Vehicle control methods, vehicles, and storage media

Abstract

This invention discloses a vehicle control method, a vehicle, and a storage medium. The vehicle includes a high-voltage circuit and a heating device connected to the high-voltage circuit. The method includes: controlling the high-voltage circuit to de-energize; and controlling the heating device to operate so that a power-consuming component in the heating device is energized and connected to the high-voltage circuit. This invention aims to reuse existing vehicle modules without adding an additional high-voltage discharge circuit, ensuring vehicle safety while reducing vehicle size and overall vehicle cost.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to vehicle control methods, vehicles, and storage media. Background Technology

[0002] With the development of economy and technology, vehicles are becoming increasingly common, and vehicle safety is receiving more and more attention. Vehicle operation generally requires the installation of high-voltage circuits. These circuits contain high-voltage capacitors, which store electrical charge. This means that even after the power is turned off, high voltage remains in the circuit. If this charge is not discharged, it can persist for an extended period, posing safety hazards such as electric shock and leakage.

[0003] Currently, voltage discharge is generally achieved by installing an additional active discharge circuit on the vehicle. The active discharge circuit is generally only used for voltage discharge and will not participate in other vehicle operations. This requires the vehicle to have additional circuit structures, such as microcontrollers, signal amplifiers, drive optocouplers, field-effect transistors, and isolation power supplies. This requires additional space in the vehicle body, resulting in an excessively large vehicle size. Summary of the Invention

[0004] The main objective of this invention is to provide a vehicle control method, a vehicle, and a storage medium, which aims to reuse existing modules of the vehicle without adding an additional high-voltage discharge circuit, thereby ensuring vehicle safety while reducing vehicle size and overall vehicle cost.

[0005] To achieve the above objectives, the present invention provides a vehicle control method, wherein the vehicle includes a high-voltage circuit and a heating device connected to the high-voltage circuit, and the vehicle control method includes the following steps:

[0006] Control the high-voltage circuit to be energized;

[0007] Control the operation of the heating device to energize and connect the power-consuming components in the heating device to the high-voltage circuit.

[0008] Optionally, the heating device includes a heating branch connected in series with the high-voltage circuit, or the heating device includes multiple heating branches connected in parallel with the high-voltage circuit, each heating branch including an electric heating element and a switch connected in series with the electric heating element, the power-consuming element including the electric heating element, and the step of controlling the operation of the heating device to energize the power-consuming element in the heating device with the high-voltage circuit includes:

[0009] Control the switch to be turned on.

[0010] Optionally, the step of controlling the switch to turn on includes:

[0011] Obtain the first voltage of the high-voltage circuit;

[0012] The target duty cycle of the drive signal for the switch is determined based on the first voltage;

[0013] The switch is turned on according to the drive signal corresponding to the target duty cycle.

[0014] Optionally, the step of determining the target duty cycle of the drive signal for the switch based on the first voltage includes:

[0015] The target power is obtained, and the target power is determined based on the initial voltage when the high-voltage circuit is powered on.

[0016] The target duty cycle is determined based on the first voltage and the target power, and the target duty cycle increases as the first voltage decreases.

[0017] The target power is the minimum power required for the high-voltage circuit to drop from the initial voltage to the target voltage within a preset time period.

[0018] Optionally, after the step of controlling the switch to be turned on according to the drive signal corresponding to the target duty cycle, the method further includes:

[0019] When the target duty cycle is less than the preset maximum duty cycle, return to the step of obtaining the first voltage of the high-voltage circuit;

[0020] When the target duty cycle is greater than or equal to the preset maximum duty cycle, the switch is kept on by the drive signal corresponding to the preset maximum duty cycle until the voltage of the high voltage circuit drops to less than or equal to the target voltage.

[0021] Optionally, the vehicle further includes a low-voltage circuit for supplying power to a control device for controlling the operation of the heating device. Prior to the step of controlling the operation of the heating device to energize the power-consuming components in the heating device with the high-voltage circuit, the following method is further included:

[0022] When the high-voltage circuit is in a de-energized state, the low-voltage circuit is controlled to remain energized.

[0023] Optionally, after the step of controlling the operation of the heating device to energize the power-consuming element in the heating device with the high-voltage circuit, the method further includes:

[0024] Detect the current second voltage of the high-voltage circuit;

[0025] When the second voltage is less than the target voltage, the heating device is controlled to operate to disconnect the power-consuming element from the high-voltage circuit.

[0026] Optionally, the heating device includes a heating branch connected in series with the high-voltage circuit, or the heating device includes multiple heating branches connected in parallel with the high-voltage circuit, each heating branch including an electric heating element and a switch connected in series with the electric heating element, the power-consuming element including the electric heating element, and the step of controlling the operation of the heating device to disconnect the power-consuming element from the high-voltage circuit includes:

[0027] The switch is turned off.

[0028] Optionally, the vehicle further includes a low-voltage circuit for supplying power to a control device for controlling the operation of the heating device. After the step of controlling the heating device to disconnect the power-consuming element from the high-voltage circuit, the vehicle further includes:

[0029] Power off the low-voltage circuit.

[0030] Optionally, after the step of controlling the high-voltage circuit to power down, the method further includes:

[0031] Detect the current third voltage of the high-voltage circuit;

[0032] When the third voltage is greater than the preset voltage, the step of controlling the operation of the heating device to connect the power-consuming element in the heating device to the high-voltage circuit is executed.

[0033] When the third voltage is less than or equal to the preset voltage, the heating device is controlled to operate to disconnect the power-consuming element from the high-voltage circuit.

[0034] Furthermore, in order to achieve the above objectives, this application also proposes a vehicle comprising:

[0035] High-voltage circuit;

[0036] A heating device, wherein the heating device is connected to the high-voltage circuit;

[0037] A control device, wherein the high-voltage circuit and the heating device are both connected to the control device, the control device comprising: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program, when executed by the processor, implements the steps of the vehicle control method as described in any of the preceding claims.

[0038] In addition, to achieve the above objectives, this application also proposes a storage medium storing a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any of the preceding claims.

[0039] This invention proposes a vehicle control method. After the high-voltage circuit is de-energized, the method connects the power-consuming element in the vehicle's heating device to the high-voltage circuit, allowing the remaining power in the high-voltage circuit to be consumed by the power-consuming element, thereby achieving high-voltage discharge and effectively ensuring vehicle safety. Since the heating device is a conventional device in the vehicle, using the heating device for high-voltage discharge when the high-voltage circuit is de-energized reuses existing modules in the vehicle. This eliminates the need for additional space to add an extra active discharge circuit to release the voltage on the high-voltage circuit, which helps simplify the vehicle body structure, reduce the vehicle's size, and thus achieve both vehicle safety and reduced vehicle size, thereby lowering the overall vehicle cost. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the high-voltage circuit connection structure in one embodiment of the vehicle of the present invention;

[0041] Figure 2 This is a schematic diagram of the hardware structure involved in the operation of a vehicle according to an embodiment of the present invention;

[0042] Figure 3 This is a schematic diagram of the water circulation loop of the heating device in one embodiment of the vehicle of the present invention;

[0043] Figure 4 This is a flowchart illustrating an embodiment of the vehicle control method of the present invention;

[0044] Figure 5 This is a schematic flowchart of another embodiment of the vehicle control method of the present invention;

[0045] Figure 6 This is a flowchart illustrating another embodiment of the vehicle control method of the present invention;

[0046] Figure 7 This is a flowchart illustrating another embodiment of the vehicle control method of the present invention;

[0047] Figure 8 for Figure 7 A detailed flowchart of step S40.

[0048] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0049] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0050] The main solution of this invention is: based on a high-voltage circuit and a heating device connected to the high-voltage circuit, the high-voltage circuit is de-energized, and the heating device is operated so that the power-consuming components in the heating device are energized and connected to the high-voltage circuit.

[0051] In existing technologies, voltage discharge is generally achieved by setting up an additional active discharge circuit on the vehicle. The active discharge circuit is generally only used for voltage discharge and will not participate in other vehicle operations. This requires the vehicle to add additional circuit structures, such as microcontrollers, signal amplifiers, drive optocouplers, field-effect transistors and isolation power supplies. This requires additional space in the vehicle body, resulting in an excessively large vehicle size.

[0052] The present invention provides the above-mentioned solution, which aims to reduce vehicle size while ensuring vehicle safety.

[0053] This invention provides a vehicle. In this embodiment, the vehicle is a new energy vehicle, such as an electric vehicle or a hybrid vehicle.

[0054] In this embodiment of the invention, reference is made to Figure 1 and Figure 2 The vehicle includes a high-voltage circuit 2, a heating device 3 connected to the high-voltage circuit 2, and a control device 1. Both the high-voltage circuit 2 and the heating device 3 are connected to the control device 1.

[0055] High-voltage circuit 2 is specifically a circuit circuit that connects the vehicle's high-voltage battery to the vehicle's electrical devices.

[0056] In this embodiment, combined with Figure 3 The heating device 3 is a device used in the vehicle to heat the battery system. In other embodiments, the heating device 3 may also be a device used in the vehicle for other heating functions, such as a device for raising the temperature of the passenger compartment or a device for heating the seats. The heating device 3 is connected to the components in the vehicle that require heating for heat exchange.

[0057] The heating device 3 includes a power-consuming element 31, which can be connected in parallel, in series, or with other complex circuit structures to the high-voltage circuit 2. A switch is provided on the circuit connecting the power-consuming element 31 and the high-voltage circuit 2. When the switch is closed, the power-consuming element 31 is energized and connected to the high-voltage circuit 2. When the switch is open, the power-consuming element 31 is disconnected from the high-voltage circuit 2. The switch can be a semiconductor switch, a relay switch, etc.

[0058] In this embodiment, the power-consuming element 31 includes an electric heating element in the heating device 3. The electric heating element is used to convert electrical energy into heat energy and release heat to heat other components in the vehicle. Specifically, the electric heating element may be a PTC (Power Transmitter Charge). In other embodiments, the power-consuming element 31 may also include other electronic components in the heating device 3 that consume electrical energy but operate for non-heating purposes.

[0059] Furthermore, in this embodiment, the heating device 3 includes a heating branch connected in series with the high-voltage circuit 2, or the heating device 3 includes multiple heating branches connected in parallel with the high-voltage circuit 2. Each heating branch includes an electric heating element and a switch connected in series with the electric heating element. In this embodiment, there is more than one heating branch, and more than one heating branch is connected in parallel with the high-voltage circuit 2. In other embodiments, there is also only one heating branch. The electric heating element on the heating branch can be one or more. When the switch 32 is on, the electric heating element is connected in parallel with the high-voltage circuit 2; when the switch 32 is off, the electric heating element is disconnected from the high-voltage circuit 2. The switch can be an IGBT switch or a MOSFET switch.

[0060] It should be noted that, in addition to being connected to the heating device 3, the high-voltage circuit 2 is also connected to the power distribution module (PDM), the air compressor (A / C module), the inverter (INV module), etc.

[0061] Furthermore, in this embodiment, referring to Figure 2 and Figure 3 The heating device 3 includes a water circulation loop. The power-consuming element 31 is heat-exchange connected to the water circulation loop. The water circulation loop includes a water pump 33, which is connected to the control device 1. The water circulation loop is heat-exchange connected to other components of the vehicle that require heating (such as the battery pack). The power-consuming element 31 can be an electric heating element located within the water circulation loop. The component to be heated by the heating device 3 is heat-exchange connected to the water circulation loop. When the water pump 33 is turned on, water circulates within the water circulation loop, absorbing heat released by the electric heating element and flowing to the location of the component to be heated to heat it. Alternatively, the power-consuming element 31 can be any component other than an electric heating element that is heat-exchange connected to the water circulation loop.

[0062] Furthermore, in this embodiment, the vehicle also includes a low-voltage circuit 4, which supplies power to the control device 1 and is connected to the control device 1. Specifically, the low-voltage circuit 4 is a circuit connecting the control device 1 to the on-board low-voltage battery (e.g., a storage battery). When the low-voltage circuit 4 is connected, the on-board low-voltage battery provides the necessary power for the operation of the control device 1; when the low-voltage circuit 4 is disconnected, the on-board low-voltage battery stops providing the necessary power for the operation of the control device 1.

[0063] In this embodiment of the invention, reference is made to Figure 2 The vehicle control device 1 includes a processor 1001 (e.g., CPU), a memory 1002, a timer 1003, etc. The components in the control device 1 are connected via a communication bus. The memory 1002 can be a high-speed RAM or a stable, non-volatile memory, such as a disk drive. Optionally, the memory 1002 can also be a storage device independent of the aforementioned processor 1001.

[0064] Those skilled in the art will understand that Figure 2 The device structure shown does not constitute a limitation on the device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0065] In this embodiment, the control device 1 includes more than one controller, specifically more than one controller including a vehicle controller and a sub-controller connected to the vehicle controller, and the sub-controller is built into the heating device 3.

[0066] like Figure 2 As shown, the memory 1002, which serves as a storage medium, may include a vehicle control program. Figure 2 In the device shown, the processor 1001 can be used to call the vehicle control program stored in the memory 1002 and execute the relevant steps of the vehicle control method in the following embodiments.

[0067] This invention also provides a vehicle control method applicable to the aforementioned vehicle.

[0068] Reference Figure 4 This application proposes an embodiment of a vehicle control method. In this embodiment, the vehicle includes a high-voltage circuit and a heating device connected to the high-voltage circuit, and the vehicle control method includes:

[0069] Step S10: Control the high-voltage circuit to be powered down;

[0070] Specifically, upon receiving a power-down command from the high-voltage circuit, the system can control the high-voltage circuit to shut down. This power-down command is specifically used to disconnect the high-voltage circuit, thereby stopping the onboard high-voltage battery from providing power to the vehicle's electrical devices. The power-down command can be a user-inputted command or a command automatically generated when the vehicle is detected to be in a dangerous state.

[0071] Step S20: Control the operation of the heating device to energize and connect the power-consuming components in the heating device to the high-voltage circuit.

[0072] Specifically, after the high-voltage circuit is powered off, the vehicle controller sends a working command to the sub-controller of the heating device. After receiving the working command, the sub-controller issues an internal control signal. After high and low voltage isolation and drive amplification, the internal control signal drives the relevant electronic components connected to the power-consuming components to operate, so that the power-consuming components are energized and connected to the high-voltage circuit.

[0073] The term "electric connection" specifically refers to the connection between the power-consuming components in the heating device and the high-voltage circuit, where the remaining power in the high-voltage circuit is consumed by the power-consuming components.

[0074] After the high-voltage circuit is powered off, the heating device can be controlled to operate at the target parameters in real time, or the heating device can be controlled to operate at the target parameters when the high-voltage circuit reaches the preset conditions.

[0075] The target parameters are specifically the operating parameters of the heating device used to energize the power-consuming elements of the heating device to the high-voltage circuit. This energization connection can include series connection of the power-consuming element to the high-voltage circuit, parallel connection of the power-consuming element to the high-voltage circuit, or other complex circuit structures. When there is more than one power-consuming element in the heating device, the connection methods of the different power-consuming elements can be different. Target parameters include, but are not limited to, opening and closing of switches and / or sub-circuit switching. Any operating parameter of the heating device that energizes the power-consuming elements of the heating device to the high-voltage circuit can be used as the target parameters here.

[0076] This invention proposes a vehicle control method. After the high-voltage circuit is powered down, the method connects the power-consuming element in the vehicle heating device to the high-voltage circuit, allowing the remaining power in the high-voltage circuit to be consumed by the power-consuming element, thereby achieving high-voltage discharge and effectively ensuring vehicle safety. Since the heating device is a conventional device in the vehicle, using the heating device for high-voltage discharge when the high-voltage circuit is powered down reuses existing modules in the vehicle. This eliminates the need for additional space to add an extra active discharge circuit to release the voltage on the high-voltage circuit, which helps simplify the vehicle body structure, reduce the vehicle body size, and thus achieve both vehicle safety and reduced vehicle size, thereby lowering the overall vehicle cost.

[0077] Furthermore, in this embodiment, after step S10, the current third voltage of the high-voltage circuit can be detected; when the third voltage is greater than a preset voltage, the step of controlling the operation of the heating device to energize the power-consuming element in the heating device with the high-voltage circuit is executed; when the third voltage is less than or equal to the preset voltage, the heating device is controlled to disconnect the power-consuming element from the high-voltage circuit. The preset voltage is specifically a critical value used to distinguish whether the current energy of the high-voltage circuit can meet the safety requirements of vehicle use. The comparison between the third voltage and the preset voltage indicates whether the high-voltage circuit currently has a pressure relief requirement. When the third voltage is greater than the preset voltage, it indicates that the voltage is too high after the high-voltage circuit is powered down and pressure relief is needed to ensure safe use. At this time, the power-consuming element in the heating device connects to the high-voltage circuit after the high-voltage circuit is powered down to consume the remaining voltage on the high-voltage circuit, thereby ensuring vehicle safety. When the third voltage is less than or equal to the preset voltage, it indicates that the voltage is too low after the high-voltage circuit is powered down and safety requirements are met, so pressure relief is not needed. At this time, the power-consuming element is disconnected from the high-voltage circuit, improving the overall power-down efficiency of the vehicle while ensuring vehicle safety.

[0078] Furthermore, based on the above embodiments, another embodiment of the vehicle control method of this application is proposed. In this embodiment, the heating device includes a heating branch connected in series with the high-voltage circuit, or the heating device includes multiple heating branches connected in parallel with the high-voltage circuit, each heating branch including an electric heating element and a switch connected in series with the electric heating element, the power-consuming element including the electric heating element, and step S20 including:

[0079] Control the switch to be turned on.

[0080] The switch can be continuously or intermittently switched on. When the switch is intermittently switched on, the frequency can be a pre-set fixed parameter or a parameter determined based on the actual pressure relief conditions of the high-voltage circuit. The switch can be an IGBT switch or a MOSFET switch.

[0081] In this embodiment, the switch has a faster response speed than a typical switch and exhibits better stability under high-voltage conditions. By connecting the series-connected electric heating element to the high-voltage circuit through the switch to release pressure from the high-voltage circuit, the timely pressure release and operational stability of the high-voltage circuit are improved, thereby further enhancing vehicle safety.

[0082] Furthermore, in this embodiment, referring to Figure 5 The steps for controlling the switch to be turned on include:

[0083] Step S21: Obtain the first voltage of the high-voltage circuit;

[0084] The first voltage here can be the initial voltage of the high-voltage circuit detected before the high-voltage circuit is powered down when the power-down command is received. Alternatively, it can be the voltage detected in real time after the high-voltage circuit is powered down and the switch is turned on.

[0085] Step S22: Determine the target duty cycle of the drive signal for the switch based on the first voltage;

[0086] The target duty cycle is specifically the proportion of the switch's on-time within a preset period, that is, the proportion of the time during which the drive signal input to the switch is a conducting signal within the preset period. A larger target duty cycle results in a longer on-time and a shorter off-time within the preset period. Different first voltages correspond to different target duty cycles. In this embodiment, the target duty cycle is negatively correlated with the first voltage. In other embodiments, the target duty cycle may also be positively correlated with the first voltage or may not have a clear correlation.

[0087] The correspondence between the first voltage and the target duty cycle can be preset, and the correspondence can take the form of a calculation formula, mapping relationship, etc. Based on this correspondence, the target duty cycle corresponding to the current first voltage can be determined.

[0088] In one implementation of this embodiment, a target power is obtained, which is determined based on the initial voltage when the high-voltage circuit is powered down. The target power is the minimum power value required for the high-voltage circuit to drop from the initial voltage to the target voltage within a preset time period. A target duty cycle is determined based on the first voltage and the target power, and the target duty cycle increases as the first voltage decreases.

[0089] It should be noted that when the high-voltage circuit is energized, the first voltage is the initial voltage. After the high-voltage circuit is energized, the first voltage is less than the initial voltage and gradually decreases.

[0090] Specifically, when the high-voltage circuit is energized, the initial discharge power, which is the target power, can be obtained by referring to the table "Initial Discharge Power - Initial Voltage Table" based on the initial voltage. The initial duty cycle is then determined based on the initial voltage and the initial discharge power. Under the initial voltage conditions, the operating power of the heating device during the initial discharge duty cycle is equal to the initial discharge power. The initial duty cycle can be the target duty cycle in the initial state of the high-voltage circuit being energized.

[0091] Specifically, the "initial discharge power - initial voltmeter" can be defined as follows:

[0092] Initial voltage <![CDATA[U0]]> <![CDATA[U1]]> <![CDATA[U2]]> …… …… <![CDATA[U n ]]> Initial discharge power <![CDATA[P0]]> <![CDATA[P 1]]> <![CDATA[P 2]]> …… …… <![CDATA[P n ]]> Initial duty cycle <![CDATA[PWM0]]> <![CDATA[PWM 1]]> <![CDATA[PWM 2]]> …… …… <![CDATA[PWM n ]]>

[0093] The "initial discharge power - initial voltage meter" is obtained through calibration. Different initial discharge powers will affect the total duration of the discharge process. Based on the voltage range of the high-voltage system, a voltage calibration gradient is determined, for example, using a gradient of 10V. Under different initial voltage conditions, calibration is performed sequentially to ensure that the high-voltage system charge level is within X after power-off. s The minimum initial discharge power value required for the voltage to drop below 60V (target voltage) within a preset time period. There are many options for the initial discharge power that meets the discharge time requirement; this setting specifies the minimum initial discharge power value that meets the condition. In fact, when specifying the initial discharge power here, the initial duty cycle can also be obtained simultaneously.

[0094] As the first voltage, which is monitored in real time during the discharge, decreases, the target duty cycle shows an inverse trend with the first voltage. The purpose of this is to maintain the initial discharge power of the heating device unchanged. Specifically, the target duty cycle corresponding to the first voltage and the target power can be determined according to the following formula: U*PWM=K*P0, where P0 is the target power, U is the first voltage, PWM is the target duty cycle, and K is the proportionality coefficient.

[0095] In other embodiments, the target duty cycle can also be obtained by looking up a table using the first voltage and the target power. When the first voltage is the voltage value collected in real time after the high voltage is turned off, the specific value of the duty cycle in the voltage drop trend can also be determined by looking up the "Time-varying Voltage Current Value - Initial Discharge Power - Duty Cycle Table".

[0096] For example, when the initial discharge power (i.e., the target power) is determined to be P2, the initial voltage starts from U. n During the process of decreasing to U0, the duty cycle PWM changes from PWM 2n Rise to PWM 20 .

[0097] The "Time-Variated Voltage Current Value - Initial Discharge Power - Duty Cycle Table" is shown in the table below:

[0098] <![CDATA[U0]]> <![CDATA[U1]]> <![CDATA[U2]]> …… …… <![CDATA[U n ]]> <![CDATA[P n ]]> <![CDATA[PWM n0 ]]> <![CDATA[PWM n1 ]]> <![CDATA[PWM n2 ]]> …… …… <![CDATA[PWM nn ]]> …… …… …… …… …… …… …… …… …… …… …… …… …… …… <![CDATA[P2]]> <![CDATA[PWM 20 ]]> <![CDATA[PWM 21 ]]> <![CDATA[PWM 22 ]]> …… …… <![CDATA[PWM 2n ]]> <![CDATA[P1]]> <![CDATA[PWM 10 ]]> <![CDATA[PWM 11 ]]> <![CDATA[PWM 12 ]]> …… …… <![CDATA[PWM 22 ]]> <![CDATA[P0]]> <![CDATA[PWM 00 ]]> <![CDATA[PWM 01 ]]> <![CDATA[PWM 02 ]]> …… …… <![CDATA[PWM 22 ]]>

[0099] The "Time-Variation Voltage Current Value - Initial Discharge Power - Duty Cycle Table" can be obtained through calibration. The duty cycle value of the heating device can be calibrated under different fixed voltages and power levels. The calibration sequence is as follows:

[0100] a. First, select a discharge power Pn; then adjust the voltage to U. n calibrate the duty cycle PWM nn At this duty cycle, the power discharged by the heating device is equal to P. n Then the voltage gradually changes from U n Adjust to U0, and calibrate the PWM sequentially. nn →PWM n0 In particular, during each PWM calibration, the voltage remains steady-state, rather than decreasing over time, which differs from the calibration process of "discharge initial power - initial voltmeter".

[0101] b. Discharge power from P n Adjust sequentially to P0, repeat step a, and label each P in the table above. x All PWM values ​​for the row.

[0102] In another implementation of this embodiment, when the first voltage is greater than a preset voltage, a first duty cycle is determined as the target duty cycle; when the first voltage is less than or equal to the preset voltage, a second duty cycle is determined as the target duty cycle; wherein the first duty cycle is less than the second duty cycle. The preset voltage is specifically a voltage threshold used to distinguish whether the operating power of the heating device is too high. When the first voltage is greater than the preset voltage, it indicates that the operating power of the heating device is too high, posing a risk of overheating and damage. In this case, using a smaller first duty cycle to control the switch to conduct helps avoid excessive energy consumption by power-consuming components, leading to excessive heat and damage, thus protecting the heating device while simultaneously releasing pressure in the high-voltage circuit. When the first voltage is less than or equal to the preset voltage, there is no risk of overheating. In this case, using a larger second duty cycle to control the switch to conduct can protect the heating device while improving the pressure release efficiency of the high-voltage circuit.

[0103] In another implementation of this embodiment, the voltage difference between the first voltage and the preset voltage can also be determined, and the target duty cycle can be determined based on the voltage difference. Different voltage differences correspond to different target duty cycles. Specifically, the voltage difference is the calculated result of subtracting the preset voltage from the first voltage, and the target duty cycle is negatively correlated with the voltage difference. The target duty cycle can be calculated by substituting the voltage difference into a preset formula, or it can be obtained by querying a preset mapping table using the voltage difference.

[0104] Step S23: Control the switch to turn on according to the drive signal corresponding to the target duty cycle.

[0105] Upon receiving a power-down command, the system can acquire the first voltage of the high-voltage circuit at set intervals and control the switch to conduct according to the target duty cycle corresponding to the acquired first voltage until the high-voltage circuit reaches the pressure relief completion condition. Alternatively, it can maintain the switch on with the drive signal corresponding to the target duty cycle until the high-voltage circuit reaches the pressure relief completion condition.

[0106] Further, after step S23, the process may include: when the target duty cycle is less than the preset maximum duty cycle, returning to the step of acquiring the first voltage of the high-voltage circuit; when the target duty cycle is greater than or equal to the preset maximum duty cycle, maintaining the switch on with the drive signal corresponding to the preset maximum duty cycle until the voltage of the high-voltage circuit drops to less than or equal to the target voltage. In this embodiment, the preset maximum duty cycle is 100%. In other embodiments, the preset maximum duty cycle may also be 95%, 90%, etc. This process can be divided into two stages of high-voltage discharge. In the first stage of high-voltage discharge, the current first voltage of the high-voltage circuit is continuously acquired, and the target duty cycle is determined based on the first voltage and the target power to control the switch to be on. As the first voltage continuously decreases, the target duty cycle continuously increases to the preset maximum duty cycle (e.g., 100%, which means maintaining a fully open state). At this time, the second stage of high-voltage discharge can be entered, maintaining the preset maximum duty cycle unchanged, so that the switch remains fully open until the discharge voltage is lower than or equal to the target voltage and the discharge ends.

[0107] In this embodiment, the conduction time of the voltage-controlled switch adapted to the high-voltage circuit is ensured to be neither too long nor too short, thereby effectively improving the operational stability of the heating device and preventing the heating device temperature from being too high or too low, allowing it to operate within a suitable temperature range. The target duty cycle is determined based on the first voltage and the initial voltage when the high-voltage circuit is energized, specifying the minimum power required for the high-voltage circuit to drop to the target voltage within a preset time. The target duty cycle increases as the first voltage decreases, so that during high-voltage discharge, the switch conduction time can dynamically change with the voltage change of the high-voltage circuit and reach the required minimum power, further improving the operational stability of the heating device during high-voltage discharge. Furthermore, continuously determining the target duty cycle of the switch based on the first voltage and target power during high-voltage discharge until the maximum duty cycle is reached helps ensure that the heating device can continuously maintain a stable operating state during high-voltage discharge.

[0108] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of this application is proposed. In this embodiment, the vehicle further includes a low-voltage circuit, which is used to supply power to the control device, as described above. Figure 6 Before step S20, the following are also included:

[0109] Step S101: When the high-voltage circuit is in a powered-off state, control the low-voltage circuit to maintain power-on.

[0110] Based on step S101, step S20 includes:

[0111] Step S201: Control the operation of the heating device through the control device to connect the power-consuming components in the heating device to the high-voltage circuit.

[0112] In this embodiment, when a high-voltage circuit is received, the low-voltage circuit is kept powered on to ensure the normal operation of the control device, thereby ensuring that after the high-voltage circuit is powered off, the heating device can be effectively controlled by the control device to depressurize the high-voltage circuit.

[0113] Furthermore, in this embodiment, when the heating device reaches the condition for completing the pressure relief of the high-voltage circuit, the low-voltage circuit can be powered off.

[0114] In other embodiments, when the high-voltage circuit is in a powered-off state, the low-voltage circuit can also be powered off, and the high-voltage electrical energy stored in the high-voltage circuit can be converted into low-voltage electrical energy through a high-low voltage conversion circuit to provide the power required for the operation of the control device.

[0115] Furthermore, in this embodiment, when the heating device includes the aforementioned water circulation loop, the low-voltage loop can also be used to supply power to the water pump in the water circulation loop, so as to provide the required electrical energy for the water pump to operate after the high-voltage power is applied.

[0116] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of this application is proposed. In this embodiment, the heating device includes a water circulation loop, the power-consuming element is heat-exchange connected to the water circulation loop, and the water circulation loop includes a water pump, as shown in the reference. Figure 7 After step S10, the following steps are also included:

[0117] Step S30: Obtain the fourth voltage of the high-voltage circuit and the water temperature of the water circulation circuit;

[0118] In this embodiment, the fourth voltage includes the initial voltage after the high-voltage circuit is powered down, and the water temperature includes the initial temperature of the water in the water circulation circuit after the high-voltage circuit is powered down. In other embodiments, the fourth voltage may include the voltage detected in real time after the high-voltage circuit is powered down, and the water temperature may include the temperature of the water in the water circulation circuit detected in real time after the high-voltage circuit is powered down.

[0119] Step S40: Control the operation of the water pump according to the fourth voltage and the water temperature.

[0120] In this embodiment, after step S10, steps S30 and S40 are executed first, followed by step S20. In other embodiments, after step S10, step S20 may be executed first, and steps S30 and S40 may be executed during the execution of step S20.

[0121] Different fourth voltages and different water temperatures correspond to different operating control parameters for the water pump. These operating control parameters include power, flow rate, current, speed, opening degree, and / or on / off control parameters. Specifically, a correspondence between characteristic temperatures and water pump operating parameters is established in advance. This correspondence can take the form of a calculated relationship, a mapping relationship, etc. Based on this correspondence, the water pump operating parameters corresponding to the current characteristic temperature can be determined, and the water pump operation can be controlled according to the determined operating parameters.

[0122] In this embodiment, a mapping table is pre-established between the high-voltage circuit voltage, the water temperature in the water circulation circuit, and the water pump operating parameters. By querying this mapping table using the fourth voltage and water temperature, the current target operating parameters of the water pump can be determined, and the water pump can be controlled to operate at the target operating parameters.

[0123] In this embodiment, the operation of the water pump in the water circulation circuit is controlled by the voltage of the high-voltage circuit and the water temperature in the water circulation circuit. On the one hand, this is beneficial to recover and utilize the heat released by the power-consuming components during the pressure relief process through water circulation. On the other hand, it can ensure that the power-consuming components can operate in a suitable temperature environment during the pressure relief process of the high-voltage circuit, so as to protect the power-consuming components.

[0124] Furthermore, in this embodiment, referring to Figure 8 The fourth voltage includes the initial voltage when the high-voltage circuit is energized, and the water temperature includes the initial temperature of the water in the water circulation circuit when the high-voltage circuit is energized. The step of controlling the operation of the water pump based on the fourth voltage and the water temperature includes:

[0125] Step S41: Determine the predicted temperature of the power-consuming component under the target state based on the initial voltage and the initial temperature. The target state is when the high-pressure circuit drops from the initial voltage to the target voltage when the water pump is in the off state.

[0126] Different initial voltages and temperatures correspond to different predicted temperatures. The correspondence between initial voltage, initial temperature, and predicted temperature can take the form of a calculation relationship, a mapping relationship, etc. Based on this correspondence, the predicted temperature corresponding to the current initial voltage and initial temperature can be determined.

[0127] Specifically, in this embodiment, the predicted water temperature in the water circulation loop under the target state is determined based on the initial voltage and the initial temperature; the predicted temperature is then determined based on the predicted water temperature. It should be noted that the predicted water temperature and predicted temperature specifically refer to the predicted temperature after the high-voltage loop has completed depressurization. The predicted water temperature is obtained by looking up a table or substituting it into a preset formula using the fourth voltage and water temperature.

[0128] Furthermore, in this embodiment, the voltage difference between the fourth voltage and the target voltage is determined; the target energy to be released by the high-voltage circuit is determined based on the voltage difference; the temperature change value of the water in the water circulation circuit under the target state is determined based on the target energy; and the water temperature is adjusted based on the temperature change value to obtain the predicted water temperature. The target energy is positively correlated with the voltage difference. The temperature change value here is calculated as the amplitude of the water temperature change when electrical energy in the high-voltage circuit is converted into heat energy in the water using the target energy and water characteristic parameters (e.g., specific heat capacity of water, water volume and / or water density). The sum of the temperature change value and the water temperature can be used to predict the water temperature. In other embodiments, the temperature change value here can also be obtained by looking up a table using the target energy.

[0129] For example, the total energy discharged by the high-voltage circuit is: Q = 1 / 2 * C * U c 2 , among which, U c U is the initial voltage in the high-voltage circuit after the high voltage is energized. c The discharge requirement is to discharge to below 60V (the target voltage mentioned above) within a preset time (e.g., 5 seconds), where C is the equivalent capacitance of all capacitors in the high-voltage circuit.

[0130] If water circulation is not performed (i.e., when the water pump is off), the predicted temperature of the water in the water circulation loop after the high pressure is released (i.e., the voltage drops from the initial voltage to the target voltage) is: T water =Q' / (c*ρ*V)+T c Q' = 1 / 2 * C * (U c -U0) 2 Where Q' is the total energy discharged from the high-voltage circuit (i.e., the target energy mentioned above), and also the total energy generated by the power-consuming components consuming electrical energy, T c Where U is the initial temperature of the water, U0 is the target voltage (e.g., 60V), c is the specific heat capacity of the water in the water circulation loop, ρ is the density of the water in the water circulation loop, V is the volume of the water in the water circulation loop, and Q' / (c*ρ*V) can be understood as the temperature change value mentioned above.

[0131] If water circulation is not performed, the temperature of the power-consuming element in the heating device is: T PTC =T water +ΔT+T s Among them, T water ΔT represents the temperature of the water in the water circulation loop after the high pressure has been released. ΔT is the temperature difference between the power-consuming component and the water, determined by the characteristics of the heating device and obtainable through calibration. s To provide a safety margin for temperature, a range of 5–10°C is typically used.

[0132] Step S42: Control the operation of the water pump according to the predicted temperature.

[0133] Different predicted temperatures correspond to different pump operating parameters, and the pump operation can be controlled according to the pump operating parameters corresponding to the predicted temperature. In this embodiment, the pump flow rate corresponding to the pump operating parameters is positively correlated with the predicted temperature. In other embodiments, the pump flow rate corresponding to the pump operating parameters may also be negatively correlated with the predicted temperature or there may be no clear correlation. The correspondence between the predicted temperature and the pump operating parameters can be preset. Based on this correspondence, the pump operating parameters can be obtained by looking up a table using the predicted temperature, or by substituting the predicted temperature into a preset formula to calculate the pump operating parameters.

[0134] In other embodiments, when the correspondence between the fourth voltage, water temperature, and water pump operating parameters is the aforementioned mapping table, the water pump operating parameters corresponding to the voltage of different high-voltage circuits and the water temperature of the water circulation circuit can be determined based on the predicted temperature and stored in the mapping table. The result obtained by querying this mapping table based on the fourth voltage and water temperature can be used as the water pump operating parameters.

[0135] In this embodiment, the predicted temperature of the power-consuming components after the high-voltage circuit is depressurized is predicted by the initial voltage and initial water temperature after the high-voltage circuit is powered on. The operation of the water pump is controlled based on the predicted temperature, thereby ensuring that the operation of the water circulation circuit can be precisely matched with the heat dissipation requirements of the power-consuming components, thereby protecting the power-consuming components while improving the depressurization efficiency of the high-voltage circuit.

[0136] In the process of energizing the power-consuming components and relieving pressure on the high-voltage circuit, the water circulation loop absorbs and stores the heat generated by the power-consuming components when the water pump is turned on, thus achieving heat recovery. In low-temperature environments, the heat stored in the heating device's water circulation loop can be transferred to other components with heating requirements, such as the battery pack. The heat stored in these components through the insulation function of the water circulation loop is used for preheating during the next low-temperature operation (such as charging or driving), thereby effectively improving the overall vehicle energy recovery and utilization rate.

[0137] Furthermore, in this embodiment, step S42 includes: controlling the water pump to shut down when the predicted temperature is less than or equal to a preset temperature threshold; and controlling the water pump to turn on when the predicted temperature is greater than the preset temperature threshold.

[0138] The preset temperature threshold is the highest tolerable temperature of the power-consuming component. The preset temperature threshold can be used to distinguish whether there is a risk of damage to the power-consuming component during the pressure relief process.

[0139] When the predicted temperature is less than or equal to the preset temperature threshold, it indicates that the temperature of the power-consuming component is low and it is not likely to be damaged. In this case, there is no need for water circulation to cool it down, and the water pump can remain off to save energy. When the predicted temperature is greater than the preset temperature threshold, it indicates that the temperature of the power-consuming component is too high and it is likely to be damaged. In this case, the water pump is turned on to cool the power-consuming component through circulating water, thereby protecting the component and ensuring its stable operation.

[0140] The pump can operate with pre-set fixed parameters when it is turned on, or it can be controlled to start the pump based on the operating parameters determined by the actual state characteristics of the high-voltage circuit.

[0141] Furthermore, in this embodiment, the process of controlling the water pump to start is as follows: determining the temperature difference between the predicted temperature and the preset temperature threshold; determining the operating parameters of the water pump based on the temperature difference; controlling the water pump to start based on the operating parameters; wherein, the flow rate of the water pump corresponding to the operating parameters is positively correlated with the temperature difference. The operating parameters may include the water pump's motor speed, operating current, or operating power. Different temperature differences correspond to different operating parameters, and different operating parameters result in different flow rates for the water pump. In this embodiment, when the temperature difference is greater than the preset threshold, the operating parameters include the water pump operating at a first power; when the temperature difference is less than or equal to the preset threshold, the operating parameters include the water pump operating at a second power; the first power is greater than the second power, and the water pump flow rate corresponding to the first power is greater than the water pump flow rate corresponding to the second power. The preset threshold is specifically a critical difference used to distinguish the risk of damage to power-consuming components. In other embodiments, the operating parameters of the water pump can also be directly calculated from the temperature difference. In this embodiment, when the predicted temperature is greater than the preset temperature threshold, indicating a risk of damage to the power-consuming component, the flow rate of the water pump is adjusted according to the temperature difference value. This ensures that the water pump flow rate is precisely matched with the risk of damage to the power-consuming component, and is neither too high nor too low. This effectively balances the protection of the power-consuming component, the heat recovery efficiency of the power-consuming component, and the pressure relief efficiency of the high-pressure circuit.

[0142] In other embodiments, the operating temperature of the power-consuming component can be detected by a sensor after the high-voltage circuit is powered off. When the operating temperature is less than or equal to a preset temperature threshold, the water pump is controlled to shut down; when the operating temperature is greater than the preset temperature threshold, the water pump is controlled to turn on. The preset temperature threshold is specifically the highest tolerable temperature of the power-consuming component, and can be used to distinguish whether there is a risk of damage to the power-consuming component during the pressure relief process.

[0143] Furthermore, in this embodiment, after the step of controlling the water pump to start, the method further includes: when the duration of the water pump's operation is greater than or equal to a second preset duration, executing the step of controlling the heating device to operate so that the power-consuming component in the heating device is energized and connected to the high-voltage circuit. The second preset duration can be a pre-set fixed parameter, or a parameter determined based on the predicted temperature, etc., as described above. In this embodiment, when the risk of damage to the power-consuming component is high, water circulation is first activated to cool the power-consuming component before the high-voltage circuit is depressurized by activating the heating device. This ensures that the operating temperature of the power-consuming component remains within a suitable temperature range during the depressurization process of the high-voltage circuit, preventing it from becoming too high and further improving the effectiveness of power-consuming component protection.

[0144] Furthermore, based on any of the above embodiments, another embodiment of the vehicle control method of this application is proposed. In this embodiment, after step S20, the method further includes:

[0145] Step S50: Detect the current second voltage of the high-voltage circuit;

[0146] Specifically, after step S20, the current voltage of the high-voltage circuit can be detected at preset intervals as the second voltage.

[0147] Step S60: When the second voltage is less than the target voltage, control the heating device to operate to disconnect the power-consuming element from the high-voltage circuit;

[0148] The target voltage is specifically the maximum voltage allowed after the high-voltage circuit is powered down to meet vehicle safety requirements. If the second voltage is less than the target voltage, it indicates that the current stored charge in the high-voltage circuit meets vehicle safety requirements. In this case, the high-voltage circuit can be considered to have met the pressure relief completion condition, and the heating device can be controlled to stop operating, thus stopping the voltage supply to the high-voltage circuit. Specifically, if the heating device includes the aforementioned switch, the switch can be controlled to open. If the second voltage is greater than or equal to the target voltage, it indicates that the current stored charge in the high-voltage circuit does not meet vehicle safety requirements. In this case, the high-voltage circuit can be considered to have not met the pressure relief completion condition, and the heating device can be controlled to continue operating so that the power-consuming components in the heating device are energized and connected to the high-voltage circuit.

[0149] It should be noted that when step S10 is followed by steps S30 and S40, steps S50 and S60 are executed after step S40.

[0150] Furthermore, when the vehicle control method includes the above-mentioned steps S101 and S102, after step S60, the low-voltage circuit can be powered down.

[0151] In other embodiments, after step S20, if the running time of the heating device after the high-voltage circuit is powered off is greater than or equal to a set time, the heating device can be controlled to disconnect the power-consuming element from the high-voltage circuit.

[0152] Furthermore, in this embodiment, the heating device includes a water circulation loop, the power-consuming element is heat-exchange connected to the water circulation loop, and the water circulation loop includes a water pump. After step S20, the method may further include: detecting the current fifth voltage of the high-voltage loop; when the fifth voltage is less than the target voltage, controlling the heating device to operate to disconnect the power connection between the power-consuming element and the high-voltage loop, and controlling the water pump to remain on for a first preset time before shutting it off. Here, the target voltage is the same concept as the target voltage mentioned above, and will not be elaborated here. The first preset time can be a fixed time that is preset, or it can be a time determined based on the temperature of the power-consuming element when the third voltage is less than the target voltage. Specifically, when the third voltage is less than the target voltage, the heating device can be stopped first, and then the water pump can be detected to be on. When the water pump is on, the water pump can be controlled to remain on for a first preset time before shutting it off. In this embodiment, the water pump is delayed in shutting off after the high-voltage loop is depressurized, which helps to prevent the power-consuming element from being damaged by excessive temperature while improving the heat recovery rate of the power-consuming element by the water circulation loop. In other embodiments, the water pump can also be shut off simultaneously with the heating device.

[0153] Furthermore, when the vehicle control method includes the above-mentioned steps S101 and S102, after controlling the water pump to remain on for a first preset time and then turn it off, the low-voltage circuit can be powered down.

[0154] Furthermore, this embodiment of the invention also proposes a storage medium storing a vehicle control program, which, when executed by a processor, implements the relevant steps of any of the above embodiments of the vehicle control method.

[0155] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or system. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or system that includes that element.

[0156] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0157] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, vehicle, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0158] The above are merely preferred embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A vehicle control method, characterized in that, The vehicle includes a high-voltage circuit and a heating device connected to the high-voltage circuit. The heating device includes a power-consuming element and includes a heating branch connected in series with the high-voltage circuit. Alternatively, the heating device includes multiple heating branches connected in parallel with the high-voltage circuit. Each heating branch includes an electric heating element and a switch connected in series with the electric heating element. The power-consuming element includes the electric heating element. The vehicle control method includes the following steps: Control the high-voltage circuit to be energized; Control the switch to be turned on; The step of controlling the switch to be turned on includes: Obtain the first voltage of the high-voltage circuit; The target duty cycle of the drive signal of the switch is determined based on the first voltage. The target duty cycle is the proportion of the on-time of the switch in a preset period. Different first voltages correspond to different target duty cycles. The switch is turned on according to the drive signal corresponding to the target duty cycle.

2. The vehicle control method as described in claim 1, characterized in that, The step of determining the target duty cycle of the drive signal for the switch based on the first voltage includes: The target power is obtained based on the initial voltage of the high-voltage circuit when it is powered off. The target power is the minimum power value required for the high-voltage circuit to drop from the initial voltage to the target voltage within a preset time period. The target duty cycle is determined based on the first voltage and the target power, and the target duty cycle increases as the first voltage decreases.

3. The vehicle control method as described in claim 2, characterized in that, After the step of controlling the switch to be turned on according to the drive signal corresponding to the target duty cycle, the method further includes: When the target duty cycle is less than the preset maximum duty cycle, return to the step of obtaining the first voltage of the high-voltage circuit; When the target duty cycle is greater than or equal to the preset maximum duty cycle, the switch is kept on by the drive signal corresponding to the preset maximum duty cycle until the voltage of the high voltage circuit drops to less than or equal to the target voltage.

4. The vehicle control method as described in claim 1, characterized in that, The vehicle also includes a low-voltage circuit for supplying power to a control device for controlling the operation of the heating device. Prior to the step of controlling the switch to turn on, the following steps are also included: When the high-voltage circuit is in a de-energized state, the low-voltage circuit is controlled to remain energized.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that, After the step of controlling the switch to turn on, the method further includes: Detect the current second voltage of the high-voltage circuit; When the second voltage is less than the target voltage, the switch is controlled to open.

6. The vehicle control method as described in claim 5, characterized in that, The vehicle also includes a low-voltage circuit for supplying power to a control device for controlling the operation of the heating device. Following the step of controlling the switch to open, the system further includes: Power off the low-voltage circuit.

7. The vehicle control method according to any one of claims 1 to 4, characterized in that, After the step of controlling the high-voltage circuit to power down, the method further includes: Detect the current third voltage of the high-voltage circuit; When the third voltage is greater than the preset voltage, the step of controlling the switch to turn on is executed; When the third voltage is less than or equal to the preset voltage, the switch is controlled to open.

8. A vehicle, characterized in that, The vehicles include: High-voltage circuit; A heating device is connected to the high-voltage circuit. The heating device includes a power-consuming element and a heating branch connected in series with the high-voltage circuit. Alternatively, the heating device includes multiple heating branches connected in parallel with the high-voltage circuit. Each heating branch includes an electric heating element and a switch connected in series with the electric heating element. The power-consuming element includes the electric heating element. A control device, wherein the high-voltage circuit and the heating device are both connected to the control device, the control device comprising: a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, wherein the vehicle control program, when executed by the processor, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

9. A storage medium, characterized in that, The storage medium stores a vehicle control program, which, when executed by a processor, implements the steps of the vehicle control method as described in any one of claims 1 to 7.

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