embodiment of the present application, the gear function layer includes the function of the vehicle application layer software, the gear function layer is independent from the gear function monitoring layer, and is monitored in real time through the gear function monitoring layer The gear output situation of the gear function layer.
具体实施时，所述档位功能层包括车载应用层软件的功能，所以策略也是基于车载应用层软件的功能设计的。所述档位功能层与所述档位功能监控层独立且相互不会影响每个单独层输出结果，最后通过所述档位功能监控层实时监控所述档位功能层的档位输出情况。也即从安全性的角度出发监控车载应用层软件中的输出是否异常。During specific implementation, the gear function layer includes the functions of the vehicle application layer software, so the strategy is also designed based on the functions of the vehicle application layer software. The gear function layer is independent from the gear function monitoring layer and does not affect the output results of each individual layer. Finally, the gear output of the gear function layer is monitored in real time through the gear function monitoring layer. That is, from the perspective of safety, it is monitored whether the output in the vehicle-mounted application layer software is abnormal.
在本申请的一个实施例中，所述方法还包括：监控EPB电子驻车制动模块的制动信号，所述监控EPB电子驻车制动模块的制动信号包括：当所述档位功能监控层未使能所述EPB且所述档位功能层使能所述EPB时，根据车辆当前车速判断是否使能所述EPB；当档位功能监控层使能EPB信号时，则根据车辆当前车速判断是否使能所述EPB。In an embodiment of the present application, the method further includes: monitoring the brake signal of the EPB electronic parking brake module, and the monitoring of the brake signal of the EPB electronic parking brake module includes: when the gear position function When the monitoring layer does not enable the EPB and the gear function layer enables the EPB, judge whether to enable the EPB according to the current speed of the vehicle; when the gear function monitoring layer enables the EPB signal, then judge according to the current vehicle speed The vehicle speed determines whether to enable the EPB.
具体实施时，对电子换挡的监控，电子换挡有可能包含EPB，也有可能不包含此架构。During specific implementation, for the monitoring of electronic shifting, electronic shifting may include EPB, or may not include this architecture.
通过增加电子驻车制动模块EPB(Electrical Park Brake)信号的监控策略，当L2层未使能EPB时，若L1层使能EPB，则根据车速进行判断：By adding the monitoring strategy of the EPB (Electrical Park Brake) signal of the electronic parking brake module, when the EPB is not enabled on the L2 layer, if the EPB is enabled on the L1 layer, the judgment is made according to the vehicle speed:
当所述档位功能监控层未使能所述EPB且所述档位功能层使能所述EPB时，根据车辆当前车速判断是否使能所述EPB。When the gear function monitoring layer does not enable the EPB and the gear function layer enables the EPB, it is determined whether to enable the EPB according to the current vehicle speed.
进一步地，当档位功能监控层使能EPB信号时，则根据车辆当前车速判断是否使能所述EPB。即当L2层使能EPB信号时，无论L1层是否使能EPB，则直接根据上述策略判断是否使能EPB。Further, when the gear position function monitoring layer enables the EPB signal, it judges whether to enable the EPB according to the current speed of the vehicle. That is, when the EPB signal is enabled at the L2 layer, regardless of whether the EPB is enabled at the L1 layer, whether to enable the EPB is directly judged according to the above policy.
可以理解，上述速度、距离仅为举例，并不用于限定不本申请的保护范围。It can be understood that the above-mentioned speed and distance are only examples, and are not used to limit the scope of protection of the present application.
在本申请的一个实施例中，所述根据车辆当前车速判断是否使能所述EPB，包括：如果车速绝对值不大于预设速度，则使能所述EPB同时档位信号切换为空档；如果车速绝对值大于所述预设速度，则不使能EPB同时保持当前档位。In one embodiment of the present application, the judging whether to enable the EPB according to the current vehicle speed includes: enabling the EPB and switching the gear position signal to neutral if the absolute value of the vehicle speed is not greater than the preset speed; If the absolute value of the vehicle speed is greater than the preset speed, the EPB is not enabled and the current gear is maintained.
具体实施时，如果车速绝对值小于等于比如2km/h，则使能EPB同时档位信号切换为N，如果车速绝对值大于比如2km/h，则不使能EPB同时保持当前档位；During specific implementation, if the absolute value of the vehicle speed is less than or equal to, for example, 2km/h, the EPB is enabled and the gear position signal is switched to N, and if the absolute value of the vehicle speed is greater than, for example, 2km/h, the EPB is not enabled while the current gear is maintained;
可以理解，上述速度、距离仅为举例，并不用于限定不本申请的保护范围。It can be understood that the above-mentioned speed and distance are only examples, and are not used to limit the scope of protection of the present application.
在本申请的一个实施例中，所述车辆档位信息包括：D前进档，R倒挡，N空档，根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略，包括：当所述档位功能监控层档位信号为D时，若所述档位功能层输出档位信号为D，则所述目标档位为D，若所述档位功能层输出档位信号为N，则所述目标档位为N；若所述档位功能层输出档位信号为R，则所述目标档位为N；当所述档位功能监控层档位为N时，所述目标档位输出为N；当所述档位功能监控层档位为R时，若档位功能层档位信号为D，则所述目标档位为N，若所述档位功能层输出档位信号为N，则所述目标档位为N；若所述档位功能层输出档位信号输出为R，则所述目标档位为R。In one embodiment of the present application, the vehicle gear information includes: D forward gear, R reverse gear, N neutral gear, according to the gear function layer and the gear function monitoring layer, determine the actual The output target gear, wherein the gear function monitoring layer includes a monitoring strategy based on the self-defined security level generated by the gear function layer, including: when the gear signal of the gear function monitoring layer is D, if The output gear signal of the gear function layer is D, then the target gear is D, if the output gear signal of the gear function layer is N, then the target gear is N; if the gear If the function layer output gear signal is R, then the target gear is N; when the gear function monitoring layer gear is N, the target gear output is N; when the gear function monitoring layer gear When the position is R, if the gear function layer gear signal is D, then the target gear is N, if the gear function layer output gear signal is N, then the target gear is N; if the If the output gear signal output by the gear function layer is R, then the target gear is R.
具体实施时，以商用车为例，功能档位是指档位功能层L1发出的档位信号；安全档位是指档位功能监控层L2发出的档位信号；目标档位是指最终输出的档位信号。In the specific implementation, taking a commercial vehicle as an example, the functional gear refers to the gear signal sent by the gear function layer L1; the safe gear refers to the gear signal sent by the gear function monitoring layer L2; the target gear refers to the final output gear position signal.
基于此架构和新能源车辆设计档位输出策略，车辆档位个数为3个，分别为D、R、N。D为前进档，R为倒挡，N为空档，具体策略如下表1所示：Based on this architecture and the new energy vehicle design gear output strategy, the number of vehicle gears is three, namely D, R, and N. D is the forward gear, R is the reverse gear, and N is the neutral gear. The specific strategy is shown in Table 1 below:
表1Table 1
当L2层档位信号为D时，若L1层输出档位信号为D，则目标档位为D；若L1层输出档位信号为N，则目标档位为N；若L1层输出档位信号为R，则目标档位为N。When the gear signal of the L2 layer is D, if the output gear signal of the L1 layer is D, the target gear is D; if the output gear signal of the L1 layer is N, the target gear is N; if the output gear of the L1 layer If the signal is R, the target gear is N.
当L2层档位为N时，目标档位输出为N。When the L2 layer gear is N, the target gear output is N.
当L2层档位为R时，若L1层档位信号为D，则目标档位为N；若L1层输出档位信号为N，则目标档位为N；若L1层档位信号输出位R，则目标档位为R。这样不会出现跳档位。When the L2 layer gear is R, if the L1 layer gear signal is D, then the target gear is N; if the L1 layer output gear signal is N, then the target gear is N; if the L1 layer gear signal output is R, then the target gear is R. This way there will be no gear jumps.
在本申请的一个实施例中，所述根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位之前，还包括：在车辆高压系统上电，且在扭矩模式下启动档位监控。In one embodiment of the present application, before determining the target gear actually output in the vehicle gear information according to the gear function layer and the gear function monitoring layer, it further includes: powering on the high-voltage system of the vehicle, and Activates gear monitoring in torque mode.
具体实施时，在决定是否启动监测程序时，需要在车辆高压系统上电，且在扭矩模式下启动档位监控。只有满足车辆高压系统上电且在扭矩模式下时才会启动档位监控。During specific implementation, when deciding whether to start the monitoring program, it is necessary to power on the high-voltage system of the vehicle, and start the gear position monitoring in the torque mode. Only when the high-voltage system of the vehicle is powered on and in the torque mode will the gear position monitoring be started.
本申请实施例还提供了档位监控装置300，如图3所示，提供了本申请实施例中档位监控装置的结构示意图，所述档位监控装置300至少包括：采集模块310以及档位确定模块320，其中：The embodiment of the present application also provides a gear
在本申请的一个实施例中，所述获取模块310具体用于：采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息。In an embodiment of the present application, the acquiring module 310 is specifically configured to: collect vehicle gear information, wherein the vehicle gear information includes gear information of an electronic gear lever.
采集得到车辆档位信息，且所述车辆档位信息包括电子档杆的档位信息，这里考虑到了可能存在的其他与车辆档位信息相关的信息，但至少需要包括电子档杆的档位信息。比如，通常商用车是没有P档而其他类型的车辆是存在P档的。The vehicle gear information is collected, and the vehicle gear information includes the gear information of the electronic gear lever. Here, other possible information related to the vehicle gear information is considered, but at least the gear information of the electronic gear lever needs to be included . For example, commercial vehicles usually do not have a P file, while other types of vehicles have a P file.
进一步地，采集的电子档杆的档位信息是指上层系统的档位信息，并不是底层系统中电机、变速器等的档位信息。或者，可以认为是计算机程序层面的采集。Further, the collected gear position information of the electronic gear lever refers to the gear position information of the upper system, not the gear position information of the motor, transmission, etc. in the bottom system. Alternatively, it can be considered as collection at the computer program level.
在本申请的一个实施例中，所述档位确定模块320具体用于：根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。In an embodiment of the present application, the gear determination module 320 is specifically configured to: determine the target gear actually output in the vehicle gear information according to the gear function layer and the gear function monitoring layer, wherein the The shift function monitoring layer includes a monitoring policy based on the self-defined security level generated by the shift function layer.
根据所述档位功能层、所述档位功能监控层，综合确定出所述车辆档位信息中实际输出的目标档位。需要注意的是，所述档位功能监控层是用于监控所述档位功能层的。According to the gear function layer and the gear function monitoring layer, the actual output target gear in the vehicle gear information is comprehensively determined. It should be noted that the gear function monitoring layer is used to monitor the gear function layer.
在所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略，这里的自定义安全等级主要与实际应用场景相关，不同场景下具有不同的安全等级。所述监控策略主要用于防止通过档位功能层直接输出档位信息而没有相应的校验或者监控机制。同时所述监控策略也以档位输出容错性、行驶安全性为主进行考虑。The gear function monitoring layer includes a monitoring strategy based on a self-defined security level generated by the gear function layer. The self-defined security level here is mainly related to actual application scenarios, and different scenarios have different security levels. The monitoring strategy is mainly used to prevent gear information from being directly output through the gear function layer without a corresponding verification or monitoring mechanism. At the same time, the monitoring strategy also focuses on gear output fault tolerance and driving safety.
在一些实施例中，通过所述档位功能监控层可实现对所述档位功能层输出档位进行调优，从而更加符合安全驾驶的要求。In some embodiments, the output gear of the gear function layer can be adjusted through the gear function monitoring layer, so as to better meet the requirements of safe driving.
在一些实施例中，所述档位功能监控层的安全等级高于所述档位功能层，但是其优先级低于所述档位功能层，从而使得档位功能层可以被优先考虑但如果触及安全策略则会由档位功能监控层执行兜底操作，以防止出现影响安全性的档位输出操作。In some embodiments, the security level of the gear function monitoring layer is higher than that of the gear function layer, but its priority is lower than that of the gear function layer, so that the gear function layer can be given priority but if When the security policy is touched, the gear function monitoring layer will perform a cover-up operation to prevent gear output operations that affect safety.
能够理解，上述档位监控装置，能够实现前述实施例中提供的档位监控方法的各个步骤，关于档位监控方法的相关阐释均适用于档位监控装置，此处不再赘述。It can be understood that the gear position monitoring device described above can implement each step of the gear position monitoring method provided in the foregoing embodiments, and relevant explanations about the gear position monitoring method are applicable to the gear position monitoring device, and will not be repeated here.
图4是本申请的一个实施例电子设备的结构示意图。请参考图4，在硬件层面，该电子设备包括处理器，可选地还包括内部总线、网络接口、存储器。其中，存储器可能包含内存，例如高速随机存取存储器(Random-Access Memory，RAM)，也可能还包括非易失性存储器(non-volatile memory)，例如至少1个磁盘存储器等。当然，该电子设备还可能包括其他业务所需要的硬件。Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. Please refer to FIG. 4 , at the hardware level, the electronic device includes a processor, and optionally also includes an internal bus, a network interface, and a memory. Wherein, the memory may include a memory, such as a high-speed random-access memory (Random-Access Memory, RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory. Of course, the electronic device may also include hardware required by other services.
处理器、网络接口和存储器可以通过内部总线相互连接，该内部总线可以是ISA(Industry Standard Architecture，工业标准体系结构)总线、PCI(PeripheralComponent Interconnect，外设部件互连标准)总线或EISA(Extended Industry StandardArchitecture，扩展工业标准结构)总线等。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图4中仅用一个双向箭头表示，但并不表示仅有一根总线或一种类型的总线。The processor, the network interface and the memory can be connected to each other through an internal bus, which can be an ISA (Industry Standard Architecture, industry standard architecture) bus, a PCI (Peripheral Component Interconnect, peripheral component interconnection standard) bus or an EISA (Extended Industry StandardArchitecture, extended industry standard architecture) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one double-headed arrow is used in FIG. 4 , but it does not mean that there is only one bus or one type of bus.
存储器，用于存放程序。具体地，程序可以包括程序代码，所述程序代码包括计算机操作指令。存储器可以包括内存和非易失性存储器，并向处理器提供指令和数据。Memory for storing programs. Specifically, the program may include program code, and the program code includes computer operation instructions. Storage, which can include internal memory and nonvolatile storage, provides instructions and data to the processor.
处理器从非易失性存储器中读取对应的计算机程序到内存中然后运行，在逻辑层面上形成档位监控装置。处理器，执行存储器所存放的程序，并具体用于执行以下操作：The processor reads the corresponding computer program from the non-volatile memory into the memory and then runs it, forming a gear position monitoring device on a logical level. The processor executes the program stored in the memory, and is specifically used to perform the following operations:
采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息；Collecting vehicle gear position information, wherein the vehicle gear position information includes the gear position information of the electronic gear lever;
根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。According to the gear position function layer and the gear position function monitoring layer, determine the target gear position actually output in the vehicle gear position information, wherein the gear position function monitoring layer includes the user-defined security level generated based on the gear position function layer Monitoring strategy.
上述如本申请图2所示实施例揭示的档位监控装置执行的方法可以应用于处理器中，或者由处理器实现。处理器可能是一种集成电路芯片，具有信号的处理能力。在实现过程中，上述方法的各步骤可以通过处理器中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，CPU)、网络处理器(Network Processor，NP)等；还可以是数字信号处理器(Digital SignalProcessor，DSP)、专用集成电路(Application Specific Integrated Circuit，ASIC)、现场可编程门阵列(Field－Programmable Gate Array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器，闪存、只读存储器，可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的信息，结合其硬件完成上述方法的步骤。The above-mentioned method performed by the gear position monitoring device disclosed in the embodiment shown in FIG. 2 of the present application may be applied to a processor or implemented by the processor. A processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in a processor or an instruction in the form of software. Above-mentioned processor can be general-purpose processor, comprises central processing unit (Central Processing Unit, CPU), network processor (Network Processor, NP) etc.; It can also be Digital Signal Processor (Digital Signal Processor, DSP), ASIC (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. Various methods, steps, and logic block diagrams disclosed in the embodiments of the present application may be implemented or executed. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the field such as random access memory, flash memory, read-only memory, programmable read-only memory or electrically erasable programmable memory, register. The storage medium is located in the memory, and the processor reads the information in the memory, and completes the steps of the above method in combination with its hardware.
该电子设备还可执行图2中档位监控装置执行的方法，并实现档位监控装置在图2所示实施例的功能，本申请实施例在此不再赘述。The electronic device can also execute the method performed by the gear position monitoring device in FIG. 2 , and realize the functions of the gear position monitoring device in the embodiment shown in FIG. 2 , which will not be repeated in this embodiment of the present application.
本申请实施例还提出了一种计算机可读存储介质，该计算机可读存储介质存储一个或多个程序，该一个或多个程序包括指令，该指令当被包括多个应用程序的电子设备执行时，能够使该电子设备执行图2所示实施例中档位监控装置执行的方法，并具体用于执行：The embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores one or more programs, and the one or more programs include instructions, and when the instructions are executed by an electronic device including a plurality of application programs , the electronic device can be made to perform the method performed by the gear position monitoring device in the embodiment shown in FIG. 2, and is specifically used to perform:
采集车辆档位信息，其中所述车辆档位信息包括电子档杆的档位信息；Collecting vehicle gear position information, wherein the vehicle gear position information includes the gear position information of the electronic gear lever;
根据档位功能层以及档位功能监控层，确定所述车辆档位信息中实际输出的目标档位，其中所述档位功能监控层包括基于所述档位功能层产生的自定义安全等级的监控策略。According to the gear position function layer and the gear position function monitoring layer, determine the target gear position actually output in the vehicle gear position information, wherein the gear position function monitoring layer includes the user-defined security level generated based on the gear position function layer Monitoring strategy.
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present invention may be provided as methods, systems, or computer program products. Accordingly, the present invention can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
本发明是参照根据本发明实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.
在一个典型的配置中，计算设备包括一个或多个处理器(CPU)、输入/输出接口、网络接口和内存。In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
内存可能包括计算机可读介质中的非永久性存储器，随机存取存储器(RAM)和/或非易失性内存等形式，如只读存储器(ROM)或闪存(flash RAM)。内存是计算机可读介质的示例。Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. Memory is an example of computer readable media.
计算机可读介质包括永久性和非永久性、可移动和非可移动媒体可以由任何方法或技术来实现信息存储。信息可以是计算机可读指令、数据结构、程序的模块或其他数据。计算机的存储介质的例子包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他内存技术、只读光盘只读存储器(CD-ROM)、数字多功能光盘(DVD)或其他光学存储、磁盒式磁带，磁带磁磁盘存储或其他磁性存储设备或任何其他非传输介质，可用于存储可以被计算设备访问的信息。按照本文中的界定，计算机可读介质不包括暂存电脑可读媒体(transitory media)，如调制的数据信号和载波。Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Flash memory or other memory technology, Compact Disc Read-Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.
还需要说明的是，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、商品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、商品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、商品或者设备中还存在另外的相同要素。It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
本领域技术人员应明白，本申请的实施例可提供为方法、系统或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems or computer program products. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
以上所述仅为本申请的实施例而已，并不用于限制本申请。对于本领域技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原理之内所作的任何修改、等同替换、改进等，均应包含在本申请的权利要求范围之内。The above descriptions are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.
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