Control method, control device, and relay control system for a vehicle

Abstract

The application provides a control method, a control device and a relay control system of a vehicle. The method comprises: controlling a relay of the vehicle to be closed according to a state of the vehicle and / or a control demand of a driver; detecting a state of the relay; executing normal control logic when the state of the relay is a normal state; and controlling the relay to be delayed to be opened when the state of the relay is an abnormal state. In the scheme, the relay is directly controlled to be locked in a closed state. When the state of the relay is detected to be the normal state, the vehicle can execute the normal control logic. When the state of the relay is detected to be the abnormal state, the relay is still controlled to be kept in the closed state, and then the relay is controlled to be delayed to be opened. In this way, the relay and the motor can be kept electrically connected all the time, the vehicle will not suddenly lose power, and the vehicle can have enough power to control the vehicle to be safely parked, thereby ensuring the safety during the driving of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of vehicle control, and in particular, to a vehicle control method, a control device, a computer-readable storage medium, and a relay control system. Background Art

[0002] New energy vehicles convert electrical energy into mechanical energy to propel the vehicle. Traditional fuel vehicles convert thermal energy into mechanical energy to propel the vehicle. New energy vehicles with autonomous or assisted driving capabilities require more reliable and longer-lasting safe stopping times. Currently, in most new energy vehicles on the market, if the relay control unit and / or power management unit in the relay control system fails, the relay will immediately disconnect from the motor, immediately cutting off the vehicle's power supply and requiring the driver to react immediately to control the vehicle to glide to a safe area.

[0003] With the improvement of the intelligence of new energy vehicles, there are more and more new energy vehicles with automatic driving or assisted driving functions. When driving such new energy vehicles, the driver's attention may not be focused on driving. When the relay control unit and / or the power management unit in the relay control system fails, the relay will immediately disconnect from the motor and the vehicle energy will be immediately cut off. The automatic driving system will not have the energy to control the vehicle to stop safely when the vehicle loses power. The sudden loss of power of the vehicle can easily cause a safety accident. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle control method, a control device, a computer-readable storage medium and a relay control system to solve the problem in the prior art that the automatic driving system has no energy to control the vehicle to stop safely when the vehicle loses power, and the vehicle is prone to cause safety accidents when it suddenly loses power.

[0005] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, comprising: controlling a relay of the vehicle to close according to a state of the vehicle and / or a control requirement of a driver; detecting a state of the relay, wherein the state of the relay includes a normal state and an abnormal state; executing normal control logic when the state of the relay is the normal state, wherein the normal control logic comprises: continuing to control the relay to close when the vehicle is in a powered-on state, and controlling the relay to disconnect when the vehicle is in a powered-off state; and controlling the relay to delay disconnection when the state of the relay is the abnormal state.

[0006] Optionally, when the state of the relay is the abnormal state, the relay is controlled to delay disconnection, including: when the state of the relay is the abnormal state, a fault signal is generated, and the relay is controlled to continue to close based on the fault signal; a fault clearance signal is generated according to the delay of the fault signal; and the relay is controlled to disconnect based on the fault clearance signal.

[0007] Optionally, generating a fault clearing signal according to the fault signal delay includes: starting timing when the fault signal is generated, and obtaining the timing duration in real time; generating the fault clearing signal when the timing duration reaches a target duration.

[0008] Optionally, the method further includes: generating a first prompt message, and sending the first prompt message to a display device, wherein the first prompt message refers to information that the relay is still in a closed state when the state of the relay is the abnormal state; generating a second prompt message, and sending the second prompt message to the display device, when the relay has been delayed and disconnected, wherein the second prompt message refers to information that the relay has changed from a closed state to a disconnected state when the state of the relay is the abnormal state.

[0009] Optionally, controlling the closure of the vehicle's relay according to the vehicle's state and / or the driver's control requirements includes: generating a latching signal when the vehicle is in the power-on state and / or receiving a relay closure instruction, wherein the relay closure instruction is an instruction generated according to the control requirements; and controlling the relay to close based on the latching signal.

[0010] Optionally, the normal control logic further includes: generating a release signal when a relay disconnection instruction is received, and controlling the relay to be disconnected based on the release signal.

[0011] Optionally, when the state of the relay is the normal state, after executing the normal control logic, the method further includes: generating a latch signal and a release signal in sequence, controlling the relay to close based on the latch signal, and then controlling the relay to open based on the release signal to re-detect the relay.

[0012] According to another aspect of an embodiment of the present invention, a vehicle control device is also provided, including: a first control unit, for controlling the closure of a vehicle relay according to the state of the vehicle and / or the control requirements of the driver; a detection unit, for detecting the state of the relay, the state of the relay including a normal state and an abnormal state; a second control unit, for executing normal control logic when the state of the relay is the normal state, the normal control logic including: continuing to control the closure of the relay when the vehicle is in the power-on state, and controlling the disconnection of the relay when the vehicle is in the power-off state; a third control unit, for controlling the delayed disconnection of the relay when the state of the relay is the abnormal state.

[0013] According to yet another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the methods described above.

[0014] According to another aspect of an embodiment of the present invention, a relay control system is further provided, comprising: a relay control unit, a power management unit, a relay drive unit, a timing unit, a communication unit and a vehicle control device, wherein the vehicle control device is electrically connected to the relay control unit, the power management unit, the relay drive unit, the timing unit and the communication unit, respectively, and the vehicle control device is used to execute any one of the described methods.

[0015] In an embodiment of the present invention, the vehicle's relay is first controlled to close according to the vehicle's state and / or the driver's control requirements, and then the state of the relay is detected. Then, when the relay is in a normal state, the normal control logic is executed. The normal control logic includes: continuing to control the relay to close when the vehicle is in a powered-on state, controlling the relay to disconnect when the vehicle is in a powered-off state, and finally controlling the relay to delay disconnection when the relay is in an abnormal state. In this solution, the relay is directly controlled to be locked in a closed state first. When the relay is detected to be in a normal state, the vehicle can execute the normal control logic. When the relay is detected to be in an abnormal state, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this application. In the drawings:

[0017] Figure 1 A schematic flow chart of a vehicle control method according to an embodiment of the present application is shown;

[0018] Figure 2 A schematic structural diagram of a vehicle control device according to an embodiment of the present application is shown;

[0019] Figure 3 A schematic structural diagram of a relay control system for a vehicle according to an embodiment of the present application is shown;

[0020] Figure 4 A flow chart of another vehicle control method according to an embodiment of the present application is shown.

[0021] The above drawings include the following reference numerals:

[0022] 100, relay control unit; 200, power management unit; 300, relay drive unit; 400, timing unit; 500, communication unit. DETAILED DESCRIPTION

[0023] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0024] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0025] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0026] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element may be directly on the other element or intervening elements may be present. Moreover, in the specification and claims, when it is described that an element is "connected to" another element, the element may be "directly connected to" the other element or "connected to" the other element through a third element.

[0027] New energy vehicles distribute electrical energy to various electrical components via a relay control system. This control system is typically installed in the vehicle's battery pack or independently on the vehicle. The relay control system can also be installed in an energy distribution module, which primarily includes relays, conductive copper busbars, fuses, and a relay control system. Alternatively, the energy distribution module may consist solely of a relay control system, with the relays electrically connected to the motor and controlling the energy cutoff and on-off. Alternatively, the relay control system can be integrated into the vehicle controller.

[0028] As mentioned in the background technology, the automatic driving system in the existing technology does not have the energy to control the vehicle to stop safely when the vehicle loses power, and it is also easy to cause a safety accident when the vehicle suddenly loses power. In order to solve the above problems, a typical embodiment of the present application provides a vehicle control method, a control device, a computer-readable storage medium and a relay control system.

[0029] According to an embodiment of the present application, a vehicle control method is provided.

[0030] Figure 1 FIG. 1 is a flow chart of a vehicle control method according to an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0031] Step S101, controlling the vehicle's relay to close according to the vehicle's state and / or the driver's control requirements;

[0032] Specifically, the vehicle may include a relay control unit, a power management unit and a relay control unit. The acquired vehicle status may include the operating status information of the relay control unit and the operating status information of the power management unit. In this way, the subsequent relay control unit can execute control logic according to the operating status information of the relay control unit and the operating status information of the power management unit, and can also detect the status of the relay and execute control logic according to the status of the relay.

[0033] Specifically, the power management unit also includes a 12V battery, which is used to supply power to the entire vehicle. The power management unit also includes a power management chip, which is used to detect the operating status information of the power management unit.

[0034] In order to control the disconnection of the vehicle's relay and motor when the vehicle has traveled to a safe area or has stopped, in a specific embodiment of the present application, the vehicle's relay is controlled to close according to the vehicle's status and / or the driver's control requirements, including: when the above-mentioned vehicle is in the above-mentioned power-on state, and / or receives a relay closing instruction, generating a latch signal, wherein the above-mentioned relay closing instruction is an instruction generated according to the above-mentioned control requirements; controlling the above-mentioned relay to close based on the above-mentioned latch signal.

[0035] Specifically, at the beginning of program operation or when the vehicle starts to power on, a latch signal is directly generated and sent to the relay, so that the relay is directly locked in the closed state at the beginning. In the event of a subsequent vehicle failure, since the relay is initially locked in the closed state, the relay can be controlled to continue to remain in the closed state.

[0036] Specifically, the latch signal can be generated by a relay control unit in the vehicle, which may include a single-chip microcomputer. The relay control unit is used to control the closing and opening of the relay according to the received instructions, and is also used to control the latching of the relay according to the received instructions. The relay control unit can send the latch signal to the relay drive unit, which may include a drive chip and a latch. The relay drive unit is used to control the relay drive and the relay latching according to the control signal output by the relay control unit.

[0037] Step S102, detecting the state of the relay, where the state of the relay includes a normal state and an abnormal state;

[0038] Step S103, when the state of the relay is the normal state, executing normal control logic, the normal control logic including: continuing to control the relay to be closed when the vehicle is powered on, and controlling the relay to be open when the vehicle is powered off;

[0039] In another specific embodiment of the present application, the normal control logic further includes: upon receiving a relay disconnection instruction, generating a release signal, and controlling the relay to disconnect based on the release signal. In this embodiment, when the relay is in a normal state, the relay can also be controlled to disconnect based on the release signal, thereby disconnecting the relay from the motor, thereby ensuring normal operation of the relay.

[0040] In actual applications, the function of the relay can be re-tested to further ensure that the detection efficiency of this solution is high. In another specific embodiment of the present application, when the state of the above-mentioned relay is the above-mentioned normal state, after executing the normal control logic, the above-mentioned method also includes: generating a latch signal and a release signal in sequence, controlling the above-mentioned relay to close based on the above-mentioned latch signal, and then controlling the above-mentioned relay to disconnect based on the above-mentioned release signal to re-test the above-mentioned relay.

[0041] Specifically, after the relay control system is powered off (i.e., after executing normal control logic), the relay control unit controls the relay to maintain functional self-testing. The relay control unit sequentially outputs a latch signal, which in turn transmits fault information to the power management unit. The power management unit then outputs a fault signal, and the relay control unit then outputs a release signal. If it detects that the relay is disconnected from the motor, the circuit (the circuit consisting of the power management unit, relay control unit, and relay driver unit) is normal. If it detects that the relay is not disconnected from the motor, the relay is abnormal. This allows for relay self-testing and eliminates potential faults.

[0042] Step S104: When the state of the relay is the abnormal state, control the relay to be disconnected with a time delay.

[0043] Specifically, when the state of the relay is abnormal, the relay is directly locked in the closed state, so that the relay and the motor remain connected at all times, so that the vehicle will not suddenly lose power. The vehicle with the autonomous driving system can have the power to drive the vehicle to a safe area, and then control the relay to disconnect. Among them, the vehicle with the assisted driving system can be driven by the driver to a safe area.

[0044] Specifically, the power management unit can detect whether the power management unit itself has a fault, and the relay control unit can detect whether the relay control unit itself has a fault. The power management unit and the relay control unit are electrically connected. When the relay control unit detects that it has a fault, it will send a fault message to the power management unit. The power management unit will generate a fault signal, or the power management unit will also generate a fault signal when it detects that it has a fault. In addition, the power management unit can also verify the data sent by the relay control unit. If the verification fails, the power management unit will assume that the relay control unit has a fault and will also generate a fault signal. The relay control unit can also detect whether the relay has a fault. When the relay has a fault, the relay control unit will generate a fault signal.

[0045] The power management unit can be used to power the relay control system in the entire vehicle, monitor the status of the power management unit itself, and monitor the status of the relay control unit. It will output a fault signal when the power management unit detects at least one of a fault in the power management unit itself, a reset of the relay control unit, a hardware fault in the relay control unit, and a software fault in the relay control unit.

[0046] In order to allow the vehicle to stop when it has reached a safe area and facilitate maintenance by staff, in one embodiment of the present application, when the state of the above-mentioned relay is in the above-mentioned abnormal state, the above-mentioned relay is controlled to delay disconnection, including: generating a fault signal when the state of the above-mentioned relay is in the above-mentioned abnormal state, and controlling the above-mentioned relay to continue to close based on the above-mentioned fault signal; delaying the generation of a fault clearance signal based on the above-mentioned fault signal; and controlling the above-mentioned relay to disconnect based on the above-mentioned fault clearance signal. In this way, the relay and the motor can be disconnected to ensure that the vehicle can stop when it loses power.

[0047] In order to avoid poor vehicle performance caused by the vehicle's relay and motor being in a state of being connected all the time, and to further facilitate maintenance by staff, in another embodiment of the present application, a fault clearance signal is generated based on the above-mentioned fault signal delay, including: starting timing when the above-mentioned fault signal is generated, and obtaining the timing duration in real time; generating the above-mentioned fault clearance signal when the above-mentioned timing duration reaches the target duration.

[0048] Specifically, the vehicle also includes a timing unit, which can be a timing unit that performs timing and outputs a fault release signal. The timing unit starts timing when it receives a fault signal. When the timing time reaches the target duration, the timing unit can output a release signal to the relay drive unit. This can avoid poor vehicle performance caused by the vehicle's relay and motor being in a connected state all the time, and facilitates maintenance by staff.

[0049] In practical applications, the timing unit may include a timer, and the timer is used for timing.

[0050] More specifically, the relay driver can be controlled to change the relay state to an off state based on the release signal. When the relay is in the off state, the relay is disconnected from the motor. This disconnection of the relay and the motor effectively means the vehicle has reached a safe area, and the vehicle loses power, allowing it to stop.

[0051] In the above method, the vehicle's relay is first controlled to close according to the vehicle's state and / or the driver's control requirements, and then the state of the relay is detected. Then, when the relay is in a normal state, the normal control logic is executed. The normal control logic includes: continuing to control the relay to close when the vehicle is in a powered-on state, controlling the relay to disconnect when the vehicle is in a powered-off state, and finally controlling the relay to delay disconnection when the relay is in an abnormal state. In this solution, the relay is directly controlled to be locked in a closed state first. When the relay is detected to be in a normal state, the vehicle can execute the normal control logic. When the relay is detected to be in an abnormal state, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0052] Specifically, the control method is applied to a relay control system of a vehicle. The relay control system includes a relay control unit, a power management unit, and a relay drive unit. The relay drive unit is used to be electrically connected to the relay.

[0053] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0054] During the vehicle control process, the status of the vehicle's relay can also be fed back in real time to facilitate the driver to know the status of the relay in a timely manner. In a specific embodiment of the present application, the above method also includes: generating a first prompt message, and sending the above first prompt message to the display device, the above first prompt message refers to the information that the above relay is still in a closed state when the status of the above relay is the above abnormal state; when the above relay has been delayed and disconnected, generating a second prompt message, and sending the above second prompt message to the above display device, the above second prompt message refers to the information that the above relay has changed from a closed state to a disconnected state when the status of the above relay is the above abnormal state.

[0055] Specifically, the first prompt information may be "The relay is locked in the closed state, please stop the car safely". In addition to sending the first prompt information to the display device, the first prompt information may also be broadcast through an audio device. The driver may be promptly reminded that the vehicle's relay is now locked in the closed state through an audible and visual alarm.

[0056] Specifically, the second prompt information may be "The relay has been disconnected from the motor, and the vehicle has stopped driving." In addition to sending the second prompt information to the display device, the second prompt information may also be played through an audio playback device, and the driver may be promptly reminded that the vehicle's relay has been disconnected through an audible and visual alarm.

[0057] In actual applications, the vehicle also includes a communication unit, which may include a communication conversion chip, and communicates with the vehicle controller through the communication conversion chip.

[0058] To more efficiently control the vehicle, in one embodiment, before generating the latch signal, the method further includes: generating a power-on control command and sending it to the communication unit, wherein the power-on control command is a command that controls the relay control system to start operation; controlling the communication unit to send the power-on control command to the relay control unit, thereby controlling the relay control unit to output the latch signal. After sending the power-on control command to the communication unit, the communication unit sends the power-on control command to the relay control unit, and if it detects that the relay is not faulty, the relay control unit outputs a relay closing control signal to perform high-voltage control.

[0059] The relay control unit will output a latch signal only after the relay control system is powered on, so that the relay will be locked in a closed state. In the event of a fault or reset of the relay control unit, the relay will not be disconnected immediately.

[0060] In order to control the vehicle more efficiently, in another embodiment, after controlling the above-mentioned relay to close based on the above-mentioned latch signal, the method also includes: generating a power-off control instruction and sending it to the above-mentioned communication unit, the above-mentioned power-off control instruction refers to an instruction to control the above-mentioned relay control system to end work; controlling the above-mentioned communication unit to send the above-mentioned power-off control instruction to the above-mentioned relay control unit, and controlling the above-mentioned relay control unit to output the above-mentioned release signal.

[0061] Specifically, when there are no faults in the relay control unit, the power management unit and the relay, when the relay control unit receives the power-off control command, the relay control power supply will output a release signal to release the locked state of the relay. After the relay control unit completes the contact signal output, it can also output a relay disconnection control signal to control the disconnection of the relay and the motor.

[0062] The present application also provides a vehicle control device. It should be noted that the vehicle control device of the present application can be used to execute the vehicle control method provided in the present application. The vehicle control device provided in the present application is introduced below.

[0063] Figure 2Schematic diagram of a vehicle control device according to an embodiment of the present application. Figure 2 As shown, the device includes:

[0064] A first control unit 10 is configured to control the closure of a relay of the vehicle according to a state of the vehicle and / or a control requirement of a driver;

[0065] In order to control the vehicle's relay and motor to disconnect when the vehicle has driven to a safe area or has stopped, in a specific embodiment of the present application, the first control unit includes a first generation module and a first control module, the first generation module is used to generate a latching signal when the above-mentioned vehicle is in the above-mentioned power-on state and / or receives a relay closing instruction, wherein the above-mentioned relay closing instruction is an instruction generated according to the above-mentioned control requirement; the first control module is used to control the above-mentioned relay to close based on the above-mentioned latching signal.

[0066] A detection unit 20 is used to detect the state of the relay, which includes a normal state and an abnormal state;

[0067] a second control unit 30 configured to execute normal control logic when the state of the relay is the normal state, wherein the normal control logic includes: continuing to control the relay to be closed when the vehicle is powered on, and controlling the relay to be disconnected when the vehicle is powered off;

[0068] In another specific embodiment of the present application, the normal control logic further includes: upon receiving a relay disconnection instruction, generating a release signal, and controlling the relay to disconnect based on the release signal. In this embodiment, when the relay is in a normal state, the relay can also be controlled to disconnect based on the release signal, thereby disconnecting the relay from the motor, thereby ensuring normal operation of the relay.

[0069] In actual applications, the function of the relay can be re-tested to further ensure that the detection efficiency of this solution is high. In another specific embodiment of the present application, the above-mentioned device also includes a processing unit, which is used to generate a latch signal and a release signal in sequence after executing the normal control logic when the state of the above-mentioned relay is the above-mentioned normal state, and control the above-mentioned relay to close based on the above-mentioned latch signal, and then control the above-mentioned relay to disconnect based on the above-mentioned release signal to re-test the above-mentioned relay.

[0070] The third control unit 40 is configured to control the relay to delay disconnection when the relay is in the abnormal state.

[0071] In order to enable the vehicle to stop when it has reached a safe area and facilitate maintenance by staff, in one embodiment of the present application, the third control unit includes a processing module, a second generation module, and a second control module. The processing module is used to generate a fault signal when the state of the above-mentioned relay is the above-mentioned abnormal state, and control the above-mentioned relay to continue to close based on the above-mentioned fault signal; the second generation module is used to generate a fault clearance signal based on the above-mentioned fault signal with a delay; and the second control module is used to control the above-mentioned relay to disconnect based on the above-mentioned fault clearance signal. In this way, the relay and the motor can be disconnected to ensure that the vehicle can stop when it loses power.

[0072] In order to avoid poor vehicle performance caused by the vehicle's relay and motor being in a state of constant connection, and to further facilitate maintenance by staff, in another embodiment of the present application, the second generation module includes an acquisition submodule and a generation submodule. The acquisition submodule is used to start timing when the above-mentioned fault signal is generated, and to obtain the timing duration in real time; the generation submodule is used to generate the above-mentioned fault clearance signal when the above-mentioned timing duration reaches the target duration.

[0073] In the above-mentioned device, the first control unit controls the closure of the vehicle's relay according to the state of the vehicle and / or the control requirements of the driver, the detection unit detects the state of the relay, and the second control unit executes normal control logic when the state of the relay is normal. The normal control logic includes: continuing to control the closure of the relay when the vehicle is powered on, and controlling the disconnection of the relay when the vehicle is powered off. The third control unit controls the delay disconnection of the relay when the state of the relay is abnormal. In this solution, the relay is directly controlled to be locked in a closed state first. When the state of the relay is detected to be normal, the vehicle can execute the normal control logic. When the state of the relay is detected to be abnormal, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0074] During the vehicle control process, the status of the vehicle's relay can also be fed back in real time to facilitate the driver to know the status of the relay in a timely manner. In a specific embodiment of the present application, the above-mentioned device also includes a first generation unit and a second generation unit. The first generation unit is used to generate a first prompt information and send the above-mentioned first prompt information to the display device. The above-mentioned first prompt information refers to the information that the above-mentioned relay is still in a closed state when the status of the above-mentioned relay is the above-mentioned abnormal state; the second generation unit is used to generate a second prompt information when the above-mentioned relay has been delayed and disconnected, and send the above-mentioned second prompt information to the above-mentioned display device. The above-mentioned second prompt information refers to the information that the above-mentioned relay has changed from a closed state to a disconnected state when the status of the above-mentioned relay is the above-mentioned abnormal state.

[0075] The control device of the above-mentioned vehicle includes a processor and a memory. The above-mentioned first control unit, detection unit, second control unit and third control unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions.

[0076] The processor contains a core, which retrieves the corresponding program unit from memory. One or more cores can be configured. By adjusting core parameters, the autonomous driving system can address issues such as a lack of energy to safely stop the vehicle if power is lost. Sudden power loss can also easily lead to accidents.

[0077] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0078] An embodiment of the present invention provides a computer-readable storage medium having a program stored thereon, which implements the above-mentioned vehicle control method when executed by a processor.

[0079] An embodiment of the present invention provides a processor, which is used to run a program, wherein the vehicle control method is executed when the program is run.

[0080] The present application also provides a relay control system, including a relay control unit, a power management unit, a relay drive unit, a timing unit, a communication unit and a vehicle control device, wherein the vehicle control device is electrically connected to the relay control unit, the power management unit, the relay drive unit, the timing unit and the communication unit, respectively, and the vehicle control device is used to execute any one of the above methods.

[0081] In the above-mentioned relay control system, since it includes any of the above-mentioned methods, the method first controls the vehicle's relay to close according to the vehicle's state and / or the driver's control requirements, then detects the state of the relay, and then executes normal control logic when the relay is in a normal state. The normal control logic includes: continuing to control the relay to close when the vehicle is in a powered-on state, controlling the relay to disconnect when the vehicle is in a powered-off state, and finally controlling the relay to delay disconnection when the relay is in an abnormal state. In this solution, the relay is directly controlled to be locked in a closed state first. When the relay is detected to be in a normal state, the vehicle can execute normal control logic. When the relay is detected to be in an abnormal state, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0082] In an optional embodiment, the relay control system of the present application is as follows: Figure 3 As shown, it includes a relay control unit 100, a power management unit 200, a relay drive unit 300, a timing unit 400 and a communication unit 500. The communication unit 500 is used to receive control instructions and send the control instructions to the relay control unit 100. The power management unit 200 can receive the hardware status information of the relay control unit 100 sent by the relay control unit 100. The power management unit 200 can also detect the software status information of the relay control unit 100. The relay control unit 100 is used to output a latch signal to the relay drive unit 300. The relay control unit 100 is also used to output a control signal to the relay drive unit 300. The power management unit 200 is used to output a fault signal to the timing unit 400. The timing unit 400 is used to output a release signal to the relay drive unit 300.

[0083] An embodiment of the present invention provides a device, comprising a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, at least the following steps are performed:

[0084] Step S101, controlling the vehicle's relay to close according to the vehicle's state and / or the driver's control requirements;

[0085] Step S102, detecting the state of the relay, where the state of the relay includes a normal state and an abnormal state;

[0086] Step S103, when the state of the relay is the normal state, executing normal control logic, the normal control logic including: continuing to control the relay to be closed when the vehicle is powered on, and controlling the relay to be open when the vehicle is powered off;

[0087] Step S104: When the state of the relay is the abnormal state, control the relay to be disconnected with a time delay.

[0088] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0089] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute a program for initializing at least the following method steps:

[0090] Step S101, controlling the vehicle's relay to close according to the vehicle's state and / or the driver's control requirements;

[0091] Step S102, detecting the state of the relay, where the state of the relay includes a normal state and an abnormal state;

[0092] Step S103, when the state of the relay is the normal state, executing normal control logic, the normal control logic including: continuing to control the relay to be closed when the vehicle is powered on, and controlling the relay to be open when the vehicle is powered off;

[0093] Step S104: When the state of the relay is the abnormal state, control the relay to be disconnected with a time delay.

[0094] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the technical solution and technical effects of the present application will be explained below with reference to specific embodiments.

[0095] Example

[0096] This embodiment relates to a vehicle control method, such as Figure 4 As shown, the following steps are included:

[0097] S1: When the relay control unit receives the power-on control command and detects that there is no fault in the relay control unit, the relay control unit outputs the relay closing control signal to perform high voltage control;

[0098] S2: After the high voltage power is applied, the relay control unit outputs a latch signal. At this time, the control state of the relay is locked in the closed state. When the relay control unit fails or is reset, the relay will not be disconnected from the motor.

[0099] S3, after the high voltage is powered on, the relay control unit monitors its own operating status information in real time during vehicle operation and outputs a hardware status signal to the power management unit. The power management unit monitors its own operating status information and the software operating status of the relay control unit in real time. The power management unit outputs a fault signal when at least one of the power management unit and the relay control unit is detected to be faulty.

[0100] S4, after the high voltage is powered on, if at least one of the power management unit and the relay control unit fails, the power management unit outputs a fault signal to the timing unit, the relay is in a closed state, and the relay control unit outputs an alarm state to the vehicle, and the driver or the automatic driving system controls the vehicle to stop safely;

[0101] S5, the timing unit receives a fault signal and starts timing;

[0102] S6: When the timing reaches the target duration, a release signal is output to release the closed state of the relay, disconnecting the relay from the motor, thereby disconnecting the vehicle high voltage;

[0103] S7, after the high voltage is powered on, when there is no fault in the relay control unit and / or the power management unit, when the relay control unit receives a power-off control command, the relay control power supply outputs an unlocking signal to release the closed state of the relay;

[0104] S8, after the relay control unit completes the output of the unlocking signal of the relay, it outputs the relay disconnection control signal and performs normal high voltage control. The relay control unit receives the power-off control command;

[0105] S9, after the high voltage power is turned off, the relay control unit controls the relay to maintain the function self-check. At this time, the relay control unit sequentially outputs the relay disconnection control signal, latch signal, and relay control unit hardware status fault signal, and detects the safety release signal status at the same time. If the safety release signal is detected, the relay maintains the release circuit (the circuit refers to the circuit composed of the power management unit, relay control unit and relay drive unit). If it is normal, the relay is normal. Otherwise, it is abnormal, thereby realizing the self-check of the release control circuit and eliminating potential faults.

[0106] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0107] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the above-mentioned units can be a logical function division. In actual implementation, there may be other division methods, 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 units or modules, which can be electrical or other forms.

[0108] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0109] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0110] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0111] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0112] 1) The vehicle control method of the present application first controls the vehicle's relay to close according to the vehicle's state and / or the driver's control requirements, then detects the state of the relay, and then executes normal control logic when the relay is in a normal state. The normal control logic includes: continuing to control the relay to close when the vehicle is in a powered-on state, controlling the relay to disconnect when the vehicle is in a powered-off state, and finally controlling the relay to delay disconnection when the relay is in an abnormal state. In this solution, the relay is directly controlled to be locked in a closed state first. When the relay is detected to be in a normal state, the vehicle can execute normal control logic. When the relay is detected to be in an abnormal state, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0113] 2) The control device of the vehicle of the present application, the first control unit controls the closure of the vehicle's relay according to the state of the vehicle and / or the control requirements of the driver, the detection unit detects the state of the relay, the second control unit executes the normal control logic when the state of the relay is normal, and the normal control logic includes: continuing to control the closure of the relay when the vehicle is in the power-on state, and controlling the disconnection of the relay when the vehicle is in the power-off state, and the third control unit controls the delay disconnection of the relay when the state of the relay is abnormal. In this solution, the relay is directly controlled to be locked in the closed state first. When the state of the relay is detected to be normal, the vehicle can execute the normal control logic. When the state of the relay is detected to be abnormal, the relay is controlled to remain in the closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0114] 3) The relay control system of the present application includes any of the above methods. In this method, the vehicle's relay is first controlled to close according to the vehicle's state and / or the driver's control requirements, and then the state of the relay is detected. Then, when the relay is in a normal state, the normal control logic is executed. The normal control logic includes: continuing to control the relay to close when the vehicle is in a powered-on state, controlling the relay to disconnect when the vehicle is in a powered-off state, and finally controlling the relay to delay disconnection when the relay is in an abnormal state. In this solution, the relay is directly controlled to be locked in a closed state first. When the relay is detected to be in a normal state, the vehicle can execute the normal control logic. When the relay is detected to be in an abnormal state, the relay is controlled to remain in a closed state, and then the relay is controlled to delay disconnection. In this way, the relay and the motor can always maintain electrical connection, the vehicle will not suddenly lose power, and there can be enough power to control the vehicle to stop safely, thereby ensuring the safety of the vehicle during driving.

[0115] The above description is merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.

Claims

1. A vehicle control method, characterized in that: include: Controlling the closure of a vehicle relay according to a vehicle state and / or a driver's control demand; detecting a state of the relay, where the state of the relay includes a normal state and an abnormal state; When the state of the relay is the normal state, executing normal control logic, the normal control logic comprising: continuing to control the relay to be closed when the vehicle is in the power-on state, and controlling the relay to be opened when the vehicle is in the power-off state; When the state of the relay is the abnormal state, controlling the relay to delay disconnection; When the state of the relay is the abnormal state, controlling the relay to delay disconnection includes: When the state of the relay is the abnormal state, a fault signal is generated, and the relay is controlled to continue to close based on the fault signal; a fault relief signal is generated according to the delay of the fault signal; and the relay is controlled to open based on the fault relief signal.

2. The method according to claim 1, characterized in that Generating a fault clearing signal according to the fault signal delay, including: When the fault signal is generated, start timing and obtain the timing duration in real time; When the timed duration reaches the target duration, the fault clearing signal is generated.

3. The method according to claim 1, characterized in that The method further comprises: generating first prompt information and sending the first prompt information to a display device, wherein the first prompt information is information that the relay is still in a closed state when the state of the relay is the abnormal state; When the relay has been disconnected with a delay, a second prompt message is generated and sent to the display device. The second prompt message refers to the information that the relay has changed from a closed state to a disconnected state when the state of the relay is the abnormal state.

4. The method according to claim 1, wherein Controlling the closure of the vehicle's relays based on the vehicle's status and / or the driver's control requirements includes: generating a latch signal when the vehicle is in the powered-on state and / or receives a relay closing instruction, wherein the relay closing instruction is an instruction generated according to the control requirement; The relay is controlled to be closed based on the latch signal.

5. The method according to claim 1, wherein The normal control logic further includes: generating a release signal when a relay disconnection instruction is received, and controlling the relay to be disconnected based on the release signal.

6. The method according to claim 1, characterized in that When the state of the relay is the normal state, after executing the normal control logic, the method further includes: A latch signal and a release signal are sequentially generated, and after controlling the relay to be closed based on the latch signal, the relay is controlled to be opened based on the release signal, so as to re-test the relay.

7. A vehicle control device, characterized in that: include: a first control unit, configured to control the closure of a relay of the vehicle according to a state of the vehicle and / or a control demand of a driver; a detection unit, configured to detect a state of the relay, wherein the state of the relay includes a normal state and an abnormal state; a second control unit, configured to execute a normal control logic when the state of the relay is the normal state, the normal control logic comprising: continuing to control the relay to be closed when the vehicle is in a powered-on state, and controlling the relay to be disconnected when the vehicle is in a powered-off state; a third control unit, configured to control the relay to delay disconnection when the state of the relay is the abnormal state; The third control unit includes a processing module, a second generating module and a second control module. The processing module is used to generate a fault signal when the state of the relay is the abnormal state, and control the relay to continue to close based on the fault signal; the second generating module is used to generate a fault clearance signal according to the fault signal delay; and the second control module is used to control the relay to disconnect based on the fault clearance signal.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 6.

9. A relay control system, characterized in that: include: A relay control unit, a power management unit, a relay drive unit, a timing unit, a communication unit and a control device of a vehicle, wherein the control device of the vehicle is electrically connected to the relay control unit, the power management unit, the relay drive unit, the timing unit and the communication unit respectively, and the control device of the vehicle is used to execute the method described in any one of claims 1 to 6.

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