Safety load power supply link diagnosis method, device, vehicle and storage medium

Abstract

The present application provides a safe load power supply link diagnostic method, device, vehicle and storage medium, the above-mentioned safe load power supply link diagnostic method includes: periodically obtaining a first voltage, a second voltage, a link current and a link temperature; the first voltage is the voltage at a preset position in the safe load power supply link, the second voltage is the voltage at the load terminal in the safe load power supply link, the link current is the current flowing through the safe load power supply link, and the link temperature is the temperature of the safe load power supply link; according to the first voltage, the second voltage and the link current, the actual resistance of the safe load power supply link is determined; according to the link temperature, the standard resistance of the safe load power supply link is determined; according to the actual resistance and the standard resistance, whether the safe load power supply link is abnormal. The safe load power supply link diagnostic method provided in the embodiment of the present application can realize abnormal diagnosis of the safe load power supply link and improve the safety of vehicle driving.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a safe load power supply link diagnosis method, device, vehicle and storage medium. Background Art

[0002] As vehicles become more and more intelligent, highly automated driving functions can support drivers to "take their hands, feet, and eyes off the wheel" during driving. The purpose is to allow the vehicle to handle complex functional scenarios without driver intervention, thereby ensuring the safety of drivers and passengers to the greatest extent possible. If the driver is in an unmanaged vehicle driving state for some reason, once the autonomous driving function fails, the driver will not have time to take over the vehicle, causing the vehicle to run out of the lane and collide with other vehicles or obstacles, seriously threatening the driver's life. Functional safety analysis is performed according to the ISO26262 standard, and a safety goal with an ASIL level is obtained: the loss of the low-voltage power grid power supply system should be avoided.

[0003] In the low-voltage power supply system, if the safety load power supply link is abnormal, when the vehicle needs the safety load to work, the safety load end will have insufficient power supply voltage due to the abnormality of the safety load power supply link, resulting in the safety load being unable to execute working instructions normally, seriously threatening the lives of passengers. Summary of the invention

[0004] The embodiments of the present application provide a safety load power supply link diagnosis method, device, vehicle and storage medium, which can realize abnormal diagnosis of the safety load power supply link and improve the safety of vehicle driving.

[0005] In a first aspect, an embodiment of the present application provides a method for diagnosing a safe load power supply link, including:

[0006] Periodically acquiring a first voltage, a second voltage, a link current, and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link;

[0007] determining an actual resistance of the safety load power supply link based on the first voltage, the second voltage and the link current;

[0008] determining a standard resistance of the safety load power supply link according to the link temperature;

[0009] It is determined whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance.

[0010] In a possible implementation manner of the first aspect, determining the actual resistance of the safety load power supply link according to the first voltage, the second voltage, and the link current includes:

[0011] Calculating a link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current;

[0012] When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, the actual resistance is determined according to the first preset number of link resistances.

[0013] In a possible implementation manner of the first aspect, calculating the link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage, and the link current includes:

[0014] Substituting the first voltage, the second voltage and the link current into a first calculation formula to determine the link resistance;

[0015] The first calculation formula is:

[0016] R=(U1-U2) / I

[0017] Among them, R is the link resistance, U1 is the first voltage, U2 is the second voltage, and I is the link current.

[0018] In a possible implementation manner of the first aspect, when the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, determining the actual resistance according to the first preset number of link resistances includes:

[0019] When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, calculating an average value of the first preset number of link resistances as an effective resistance;

[0020] When the determined second preset number of consecutive effective resistances meet the second preset condition, an average value of the second preset number of effective resistances is calculated as the actual resistance.

[0021] In a possible implementation manner of the first aspect, determining whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance includes:

[0022] When the absolute value of the difference between the actual resistance and the standard resistance is greater than a preset value, determining that the safety load power supply link is abnormal;

[0023] When the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to a preset value, it is determined that the safety load power supply link is normal.

[0024] In a possible implementation manner of the first aspect, the method further includes:

[0025] When it is determined that the safety load power supply link is abnormal, an alarm message is sent.

[0026] In a possible implementation manner of the first aspect, after sending alarm information when it is determined that the safety load power supply link is abnormal, the method further includes:

[0027] determining whether the driver is in control of the vehicle;

[0028] When the driver is not in control of the vehicle, control the vehicle to stop at a safe place.

[0029] In a second aspect, an embodiment of the present application provides a safe load power supply link diagnostic device, including:

[0030] An acquisition module, used to periodically acquire a first voltage, a second voltage, a link current and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link;

[0031] an actual resistance determination module, configured to determine an actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current;

[0032] A standard resistance determination module, used to determine the standard resistance of the safety load power supply link according to the link temperature;

[0033] The abnormality determination module is used to determine whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance.

[0034] In a third aspect, an embodiment of the present application provides a vehicle, comprising a first collector, a second collector and a controller, wherein the first collector is arranged at a preset position in a safety load power supply link, the second collector is arranged at a load terminal in the safety load power supply link, and the first collector and the second collector are both electrically connected to the controller;

[0035] The first collector is used to collect a first voltage at a preset position in the safety load power supply link, a link current on the safety load power supply link, and a link temperature of the safety load power supply link, and transmit the first voltage, the link current, and the link temperature to the controller;

[0036] The second collector is used to collect a second voltage on a load terminal in the safety load power supply link, and transmit the second voltage to the controller;

[0037] The controller is used to execute the method described in any one of the first aspects.

[0038] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a controller, the method described in any one of the first aspects is implemented.

[0039] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0040] First, the first voltage, the second voltage, the link current and the link temperature are periodically obtained; wherein the first voltage is the voltage at a preset position in the safety load power supply link, the second voltage is the voltage at the load terminal in the safety load power supply link, the link current is the current flowing through the safety load power supply link, and the link temperature is the temperature of the safety load power supply link. Then, according to the first voltage, the second voltage and the link current, the actual resistance of the safety load power supply link is determined. Then, according to the link temperature, the standard resistance of the safety load power supply link is determined. Finally, according to the actual resistance and the standard resistance, it is determined whether the safety load power supply link is abnormal. The safety load power supply link diagnostic method provided in the embodiment of the present application realizes the analysis of the abnormality of the safety load power supply link by analyzing the resistance value of the safety load power supply link. When it is determined that the safety load power supply link is abnormal, the driver can be notified in time to handle it, so as to prevent the safety hazards caused by the abnormality of the safety load power supply link to the passengers and improve the safety of vehicle driving.

[0041] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0043] Figure 1 It is a flowchart of a safe load power supply link diagnostic method provided by an embodiment of the present application;

[0044] Figure 2is a flowchart of a safe load power supply link diagnostic method provided by another embodiment of the present application;

[0045] Figure 3 It is a structural schematic diagram of a safe load power supply link diagnostic device provided in an embodiment of the present application;

[0046] Figure 4 It is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0048] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0049] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0050] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0051] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0052] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0053] Figure 1 FIG. 1 is a flow chart of a method for diagnosing a safe load power supply link provided by an embodiment of the present application. Figure 1 As shown, the safe load power supply link diagnosis method includes steps S101 to S104.

[0054] Step S101, periodically obtain a first voltage, a second voltage, a link current and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link.

[0055] Specifically, a smart fuse can be set at a preset position of the safe load power supply link. The function of the smart fuse is to protect the safe load device and the wiring harness in the safe load power supply link from being burned. The smart fuse can collect the first voltage, link current and link temperature at the preset position. A voltage sensor, a current sensor and a temperature sensor can also be installed at the preset position. The voltage sensor can collect the first voltage at the preset position of the safe load power supply link, the current sensor can collect the link current flowing through the safe load power supply link, and the temperature sensor can collect the link temperature of the wiring harness on the safe load power supply link. A voltage sensor can be set on the load terminal in the safe load power supply link, and the voltage sensor can collect the second voltage on the load terminal in the safe load power supply link.

[0056] It should be noted that the preset position is located on the line between the power supply device and the safety load terminal. Preferably, the preset position is close to the power supply device, thereby enabling abnormal diagnosis of the safety load power supply link between the power supply device and the safety load.

[0057] Step S102: determining the actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current.

[0058] Specifically, the voltage difference between the two ends of the safety load power supply link can be determined by the first voltage and the second voltage, and then the actual resistance of the safety load power supply link can be determined according to the link current on the safety load power supply link.

[0059] Exemplarily, step S102 may specifically include step S1021 to step S1022.

[0060] Step S1021, calculating the link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current.

[0061] Specifically, the voltage difference between the two ends of the safety load power supply link can be determined by the first voltage and the second voltage, and then the link resistance on the safety load power supply link is calculated according to the voltage difference and the link current on the safety load power supply link.

[0062] Exemplarily, the first voltage, the second voltage, and the link current are substituted into a first calculation formula to determine the link resistance.

[0063] The first calculation formula is:

[0064] R=(U1-U2) / I

[0065] Wherein, R is the link resistance, U1 is the first voltage, U2 is the second voltage, and I is the link current.

[0066] Since the first voltage, the second voltage, and the link current are periodically acquired in step S101, the first voltage, the second voltage, and the link current can be acquired in each acquisition cycle, and then the link resistance of the safe load power supply link in the acquisition cycle can be calculated based on the first voltage, the second voltage, and the link current. Furthermore, the link resistance of the safe load power supply link in each acquisition cycle can be calculated based on the first voltage, the second voltage, and the link current acquired in each acquisition cycle.

[0067] Step S1022: when the link resistance calculated in the first preset number of consecutive acquisition cycles meets the first preset condition, the actual resistance is determined according to the first preset number of link resistances.

[0068] Specifically, when the safety load power supply link shakes, electromagnetic interference and other phenomena occur, the first voltage, the second voltage and the link current may suddenly change, resulting in an incorrect link resistance, which in turn causes an incorrect judgment of an abnormality in the safety load power supply link. In order to solve the above problem, the link resistance of each acquisition cycle is calculated. When the link resistance calculated in the first preset number of consecutive acquisition cycles meets the first preset condition, it means that the link resistance obtained at this time is the normal resistance of the safety load power supply link, and no abnormal situation occurs. At this time, the actual resistance can be determined based on the first preset number of link resistances. The actual resistance obtained at this time is closest to the resistance of the safety load power supply link.

[0069] It should be noted that the designer can set the specific value of the first preset number according to the actual situation, for example, the first preset number can be set to 8, 10, 12 or other numbers. The designer can also set the first preset condition according to the actual situation, for example, the first preset condition is that the absolute value of the difference between any two link resistances of the first preset number of link resistances is less than the first preset resistance value.

[0070] When the link resistance of the Nth acquisition cycle is calculated, the absolute value of the difference between the link resistance of the Nth acquisition cycle and the link resistance of the N-1th acquisition cycle is calculated. If the absolute value of the difference between the link resistance of the Nth acquisition cycle and the link resistance of the N-1th acquisition cycle is greater than or equal to the first preset resistance value, the cumulative count is cleared and the link resistance of the next acquisition cycle is calculated. If the absolute value of the difference between the link resistance of the Nth acquisition cycle and the link resistance of the N-1th acquisition cycle is less than the first preset resistance value, the cumulative count is N. When the cumulative count N is the first preset number, the actual resistance is determined according to the first preset number of link resistances, where 1<N<the first preset number.

[0071] Exemplarily, step S1022 may specifically include step S10221 and step S10222.

[0072] Step S10221: when the link resistances calculated in the first preset number of consecutive acquisition cycles meet the first preset condition, an average value of the first preset number of link resistances is calculated as the effective resistance.

[0073] Specifically, when the link resistance calculated in the first preset number of consecutive acquisition cycles meets the first preset condition, it means that the safety load power supply link is not disturbed at this time and the collected link resistance is normal. At this time, the average value of the first preset number of link resistances is calculated as the effective resistance of the safety load power supply link.

[0074] Step S10222: when the determined second preset number of consecutive effective resistances meet the second preset condition, an average value of the second preset number of effective resistances is calculated as the actual resistance.

[0075] Specifically, in order to further improve the accuracy of the calculation of the resistance of the safety load power supply link, when the determined second preset number of consecutive effective resistances meets the second preset condition, the detection of the safety load power supply link is deemed to be a valid detection. At this time, the average value of the second preset number of effective resistances is calculated as the actual resistance of the safety load power supply link.

[0076] It should be noted that the designer can set the specific value of the second preset number according to the actual situation, for example, the second preset number is set to 3, 4, 5 or other numbers. The designer can also set the second preset condition according to the actual situation, for example, the second preset condition is that the absolute value of the difference between any two link resistances of the second preset number of effective resistances is less than the second preset resistance value.

[0077] When the absolute value of the difference between the obtained Mth effective resistance and the M-1th effective resistance is greater than or equal to the second preset resistance value, the accumulated count is cleared. When the absolute value of the difference between the obtained Mth effective resistance and the M-1th effective resistance is less than the second preset resistance value, the accumulated count is M. When the accumulated count M is the first preset number, the average value of the second preset number of effective resistances is calculated as the actual resistance of the safety load power supply link.

[0078] Step S103: determining a standard resistance of the safety load power supply link according to the link temperature.

[0079] Specifically, the resistance of the safety load power supply link includes the connection harness resistance, the contact resistance between the terminals, and the load terminal resistance. When the temperature of the safety load power supply link changes, the resistance of the safety load power supply link also changes. Designers can obtain the standard resistance of the safety load power supply link at various temperatures through experimental methods or theoretical calculation methods, and then associate the link temperature and the standard resistance and store them in the database. After obtaining the link temperature of the safety load power supply link, traverse the database to find the standard resistance corresponding to the link temperature.

[0080] Step S104: determining whether the safety load power supply link is abnormal based on the actual resistance and the standard resistance.

[0081] Specifically, when the actual resistance and the standard resistance of the safety load power supply link are obtained, the actual resistance and the standard resistance are compared to determine whether the safety load power supply link is abnormal.

[0082] Exemplarily, step S104 may specifically include step S1041 and step S1042.

[0083] Step S1041: When the absolute value of the difference between the actual resistance and the standard resistance is greater than a preset value, it is determined that the safety load power supply link is abnormal.

[0084] Specifically, when the absolute value of the difference between the actual resistance and the standard resistance is greater than the preset value, it indicates that the resistance of the safety load power supply link has changed significantly, and it is determined that the safety load power supply link is abnormal.

[0085] Step S1042: When the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to the preset value, it is determined that the safety load power supply link is normal.

[0086] Specifically, when the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to the preset value, it means that the resistance of the safety load power supply link meets the requirement, and it is determined that the safety load power supply link is normal.

[0087] The above steps S101 to S104 realize the abnormal diagnosis of the safety load power supply link by analyzing the resistance value of the safety load power supply link. When it is determined that the safety load power supply link is abnormal, the driver can be notified in time to handle it, thereby preventing safety hazards to passengers due to the abnormality of the safety load power supply link and improving the safety of vehicle driving.

[0088] Figure 2 A schematic diagram of a flow chart of a safe load power supply link diagnostic method provided by another embodiment of the present application is shown. Figure 2 As shown, after step S104, step S105 is also included.

[0089] Step S105: When it is determined that the safety load power supply link is abnormal, an alarm message is sent.

[0090] Specifically, when it is determined that the safety load power supply link is abnormal, an alarm message is sent and the instrument on the vehicle displays the alarm message. After receiving the alarm message, the driver can manually take over the control of the vehicle in time and exit the automatic driving function. The driver can control the brake pedal to park the vehicle and subsequently handle the abnormal safety load power supply link to prevent accidents and improve the safety of vehicle driving.

[0091] Exemplarily, the alarm information sent may include multiple alarm signals of different levels, for example, the alarm information includes a first-level alarm signal, a second-level alarm signal, a third-level alarm signal and a fourth-level alarm signal. Among them, the first-level alarm signal indicates that the resistance of the safety load power supply link increases, but does not affect the realization of the safety load function. The second-level alarm signal indicates that the resistance of the safety load power supply link increases, which has a certain impact on the realization of the safety load function. The third-level alarm signal indicates that the resistance of the safety load power supply link increases, which has a serious impact on the realization of the safety load function. The fourth-level alarm signal indicates that the resistance of the safety load power supply link increases, and the safety load function cannot be realized. The driver can reasonably handle the vehicle according to the actual alarm signal. For example, when a first-level alarm signal appears, the driver can continue to turn on the automatic driving function to drive the vehicle, and then maintain the safety load power supply link on the vehicle. When a fourth-level alarm signal appears, the driver turns off the automatic driving function of the vehicle, manually takes over the control of the vehicle to stop at a safe place, and handles the abnormality of the safety load power supply link.

[0092] After step S105, step S106 and step S107 may also be included.

[0093] Step S106, determining whether the driver is in control of the vehicle.

[0094] Specifically, after the alarm information is sent, the driver's operation information can be collected through the sensors and control system on the vehicle, and the driver's operation information can be analyzed to determine whether the driver believes that he or she has control over the vehicle.

[0095] Step S107, when the driver is not in control of the vehicle, control the vehicle to stop at a safe place.

[0096] Specifically, when the driver is not in control of the vehicle, the automatic driving controller on the vehicle controls the vehicle to stop at a safe place, and the driver can handle the abnormal safety load power supply link to prevent the safety load on the vehicle from failing to work and causing safety hazards in an emergency.

[0097] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0098] Figure 3 FIG. 1 is a schematic diagram showing the structure of a safe load power supply link diagnostic device provided by an embodiment of the present application. Figure 3 As shown, the safety load power supply link diagnostic device includes:

[0099] An acquisition module 31 is used to periodically acquire a first voltage, a second voltage, a link current and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link;

[0100] an actual resistance determination module 32, configured to determine an actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current;

[0101] A standard resistance determination module 33, used to determine the standard resistance of the safety load power supply link according to the link temperature;

[0102] The abnormality determination module 34 is used to determine whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance.

[0103] Specifically, first, the acquisition module 31 periodically acquires the first voltage, the second voltage, the link current and the link temperature; wherein the first voltage is the voltage at a preset position in the safe load power supply link, the second voltage is the voltage at the load terminal in the safe load power supply link, the link current is the current flowing through the safe load power supply link, and the link temperature is the temperature of the safe load power supply link. Then the actual resistance determination module 32 determines the actual resistance of the safe load power supply link according to the first voltage, the second voltage and the link current. The standard resistance determination module 33 determines the standard resistance of the safe load power supply link according to the link temperature. Finally, the abnormality determination module 34 determines whether the safe load power supply link is abnormal according to the actual resistance and the standard resistance. The safe load power supply link diagnostic device provided in the embodiment of the present application realizes the abnormality analysis of the safe load power supply link by analyzing the resistance value of the safe load power supply link. When it is determined that the safe load power supply link is abnormal, the driver can be notified in time to handle it, so as to prevent the safety hazards caused by the abnormality of the safe load power supply link to the passengers and improve the safety of vehicle driving.

[0104] In one embodiment of the present application, the actual resistance determination module 32 is further configured to:

[0105] Calculating a link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current;

[0106] When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, the actual resistance is determined according to the first preset number of link resistances.

[0107] Specifically, when the safety load power supply link shakes, electromagnetic interference and other phenomena occur, the first voltage, the second voltage and the link current may suddenly change, resulting in an incorrect link resistance, which in turn causes an incorrect judgment of an abnormality in the safety load power supply link. In order to solve the above problem, the actual resistance determination module 32 calculates the link resistance of each acquisition cycle. When the link resistance calculated in the first preset number of consecutive acquisition cycles meets the first preset condition, it means that the link resistance obtained at this time is the normal resistance of the safety load power supply link, and no abnormal situation occurs. At this time, the actual resistance can be determined based on the first preset number of link resistances. The actual resistance obtained at this time is closest to the resistance of the safety load power supply link, thereby improving the accuracy of the actual resistance obtained.

[0108] In one embodiment of the present application, the actual resistance determination module 32 is further configured to:

[0109] Substituting the first voltage, the second voltage and the link current into a first calculation formula to determine the link resistance;

[0110] The first calculation formula is:

[0111] R=(U1-U2) / I

[0112] Among them, R is the link resistance, U1 is the first voltage, U2 is the second voltage, and I is the link current.

[0113] Specifically, the first voltage U1 is the voltage at a preset position in the safety load power supply link, the second voltage U2 is the voltage at the load terminal in the safety load power supply link, I is the current flowing through the safety load power supply link, and the link resistance can be calculated according to Ohm's law.

[0114] In one embodiment of the present application, the actual resistance determination module 32 is further configured to:

[0115] When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, calculating an average value of the first preset number of link resistances as an effective resistance;

[0116] When the determined second preset number of consecutive effective resistances meet the second preset condition, an average value of the second preset number of effective resistances is calculated as the actual resistance.

[0117] Specifically, when the link resistance calculated in the first preset number of consecutive acquisition cycles meets the first preset condition, it means that the safe load power supply link is not disturbed at this time, and the collected link resistance is normal. At this time, the average value of the first preset number of link resistances is calculated as the effective resistance of the safe load power supply link. In order to further improve the accuracy of the calculation of the safe load power supply link resistance, when the effective resistance determined for the second preset number of consecutive acquisition cycles meets the second preset condition, the detection of the safe load power supply link is deemed to be a valid detection. At this time, the average value of the second preset number of effective resistances is calculated as the actual resistance of the safe load power supply link.

[0118] In one embodiment of the present application, the abnormality determination module 34 is further used to:

[0119] When the absolute value of the difference between the actual resistance and the standard resistance is greater than a preset value, determining that the safety load power supply link is abnormal;

[0120] When the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to a preset value, it is determined that the safety load power supply link is normal.

[0121] Specifically, when the absolute value of the difference between the actual resistance and the standard resistance is greater than the preset value, it means that the resistance of the safety load power supply link has changed significantly, and the safety load power supply link is determined to be abnormal. When the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to the preset value, it means that the resistance of the safety load power supply link meets the requirements, and the safety load power supply link is determined to be normal.

[0122] In one embodiment of the present application, the safety load power supply link diagnostic device further includes:

[0123] The alarm module is used to send an alarm message when it is determined that the safety load power supply link is abnormal.

[0124] Specifically, when it is determined that the safety load power supply link is abnormal, the alarm module sends an alarm message, and the instrument on the vehicle displays the alarm message. After receiving the alarm message, the driver can manually take over the control of the vehicle in time and exit the automatic driving function. The driver can control the brake pedal to park the vehicle, and then handle the abnormal safety load power supply link to prevent accidents and improve the safety of vehicle driving.

[0125] In one embodiment of the present application, the safety load power supply link diagnostic device further includes:

[0126] a driver control determination module, for determining whether the driver is in control of the vehicle;

[0127] The automatic parking control module is used to control the vehicle to park at a safe place when the driver is not in control of the vehicle.

[0128] Specifically, after sending the alarm information, the driver control determination module can collect the driver's operation information through the sensors and control system on the vehicle, and analyze whether the driver thinks he controls the vehicle based on the driver's operation information. When the driver does not control the vehicle, the automatic parking control module controls the vehicle to park at a safe place, and the driver can handle the abnormal safety load power supply link to prevent the safety load on the vehicle from failing to work in an emergency, causing safety hazards.

[0129] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0130] Figure 4 Schematic diagram of the structure of the vehicle provided by the embodiment of the present application is shown. Figure 4 As shown, the vehicle includes a first collector 41, a second collector 42 and a controller 43. The first collector 41 is arranged at a preset position in the safety load power supply link, and the second collector 42 is arranged at a load terminal in the safety load power supply link. The first collector 41 and the second collector 42 are both electrically connected to the controller 43.

[0131] Specifically, the first collector 41 is used to collect the first voltage at a preset position in the safety load power supply link, the link current on the safety load power supply link, and the link temperature of the safety load power supply link, and transmit the first voltage, link current, and link temperature to the controller 43. The first collector 41 can be an intelligent fuse installed at a preset position of the safety load power supply link. The function of the intelligent fuse is to protect the safety load device and the wiring harness in the insurance safety load power supply link from being burned. The intelligent fuse can collect the first voltage, link current, and link temperature at a preset position. The first collector 41 can also be a voltage sensor, a current sensor, and a temperature sensor installed at a preset position of the safety load power supply link. The voltage sensor can collect the first voltage at the preset position of the safety load power supply link, the current sensor can collect the link current flowing through the safety load power supply link, and the temperature sensor can collect the link temperature of the wiring harness on the safety load power supply link.

[0132] The second collector 42 is used to collect the second voltage on the load terminal in the safety load power supply link and transmit the second voltage to the controller 43. The second collector 42 can be a voltage sensor installed on the load terminal in the full load power supply link, and the voltage sensor can collect the second voltage on the load terminal in the safety load power supply link.

[0133] The controller 43 is used to execute steps S101 to S107, realize abnormal diagnosis of the safety load power supply link, and send an alarm message when an abnormality occurs in the safety load power supply link, notifying the driver to handle it in time. When the driver does not take over the control of the vehicle, the controller 43 controls the vehicle to stop at a safe place to prevent safety hazards caused by abnormal safety load power supply link, thereby improving the safety of vehicle driving. Please refer to the above steps S101 to S107 for the specific execution of the controller 43, which will not be repeated here.

[0134] An embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a controller, the steps in the above-mentioned method embodiments can be implemented.

[0135] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0136] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0137] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0138] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0139] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for diagnosing a safe load power supply link, characterized in that: include: Periodically acquiring a first voltage, a second voltage, a link current, and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link; determining an actual resistance of the safety load power supply link based on the first voltage, the second voltage and the link current; determining a standard resistance of the safety load power supply link according to the link temperature; Determining whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance; Determining the actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current includes: Calculating a link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current; When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, determining the actual resistance according to the first preset number of link resistances; When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, determining the actual resistance according to the first preset number of link resistances includes: When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, calculating an average value of the first preset number of link resistances as an effective resistance; When the determined second preset number of consecutive effective resistances meet the second preset condition, calculating an average value of the second preset number of effective resistances as the actual resistance; The calculating the link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current includes: Substituting the first voltage, the second voltage and the link current into a first calculation formula to determine the link resistance; The first calculation formula is: in, is the link resistance, is the first voltage, is the second voltage, is the link current.

2. The safe load power supply link diagnosis method according to claim 1, characterized in that: The determining whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance includes: When the absolute value of the difference between the actual resistance and the standard resistance is greater than a preset value, determining that the safety load power supply link is abnormal; When the absolute value of the difference between the actual resistance and the standard resistance is less than or equal to a preset value, it is determined that the safety load power supply link is normal.

3. The safe load power supply link diagnosis method according to claim 1, characterized in that: The method further comprises: When it is determined that the safety load power supply link is abnormal, an alarm message is sent.

4. The safe load power supply link diagnosis method according to claim 1, characterized in that: When it is determined that the safety load power supply link is abnormal, after sending the alarm information, the method further includes: determining whether the driver is in control of the vehicle; When the driver is not in control of the vehicle, control the vehicle to stop at a safe place.

5. A safe load power supply link diagnostic device, characterized in that: include: An acquisition module, used to periodically acquire a first voltage, a second voltage, a link current and a link temperature; wherein the first voltage is a voltage at a preset position in a safe load power supply link, the second voltage is a voltage at a load terminal in the safe load power supply link, the link current is a current flowing through the safe load power supply link, and the link temperature is a temperature of the safe load power supply link; an actual resistance determination module, configured to determine an actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current; A standard resistance determination module, used to determine the standard resistance of the safety load power supply link according to the link temperature; an abnormality determination module, used to determine whether the safety load power supply link is abnormal according to the actual resistance and the standard resistance; Determining the actual resistance of the safety load power supply link according to the first voltage, the second voltage and the link current includes: Calculating a link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current; When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, determining the actual resistance according to the first preset number of link resistances; When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, determining the actual resistance according to the first preset number of link resistances includes: When the link resistance calculated in a first preset number of consecutive acquisition cycles meets a first preset condition, calculating an average value of the first preset number of link resistances as an effective resistance; When the determined second preset number of consecutive effective resistances meet the second preset condition, calculating an average value of the second preset number of effective resistances as the actual resistance; The calculating the link resistance of the safety load power supply link in each acquisition cycle according to the first voltage, the second voltage and the link current includes: Substituting the first voltage, the second voltage and the link current into a first calculation formula to determine the link resistance; The first calculation formula is: in, is the link resistance, is the first voltage, is the second voltage, is the link current.

6. A vehicle, characterized in that: It includes a first collector, a second collector and a controller, wherein the first collector is arranged at a preset position in a safety load power supply link, the second collector is arranged at a load terminal in the safety load power supply link, and the first collector and the second collector are both electrically connected to the controller; The first collector is used to collect a first voltage at a preset position in the safety load power supply link, a link current on the safety load power supply link, and a link temperature of the safety load power supply link, and transmit the first voltage, the link current, and the link temperature to the controller; The second collector is used to collect a second voltage on a load terminal in the safety load power supply link, and transmit the second voltage to the controller; The controller is used to execute the method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a controller, the method according to any one of claims 1 to 4 is implemented.

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