Vehicle control method, medium, vehicle controller and vehicle

Abstract

The application discloses a control method of a vehicle, a medium, a vehicle controller and the vehicle. The vehicle comprises a low-voltage electrical appliance and a low-voltage power supply system, and the low-voltage power supply system is used for supplying power to the low-voltage electrical appliance. The control method of the vehicle comprises the following steps: when it is detected that the low-voltage power supply system is faulty, determining a target low-voltage electrical appliance which needs to be subjected to power limiting control; and performing power limiting control on the target low-voltage electrical appliance. According to the control method of the vehicle, when the low-voltage power supply system is faulty, the target low-voltage electrical appliance which needs to be subjected to power limiting control is determined, and then power limiting control is performed on the target low-voltage electrical appliance, so that the time required by the vehicle in a limp-home mode can be met, and the risk caused by the fault of the low-voltage power supply system can be effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and in particular to a vehicle control method, medium, vehicle controller, and vehicle. Background Technology

[0002] With the development of automotive electrical systems, there are more and more automotive electrical components. When the vehicle's power supply system, such as the DC (Direct Current) module or battery, malfunctions can cause the power supply circuit of the automotive electrical components to be disconnected, leading to the risk of the vehicle breaking down.

[0003] To address this, a limp-home mode for battery-electric vehicles has been proposed. The vehicle's energy-consuming components are divided into two groups: a first group and a second group. The first group consists of components related to vehicle steering and propulsion, while the second group comprises other components (including air conditioning and battery heating systems). In limp-home mode, the battery system is disconnected from the second group, supplying power only to the first group. However, while this technology directly stops supplying power to the second group (including comfort-related electrical appliances), reducing battery discharge and increasing driving range in limp-home mode, it significantly degrades the user experience. Summary of the Invention

[0004] This invention aims to at least partially address one of the technical problems in the related art. Therefore, one object of this invention is to provide a vehicle control method that can meet the time required for the vehicle to operate in limp mode and reduce the risks associated with failures in the low-voltage power supply system.

[0005] A second objective of this invention is to provide a computer-readable storage medium.

[0006] The third objective of this invention is to provide a vehicle controller.

[0007] The fourth objective of this invention is to provide a vehicle.

[0008] To achieve the above objectives, a first aspect of the present invention provides a vehicle control method, the vehicle including low-voltage electrical appliances and a low-voltage power supply system, the low-voltage power supply system being used to supply power to the low-voltage electrical appliances, the method including: when a fault is detected in the low-voltage power supply system, determining a target low-voltage electrical appliance that needs to be subject to power limiting control; and performing power limiting control on the target low-voltage electrical appliance.

[0009] According to the vehicle control method of the present invention, when a low-voltage power supply system fault is detected, a target low-voltage electrical appliance that needs to be subject to power limiting control is identified, and the target low-voltage electrical appliance is subject to power limiting control. This method can meet the time required for the vehicle to be in limp mode, and this power limiting strategy effectively reduces the risk caused by a fault in the low-voltage power supply system.

[0010] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0011] To achieve the above objectives, a third aspect of the present invention provides a vehicle controller, including a memory, a processor, and a computer program stored in the memory, wherein the computer program, when executed by the processor, implements the method described above.

[0012] To achieve the above objectives, a fourth aspect of the present invention provides a vehicle comprising: a low-voltage electrical appliance, a low-voltage power supply system, and a vehicle controller as described above, wherein the low-voltage power supply system is used to supply power to the low-voltage electrical appliance, and the vehicle controller is communicatively connected to both the low-voltage electrical appliance and the low-voltage power supply system.

[0013] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a low-voltage power supply system according to an embodiment of the present invention;

[0015] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0016] Figure 3 This is a flowchart of step S1 of an embodiment of the present invention;

[0017] Figure 4 This is a flowchart of step S1 of a specific embodiment of the present invention;

[0018] Figure 5 This is a flowchart of a power limiting control method for low-voltage electrical appliances according to an embodiment of the present invention;

[0019] Figure 6 This is a flowchart of a power limiting control method for a target low-voltage electrical appliance according to an embodiment of the present invention;

[0020] Figure 7 This is a flowchart of the second-level power limiting control according to a specific embodiment of the present invention;

[0021] Figure 8 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] The following will refer to the instruction manual appendix. Figure 1-8 The present invention provides a detailed description of the vehicle control method, medium, vehicle controller, and vehicle according to specific implementation methods.

[0024] In embodiments of the present invention, the vehicle includes low-voltage electrical appliances and a low-voltage power supply system, the low-voltage power supply system being used to supply power to the low-voltage electrical appliances. In the vehicle control method of this embodiment, when the low-voltage power supply system fails, in order to ensure the normal functioning of important low-voltage electrical appliances (reducing the risk of breakdown, especially components related to driving safety), the power of some comfort-related low-voltage electrical appliances is limited, or even some appliances are turned off, to meet the time required for the vehicle to remain in limp mode, enabling the vehicle to safely stop at the roadside.

[0025] like Figure 1 As shown, the vehicle control method of this invention may involve a domain controller (such as the left domain controller), a starting iron battery, a VCU (Vehicle Control Unit), a BMS (Battery Management System) for the starting iron battery, and a DC / DC converter power module. The BMS, domain controller, and DC / DC converter are connected to the VCU via a CAN (Controller Area Network) line.

[0026] Figure 2 This is a flowchart of a vehicle control method according to an embodiment of the present invention.

[0027] In embodiments of the present invention, such as Figure 2 As shown, the vehicle control methods include:

[0028] S1, when a fault is detected in the low-voltage power supply system, identifies the target low-voltage electrical appliance that needs to be subject to power limiting control.

[0029] In one implementation, a pre-established correspondence between fault types in the low-voltage power supply system and target low-voltage appliances requiring power limiting control can be established. When a fault is detected in the low-voltage power supply system, the fault type of the low-voltage power supply system can be obtained, and then the corresponding correspondence can be used to find the target low-voltage appliances requiring power limiting control.

[0030] In another implementation, such as Figure 3 As shown, step S1 may include:

[0031] S11, when a fault is detected in the low-voltage power supply system, obtain the fault type of the low-voltage power supply system.

[0032] S12, determine the low-voltage power limiting level based on the fault type of the low-voltage power supply system.

[0033] S13, determine the target low-voltage electrical appliances that need to be subject to power limiting control based on the low-voltage power limiting level.

[0034] Among them, the correspondence between low-voltage power limit levels and target low-voltage electrical appliances that need to be controlled by power limit can be established in advance.

[0035] Specifically, the vehicle's low-voltage power supply system mainly includes a DC / DC power module and a starting-type iron-phosphate battery module. The starting-type iron-phosphate battery module includes a starting-type iron-phosphate battery and its BMS (Battery Management System). Under normal vehicle operation, the DC / DC power module charges the starting-type iron-phosphate battery in the starting-type iron-phosphate battery module. The starting-type iron-phosphate battery is equivalent to a conventional battery in a vehicle. When the alternator is overloaded or idling, it can assist the alternator in supplying power to low-voltage electrical appliances. Faults in the vehicle's low-voltage power supply system (i.e., the fault types acquired) can include faults in the DC / DC power module, the starting-type iron-phosphate battery module, or both.

[0036] In the implementation of the low-voltage power limiting level, since the DC / DC power module and the starting iron battery module have different levels of importance to the vehicle, the failure levels of the DC / DC power module and the starting iron battery module are also different. Optionally, the vehicle's low-voltage power limiting strategy is divided into two levels based on the risk of breakdown: Level 1 power limiting and Level 2 power limiting. If both Level 1 and Level 2 power limiting conditions are triggered simultaneously, only Level 2 power limiting is reported.

[0037] In one embodiment of the present invention, such as Figure 4 As shown, determining the low-voltage power limiting level based on the fault type of the low-voltage power supply system may include:

[0038] S121, when a fault occurs in the starting type iron battery module, the low voltage power limit level is determined to be the first level.

[0039] Specifically, when a fault is detected in the starting battery module while the DC / DC power module is functioning normally, it indicates an abnormal power supply from the starting battery module, but the vehicle can still operate normally with power from the DC / DC power module. As an example, the vehicle can issue a warning to remind the driver to repair or replace the starting battery module as soon as possible. The warning can be issued by displaying a battery fault indicator on the display panel or by giving a voice prompt stating "Battery fault." Because the risk of vehicle breakdown is low in this situation, the low-voltage power limit level is set to Level 1 when a fault in the starting battery module is confirmed.

[0040] S122, when the DC / DC power module fails, or when both the starting iron battery and the DC / DC power module fail, the low-voltage power limit level is determined to be Level 2.

[0041] Specifically, when a fault is detected in the DC / DC power module, the vehicle can no longer operate in normal mode. If the starting battery module is not faulty, it will supply power to the low-voltage electrical components, supporting the vehicle's operation for a period of time. However, the starting battery's capacity is insufficient to support the vehicle's operation for an extended period. In this situation, the safest course of action is for the driver to find the nearest suitable safe location and pull over. If both the starting battery module and the DC / DC power module fail, the vehicle will be unable to operate, i.e., it will break down. Because the risk of breakdown is high in this situation, when a fault is confirmed in the DC / DC power module, or when both the starting battery and the DC / DC power module fail, the low-voltage power limiting level is set to Level 2.

[0042] In one embodiment of the present invention, when a first fault message is received from the starting iron battery module or when communication with the starting iron battery module is lost for a first preset time, it is determined that the power supply of the starting iron battery has failed.

[0043] Specifically, the conditions for determining that the starting-type iron-phosphate battery module has failed are: the starting-type iron-phosphate battery's BMS reports fault information, i.e., the first fault information, to the VCU, or the VCU detects a loss of communication with the starting-type iron-phosphate battery's BMS for a period of time exceeding a first preset time. The first preset time can be set to 5 seconds, meaning that if the VCU receives fault information reported by the starting-type iron-phosphate battery's BMS for 5 consecutive seconds, or if the BCU loses communication with the starting-type iron-phosphate battery's BMS for more than 5 seconds, then the starting-type iron-phosphate battery module is determined to have a power supply failure. The 5-second preset time provides the starting-type iron-phosphate battery module with a certain false alarm tolerance.

[0044] In one embodiment of the present invention, when a second fault information reported by the DC / DC power module is received or when a loss of communication with the DC / DC power module is detected and continues for a second preset time, it is determined that the DC / DC power module has failed.

[0045] Specifically, the conditions for determining that the DC / DC power module has failed are as follows: the VCU receives fault information reported by the DC / DC power module, i.e., the second fault information. The second fault information can be a 4.2-4.3 DC system fault message (0x26C), or the DC / DC power module loses communication with the VCU for a period of time that is less than a second preset time. The second preset time is 5 seconds, meaning that the VCU receives a fault message (0x26C) from the DC / DC power module for 5 consecutive seconds, or the DC / DC power module loses communication with the VCU for more than 5 seconds. In these cases, the DC / DC power module is determined to have failed. The 5-second preset time also provides the DC / DC power module with a certain false alarm tolerance.

[0046] Furthermore, the VCU issues a first-level power limiting message only when it detects a fault in the starting iron battery module; a second-level power limiting message is issued when the VCU receives fault information (0x26C message) reported by the DC / DC power module or loses communication with the DC / DC power module (i.e., cannot receive the 0x26C message), meaning it only detects a fault in the DC / DC power module; and a second-level power limiting message is still issued when both the starting iron battery module and the DC / DC power module are detected as faults. Regardless of whether it's a first-level or second-level power limiting, the VCU issues a power limiting message to control the power of the vehicle's low-voltage electrical components. It also limits the vehicle speed to less than 60 km / h and controls the gear to the OK position. Only when the vehicle is at the second-level power limiting level and the starting iron battery charge is less than a preset charge threshold, will the VCU control the vehicle to enter a parking mode.

[0047] Specifically, the VCU sends a power limiting message for low-voltage electrical appliances, and the gateway is responsible for forwarding it to the ESC (Electronic Stability Control) network, power network, comfort network 1, and comfort network 2, where it is executed according to the power limiting policy of the vehicle's low-voltage power supply system. Comfort network 1 and comfort network 2 can be networks containing domain controllers that control low-voltage comfort electrical appliances.

[0048] Specifically, different low-voltage power limiting levels result in different target low-voltage electrical appliances that require power limiting control, and the corresponding low-voltage electrical appliance power limiting strategies also differ.

[0049] In one embodiment of the present invention, the low-voltage electrical appliances may include a first category of electrical appliances, a second category of electrical appliances, and a third category of electrical appliances. The first category of electrical appliances includes an electronic fan; the second category of electrical appliances includes a PM2.5 filter, a vehicle air conditioner, a charging device, and a seat ventilation and heating device; and the third category of electrical appliances includes a vehicle multimedia system and / or an external amplifier. The charging device may be a wireless charging device, capable of wirelessly charging mobile phones and other devices.

[0050] like Figure 4 As shown, the target low-voltage electrical appliances requiring power limiting control are determined based on the low-voltage power limiting level, including:

[0051] S131, when the low-voltage power limiting level is the first level, the target low-voltage electrical appliance that needs to be subject to power limiting control is determined to be a Class I electrical appliance.

[0052] Specifically, when the low-voltage power limiting level is Level 1, the vehicle's low-voltage electrical appliances can still be powered by the DC / DC power module, resulting in a relatively low risk of breakdown. Power limiting can be applied only to Category 2 appliances, specifically the electric fan. However, considering that disabling the in-vehicle multimedia system would prevent the planned low-end instrument cluster from triggering alarms, and that disabling the external amplifier would affect the planned alarm sound integration, the in-vehicle multimedia system and amplifier must remain operational, meaning Category 3 appliances must maintain normal operation. Furthermore, disabling Category 2 appliances (including PM2.5 filters, air conditioning, charging devices, seat ventilation and heating devices, etc.) would negatively impact the user experience; therefore, Category 2 appliances must also remain operational.

[0053] S132, when the low-voltage power limiting level is the second level, the target low-voltage electrical appliances that need to be subject to power limiting control are determined to be Class I electrical appliances and Class II electrical appliances.

[0054] Specifically, when the low-voltage power limit level is Level 2, the vehicle's low-voltage electrical appliances cannot be powered by the DC / DC power module, resulting in a higher risk of breakdown. Power limiting control can be applied to both Level 1 and Level 2 electrical appliances to further reduce power consumption and lower the risk of breakdown. At this point, considering that turning off the in-vehicle multimedia system would prevent the planned low-end instrument cluster from triggering alarms, the in-vehicle multimedia system remains operational. Simultaneously, considering that turning off the external amplifier would affect the planned alarm sound integration, the amplifier also remains operational; thus, it is necessary to maintain the normal operating state of the Level 3 electrical appliances.

[0055] S2, performs power limiting control on the target low-voltage electrical appliances.

[0056] Therefore, the vehicle control method, by identifying the target low-voltage electrical appliance that needs power limiting control when a low-voltage power supply system fails, and then limiting the power of the target low-voltage electrical appliance, can meet the time required for the vehicle in limp mode and effectively reduce the risks caused by a failure in the low-voltage power supply system.

[0057] In one embodiment of the present invention, such as Figure 5 As shown, when the low-voltage power limit level is level two and the starting iron battery is not faulty, the vehicle control method also includes: controlling the vehicle to enter limp mode.

[0058] Among these, determining the target low-voltage electrical appliances requiring power limiting control based on the low-voltage power limiting level, and implementing power limiting control on the target low-voltage electrical appliances, may include:

[0059] S221, obtain the state of charge value of the starting iron battery and the operating power of each low-voltage electrical appliance.

[0060] S222, based on the state of charge value and operating parameters, obtain the vehicle's current limp time.

[0061] S223, determine the target limp time based on the current limp time, and identify the target low-voltage electrical appliances that need to be subject to power limiting control from the low-voltage electrical appliances that are currently in operation.

[0062] The target low-voltage electrical appliances include at least one of the following: electronic fan, PM2.5 filter, vehicle air conditioner, charging device, and seat ventilation and heating device.

[0063] S224, power limiting control of target low-voltage electrical appliances based on target limp time.

[0064] Specifically, the purpose of the second-level power limiting strategy of the present invention is to extend the vehicle limp time, such as by 5 minutes. Therefore, the target limp time is set to the calculated current limp time of the vehicle plus 5 minutes.

[0065] In embodiments of the present invention, such as Figure 6As shown, power limiting control of target low-voltage electrical appliances based on a target limp time includes: determining the power limit of each target low-voltage electrical appliance, where the power limit is the operating power when power limiting control is applied to the target low-voltage electrical appliance; calculating a first limp time, where the first limp time is the limp time of the vehicle after power limiting control is applied to the target low-voltage electrical appliances based on the power limit. When the first limp time is greater than or equal to the target limp time, power limiting control is applied to the target low-voltage electrical appliances based on the power limit; when the first limp time is less than the target limp time, the power limit of at least one target low-voltage electrical appliance is updated, and the process returns to the step of calculating the first limp time, until the first limp time meets the requirement of being greater than or equal to the target limp time, wherein the updated power limit is less than the original power limit.

[0066] Specifically, the target limp time is obtained by extending the limp time by 5 minutes from the current limp time before any power limiting of low-voltage appliances is implemented.

[0067] It should be noted that when some low-voltage appliances are subject to the second-level power limiting strategy, and the first limp-time already meets the requirement of being greater than or equal to the target limp-time, there is no need to continue updating the power limiting of the target low-voltage appliances. In other words, the remaining low-voltage appliances maintain their original operating state, and the VCU implements power limiting according to the low-voltage appliances with the first limp-time that meets the requirement of being greater than or equal to the target limp-time. This allows some comfort-oriented low-voltage appliances to continue operating, ensuring a better user experience. When all target low-voltage appliances have been subject to the second-level power limiting strategy, but the first limp-time still does not meet the requirement of being greater than or equal to the target limp-time, then power limiting is directly implemented for all target low-voltage appliances, and a warning message can be issued to remind the driver to pull over in time.

[0068] As a feasible example, Table 1 below lists the specific power limiting strategies, power value impacts, risk impacts, and feasibility of low-voltage electrical appliances and their corresponding power limiting strategies. The power limiting strategies mentioned above for the second level can be formulated based on Table 1.

[0069] Table 1

[0070]

[0071]

[0072] Based on Table 1 above, the specific second-level power limiting strategy for low-voltage electrical appliances can be set as follows:

[0073] When the low-voltage electrical appliance is an electric fan, power limiting control includes controlling the electric fan to run at low speed or turning it off. When the low-voltage electrical appliance is a vehicle air conditioner, power limiting control includes controlling at least one of the following: setting the fan speed to a preset level, turning off the defrost function, or turning off the auxiliary heating function. When the low-voltage electrical appliance is a seat ventilation and heating device, power limiting control includes controlling the seat ventilation and heating device to turn off the heating function and / or the ventilation function. When the low-voltage electrical appliance is a PM2.5 filter, power limiting control includes controlling the PM2.5 filter to turn off. When the low-voltage electrical appliance is a charging device, power limiting control includes controlling the charging device to turn off.

[0074] Specifically, see Figure 1 The VCU sends a Level 2 power limit message to the left domain controller, electric fan, PM2.5 filter, and charging device. The electric fan can be switched from running to off (i.e., not working). The air conditioning controller in the left domain controller remains on; the front defrost function remains on; the fan speed is limited to level 2 or lower (i.e., if a control signal for a fan speed higher than level 2 is received, the vehicle's air conditioning will automatically adjust to level 2); the rear defrost function is off (i.e., when a rear defrost activation command is received, the rear defrost function will not be activated); the low-pressure PTC function (i.e., auxiliary heating function) is off (i.e., when a PTC activation command is received, the PTC function will not be activated). The ventilation and heating functions of the seat ventilation and heating devices are off, but the electric function remains on; the PM2.5 filter is off; and the charging device is off.

[0075] The following examples illustrate the power limiting control effect of embodiments of the present invention:

[0076] As an example, under normal driving conditions, only some power-limited electrical appliances are turned on, such as PM2.5 filter, electric fan at low speed, ventilation or heating, air conditioning at level 2, and wireless charging of mobile phone.

[0077] (1) The DC / DC power module malfunctioned and there was no low-voltage output. Under ideal conditions, the state of charge of the starting iron battery was 80% and the working power of each low-voltage appliance was obtained. PM2.5 filter: 38W; low speed electric fan: 145W; ventilation or heating: 44.5W; air conditioner at level 2: 42W; mobile phone wireless charging: 41W.

[0078] Based on a state of charge (SOC) of 80% and operating parameters (13.6Ah capacity and 13.8V for a starting-type iron battery), the SOC of a starting-type iron battery is usually not fully utilized. Therefore, this must be taken into account when calculating limp time, i.e., deducting 10% of the unusable SOC, to calculate the vehicle's current limp time.

[0079] (80%-10%)SOC / (15A+(38W+145W+44.5W+42W+41W) / 13.8V)=15.23min. The current limp time is 15.23min. After implementing the power limiting strategy for all low-voltage appliances, the vehicle's limp time can be:

[0080] (80%-10%)SOC / (15A)=38.08min

[0081] The limp time was extended by 5 minutes.

[0082] (2) The DC / DC power module malfunctions, there is no low-voltage output, and the state of charge of the starting iron battery is 40% at low temperature (-20℃). At this time, the limp-out phase begins. The limp-out time of the whole vehicle before power limiting (when the low-voltage PTC is not turned on):

[0083] (40%-10%)SOC / (15A+(38W+145W+44.5W+42W+41W) / 13.8V)=6.53min

[0084] The current limp time is 6.53 minutes. After implementing the power limiting strategy for all low-voltage appliances, the vehicle's limp time can be:

[0085] (40%-10%)SOC / 15A=16.32min

[0086] The limp time was extended by 5 minutes.

[0087] As another example, under extreme operating conditions, such as low-voltage electrical appliances being fully turned on, low-voltage PTC being turned on, air conditioning at level 2, post-defrosting, PM2.5, ventilation or heating, wireless charging of mobile phones, and low-speed electric fans.

[0088] (1) The DC / DC power module malfunctions and there is no low-voltage output. Under ideal conditions, the state of charge of the starting iron battery is 80%. At this time, the limp-out phase begins. The vehicle can limp-out time before power limiting is:

[0089] (80%-10%)SOC / (15A+(1603W+38W+42W+41W+145W) / 13.8V)=3.80min

[0090] In this example, 1603W represents low-voltage PTC + post-defrosting + ventilation heating, and the remaining power is consistent with the example above, so it will not be repeated here.

[0091] The current limp time is 3.80 minutes. After implementing a power limiting strategy for all low-voltage electrical appliances except ventilation and heating, the vehicle's limp time can be:

[0092] (80%-10%)SOC / (15A+44.5W / 13.8V)=31.34min

[0093] The limp time was extended by 5 minutes.

[0094] (2) The DC / DC power module malfunctions, resulting in no low-voltage output. Under low-temperature (-20℃) conditions, the state of charge of the starting iron battery is 40%, at which point the limp-out phase begins. The vehicle can limp-out for the following duration before power limiting:

[0095] (40%-10%)SOC / (15A+(1603W+38W+42W+41W+145W) / 13.8V)=1.63min

[0096] The current limp time is 1.63 minutes. After implementing the power limiting strategy for all low-voltage appliances, the vehicle's limp time can be:

[0097] (40%-10%)SOC / (15A)=16.32min

[0098] The limp time was extended by 5 minutes.

[0099] Under the above operating conditions, the limp time can be extended by 5 minutes or more after using the power limiting method of this invention for power limiting control compared to before power limiting.

[0100] In one embodiment of the present invention, when the low-voltage power limit level is the second level and the starting iron battery fails, the vehicle control method further includes: controlling the vehicle to enter the roadside parking mode.

[0101] Specifically, when both the DC / DC power module and the starting iron battery module fail, the vehicle is in an extremely dangerous state and must be pulled over immediately.

[0102] In an embodiment of the present invention, the vehicle control method further includes: stopping the power limiting control of low-voltage electrical appliances when the vehicle is detected to have exited the OK position or when the power supply of the low-voltage power supply system is restored to normal.

[0103] Specifically, power restoration of the low-voltage power supply system occurs when the low-voltage electrical appliance power limit flag bit of the VCU message is not set to "Level 2 power limit".

[0104] As an example, when the low-voltage power limit level is Level 2, such as Figure 7As shown, the VCU sends a message with the low-voltage electrical appliance power limit flag 0x2, which is the second-level power limit flag. The left domain controller can forward the second-level power limit flag to the entire network through the gateway. After receiving the power limit message from the VCU, the corresponding modules can execute the corresponding power limit strategy, which may include controlling the vehicle to be in the OK position and limiting the power of Class II and Class III electrical appliances. When the low-voltage power supply system returns to normal, it can receive a message from the VCU with the low-voltage electrical appliance power limit flag bit "not 0x2", and can control the entire vehicle to exit the OK position. At this time, the corresponding low-voltage electrical appliance controller can exit the low-voltage power limit control.

[0105] It should be noted that after the left domain controller forwards the second-level power limit flag to the entire network, the corresponding modules execute the power limit policy regardless of the order in which they do so.

[0106] The vehicle control method of this invention, by determining the low-voltage power limit level when a fault is detected in the low-voltage power supply system and performing power limit control on low-voltage electrical appliances according to the low-voltage power limit level, can meet the time required for the vehicle in limp mode, and this power limit strategy based on the low-voltage power limit level effectively reduces the risks caused by a fault in the low-voltage power supply system.

[0107] Based on the above-described vehicle control method, the present invention also proposes a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described above.

[0108] Based on the above-described vehicle control method, this invention also proposes a vehicle controller, including a memory, a processor, and a computer program stored in the memory. When the computer program is executed by the processor, it implements the method described above.

[0109] Based on the above-described vehicle control method, the present invention also proposes a vehicle.

[0110] Figure 8 This is a schematic diagram of the structure of a vehicle according to an embodiment of the present invention. Figure 8 As shown, the vehicle 100 includes a vehicle controller 10, a low-voltage power supply system 20, and low-voltage electrical appliances 30.

[0111] The low-voltage power supply system 20 is used to supply power to the low-voltage electrical appliances 30, and the vehicle controller 10 is communicatively connected to both the low-voltage electrical appliances 30 and the low-voltage power supply system 20.

[0112] The medium, vehicle controller, and vehicle of this invention embodiment, using the above-described vehicle control method, can meet the time required for the vehicle in limp mode, and this power limiting strategy based on low-voltage power limiting level effectively reduces the risks caused by failures in the low-voltage power supply system.

[0113] It should be noted that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0114] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0115] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0116] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0117] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0118] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0119] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0120] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes low-voltage electrical appliances and a low-voltage power supply system, the low-voltage power supply system being used to supply power to the low-voltage electrical appliances, and the method comprising: When a fault is detected in the low-voltage power supply system, the target low-voltage electrical appliance that needs to be subject to power limiting control is identified. Power limiting control is applied to the target low-voltage electrical appliance; the power limiting control is to reduce the operating power of the target low-voltage electrical appliance. When a fault is detected in the low-voltage power supply system, the target low-voltage electrical appliances that require power limiting control include: When a fault is detected in the low-voltage power supply system, the fault type of the low-voltage power supply system is obtained; The low-voltage power limiting level is determined based on the fault type of the low-voltage power supply system. The target low-voltage electrical appliances that require power limiting control are determined based on the aforementioned low-voltage power limit level. The low-voltage power supply system includes a DC / DC power module and a starting-type iron-phosphate battery module. Determining the low-voltage power limiting level based on the fault type of the low-voltage power supply system includes: When the starting-type iron battery module fails, the low-voltage power limiting level is determined to be the first level; When the DC / DC power module fails, or when both the starting iron battery and the DC / DC power module fail, the low-voltage power limit level is determined to be the second level. When the low-voltage power limitation level is Level 2 and the starting iron battery is not faulty, the vehicle is controlled to enter limp mode. This involves determining the target low-voltage electrical appliance requiring power limitation control based on the low-voltage power limitation level, and then performing power limitation control on the target low-voltage electrical appliance. This includes: acquiring the state of charge (SOC) value of the starting iron battery and the operating power of each low-voltage electrical appliance; obtaining the current limp time of the vehicle based on the SOC value and the operating power; determining a target limp time based on the current limp time; identifying the target low-voltage electrical appliance requiring power limitation control from the currently operating low-voltage electrical appliances; and performing power limitation control on the target low-voltage electrical appliance based on the target limp time.

2. The vehicle control method according to claim 1, characterized in that, When the system receives a first fault message reported by the starting iron battery module or detects a loss of communication with the starting iron battery module for a first preset time, it is determined that the power supply of the starting iron battery has failed. When a second fault message is received from the DC / DC power module or when a loss of communication with the DC / DC power module is detected and continues for a second preset time, it is determined that the DC / DC power module has malfunctioned.

3. The vehicle control method according to claim 1, characterized in that, The low-voltage electrical appliances include Class I electrical appliances and Class II electrical appliances. The determination of the target low-voltage electrical appliances requiring power limiting control based on the low-voltage power limiting level includes: When the low-voltage power limiting level is the first level, the target low-voltage electrical appliance that needs to be subject to power limiting control is identified as the first type of electrical appliance; When the low-voltage power limiting level is the second level, the target low-voltage electrical appliances that need to be subject to power limiting control are identified as the first type of electrical appliances and the second type of electrical appliances.

4. The vehicle control method according to claim 1, characterized in that, in, The target low-voltage electrical appliances include at least one of the following: an electronic fan, a PM2.5 filter, a vehicle air conditioner, a charging device, and a seat ventilation and heating device.

5. The vehicle control method according to claim 4, characterized in that, The step of limiting the power of the target low-voltage electrical appliance based on the target limp time includes: Determine the power limit for each of the target low-voltage electrical appliances, wherein the power limit is the operating power when the target low-voltage electrical appliance is subjected to power limit control; Calculate the first limp time, wherein the first limp time is the limp time of the vehicle after power limiting control is applied to the target low-voltage electrical appliance according to the power limiting; When the first limp time is greater than or equal to the target limp time, the target low-voltage electrical appliance is subjected to power limiting control according to the power limiting; When the first limp time is less than the target limp time, at least one of the target low-voltage appliances' power limits is updated, and the step of calculating the first limp time is returned, wherein the updated power limit is less than the original power limit.

6. The vehicle control method according to claim 3, characterized in that, The first category of electrical appliances includes an electronic fan, and the second category of electrical appliances includes at least one of a PM2.5 filter, a vehicle air conditioner, a charging device, and a seat ventilation and heating device.

7. The vehicle control method according to any one of claims 4-6, characterized in that, When the low-voltage electrical appliance is an electronic fan, power limiting control of the low-voltage electrical appliance includes controlling the electronic fan to run at low speed or to turn it off; When the low-voltage electrical appliance is a vehicle air conditioner, power limiting control of the low-voltage electrical appliance includes controlling the fan speed of the vehicle air conditioner to be less than or equal to a preset speed, turning off the defrosting function, and turning off the auxiliary heating function, at least one of these. When the low-voltage electrical appliance is a seat ventilation and heating device, power limiting control of the low-voltage electrical appliance includes controlling the seat ventilation and heating device to turn off the heating function and / or turn off the ventilation function; When the low-voltage electrical appliance is a PM2.5 filter, power limiting control of the low-voltage electrical appliance includes controlling the PM2.5 filter to shut down; When the low-voltage electrical appliance is a charging device, power limiting control of the low-voltage electrical appliance includes controlling the charging device to shut down.

8. The vehicle control method according to claim 1, characterized in that, When the low-voltage power limit level is level two and the starting iron battery fails, the method further includes: Control the vehicle to enter the roadside parking mode.

9. The vehicle control method according to claim 1, characterized in that, The method further includes: When the vehicle is detected to have exited the OK position, or when the low-voltage power supply system returns to normal power supply, the power limiting control of the low-voltage electrical appliances is stopped.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 1-9.

11. A vehicle controller, comprising a memory, a processor, and a computer program stored in the memory, characterized in that, When the computer program is executed by the processor, it implements the method as described in any one of claims 1-9.

12. A vehicle, characterized in that, include: Low-voltage electrical appliances, low-voltage power supply system, and vehicle controller as described in claim 11, wherein, The low-voltage power supply system is used to supply power to the low-voltage electrical appliances, and the vehicle controller is communicatively connected to both the low-voltage electrical appliances and the low-voltage power supply system.

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