Control method and device of vehicle, readable storage medium and electronic equipment

Abstract

The application provides a control method and device of a vehicle, a readable storage medium and an electronic device, the method comprising: acquiring a vehicle system voltage in real time; acquiring a first voltage threshold and a second voltage threshold; in the case that the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, performing a corresponding target operation according to the running state of the vehicle at the current time, so that the vehicle does not stop working, and the vehicle not stopping working at least comprises that the vehicle does not power off and the vehicle does not stop charging; in the case that the vehicle system voltage is less than the second voltage threshold, controlling the vehicle to stop working according to the running state of the vehicle at the current time, and the vehicle stopping working at least comprises that the vehicle powers off, the vehicle stops charging and the vehicle stops powering on. The method sets two threshold voltages, so that the vehicle has a greater possibility of moving when the supply voltage is too low due to long-term storage or too low temperature, and the safety during driving and the user experience are improved.

Description

Technical Field

[0001] This application relates to the field of vehicle control, and more specifically, to a vehicle control method, a vehicle control device, a computer-readable storage medium, and an electronic device. Background Technology

[0002] The BMS (Battery Management System) relay is a crucial component of the battery management system, used to control the charging and discharging process of the battery. When the BMS relay is energized, it means that the battery management system is allowing current to flow through the relay, permitting the battery to charge or discharge. This is a vital step in the normal operation of the battery management system, ensuring that the battery can be charged and discharged in the predetermined manner to guarantee battery safety and performance.

[0003] In existing technologies, based on the activation and deactivation characteristics of relays, only a threshold voltage is set to control the power supply of the entire vehicle. The setting is relatively simple. However, if the power supply circuit has excessive line resistance due to aging, or if it has been idle for a long time, or if the low-voltage energy storage device cannot be guaranteed to be within the threshold range due to low temperature, the entire vehicle system will be unable to apply high voltage, resulting in poor vehicle stability and safety. Summary of the Invention

[0004] The main objective of this application is to provide a vehicle control method, a vehicle control device, a computer-readable storage medium, and an electronic device, so as to at least solve the problem that the prior art controls the power on and off of the entire vehicle by only using a threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety.

[0005] To achieve the above objectives, according to one aspect of this application, a vehicle control method is provided, comprising: acquiring vehicle system voltage in real time; acquiring a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold; when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, performing a corresponding target operation based on the vehicle's current operating state to ensure that the vehicle does not stop working, wherein ensuring the vehicle does not stop working includes at least: the vehicle not being powered off and the vehicle not stopping charging; and when the vehicle system voltage is less than the second voltage threshold, controlling the vehicle to stop working based on the vehicle's current operating state, wherein stopping the vehicle to stop working includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping power-on.

[0006] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed according to the vehicle's operating state at the current moment, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle's operating state is an off-power state, issuing a pre-power-on signal; upon receiving a successful power-on signal, adjusting the vehicle's maximum power output mode to limp mode, and sending a first fault signal to the vehicle controller, the first fault signal indicating that the vehicle system voltage is less than the first voltage threshold, the successful power-on signal being the signal issued by the vehicle after successfully powering on according to the pre-power-on signal; upon receiving a first power-off signal sent by the vehicle controller, controlling the vehicle to immediately power off, the first power-off signal being the power-off signal issued by the vehicle controller according to the first fault signal.

[0007] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed according to the vehicle's current operating state, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle's operating state is driving, determining a first preset multiple of the vehicle's current limited output power as the target limited output power; adjusting the current limited output power to the target limited output power, and sending a second fault signal to the vehicle controller, the second fault signal indicating that the vehicle system voltage is less than the first voltage threshold; and upon receiving a second power-down signal sent by the vehicle controller, controlling the vehicle to immediately power down, the second power-down signal being a power-down signal issued by the vehicle controller based on the second fault signal.

[0008] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed according to the vehicle's operating state at the current moment, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle's operating state is charging, determining a second preset multiple of the vehicle's current limit charging current as the target limit charging current; adjusting the current limit charging current to the target limit charging current, and controlling the vehicle to charge according to the target limit charging current.

[0009] Optionally, after adjusting the current charging current to the target charging current and controlling the vehicle to charge according to the target charging current, the method further includes: obtaining the actual charging time of the vehicle, the actual charging time being the true charging time of the vehicle charging according to the target charging current; controlling the vehicle to charge according to the current charging current when the actual charging time is less than a preset charging time and the vehicle system voltage is greater than the first voltage threshold at the current moment; and controlling the vehicle to stop charging when the actual charging time is equal to the preset charging time and the vehicle system voltage is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time.

[0010] Optionally, when the vehicle system voltage is less than the second voltage threshold, the vehicle is controlled to stop operating based on its current operating state, including: when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a power-off state, controlling the vehicle to stop powering on; when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a driving state, adjusting the vehicle's current limited output power to zero and controlling the vehicle to power off; and when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a charging state, controlling the vehicle to stop charging.

[0011] Optionally, obtaining the first voltage threshold and the second voltage threshold includes: obtaining the rated supply voltage of the vehicle; determining a third preset multiple of the rated supply voltage as the first voltage threshold; and determining a fourth preset multiple of the rated supply voltage as the second voltage threshold, wherein the third preset multiple is greater than the fourth preset multiple.

[0012] According to another aspect of this application, a vehicle control device is provided, comprising: a first acquisition unit for acquiring vehicle system voltage in real time; a second acquisition unit for acquiring a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold; an execution unit for executing a corresponding target operation based on the current operating state of the vehicle when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, so that the vehicle does not stop working, wherein the vehicle not stopping working includes at least: the vehicle not being powered off and the vehicle not stopping charging; and a control unit for controlling the vehicle to stop working based on the current operating state of the vehicle when the vehicle system voltage is less than the second voltage threshold, wherein the vehicle stopping working includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping powering on.

[0013] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the vehicle control methods described above.

[0014] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing any of the vehicle control methods described herein.

[0015] Applying the technical solution of this application, the above-mentioned vehicle control method first acquires the vehicle system voltage in real time; then acquires a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold; then, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, according to the vehicle's operating state at the current moment, the corresponding target operation is executed to ensure that the vehicle does not stop working, wherein ensuring the vehicle does not stop working includes at least: the vehicle not being powered off and the vehicle not stopping charging; finally, when the vehicle system voltage is less than the second voltage threshold, according to the vehicle's operating state at the current moment, the vehicle is controlled to stop working, wherein stopping the vehicle from working includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping powering on. This method sets two threshold voltages and adjusts the BMS power supply voltage threshold and processing behavior accordingly. This increases the likelihood of the vehicle moving when it has been idle for a long time or the temperature is too low, leading to a low power supply voltage. During driving, the possibility of the vehicle suddenly losing power due to a low power supply voltage is reduced, improving driving safety. During charging, charging will not stop immediately if the power supply voltage is too low, but will allow for a judgment time, improving the user experience. This method solves the problem of existing technologies that control the vehicle's power on and off using only a single threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A schematic flowchart of a vehicle control method according to an embodiment of this application is shown;

[0018] Figure 2 A schematic flowchart of another vehicle control method provided according to an embodiment of this application is shown;

[0019] Figure 3 A flowchart illustrating a vehicle control method provided in the prior art is shown;

[0020] Figure 4 A schematic flowchart of yet another vehicle control method provided according to an embodiment of this application is shown;

[0021] Figure 5 A structural block diagram of a vehicle control device according to an embodiment of this application is shown;

[0022] Figure 6 The structural block of another vehicle control device provided according to an embodiment of this application is shown. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] For ease of description, the following explains some of the nouns or terms used in the embodiments of this application:

[0027] Battery Management System (BMS)

[0028] Relay: A switching component in a power battery system used to control the on / off state of a circuit;

[0029] Engagement and disengagement: Closing and opening of the high-voltage circuit;

[0030] Pull-in force: The holding force of the internal contacts of the relay.

[0031] As described in the background section, existing technology sets the threshold for the low-voltage power supply U of the BMS to 0.75 times the rated supply voltage U0. A fault is triggered if the voltage falls below 0.75 times U0. If this fault is triggered before the power-on command is executed, the power-on command will not be allowed. If the fault is triggered during driving after power-on, the power is limited to 0%, meaning no further current output is allowed, and a request for high voltage is sent to the vehicle. If the fault is triggered during charging after power-on, the charging process will stop normally. The fault will automatically disengage when the supply voltage rises to 0.8 times the rated voltage U0. However, this existing threshold setting does not consider the various possibilities of the low-voltage power supply system. The setting is relatively simple, and if the power supply circuit experiences excessive line resistance due to aging, prolonged inactivity, or the low-voltage energy storage device cannot maintain the threshold range due to excessively low temperature, the entire vehicle system will be unable to access high voltage.

[0032] To address the problem that existing technologies, which control the power on and off of a vehicle using only a single threshold voltage, have limited application scenarios and result in poor vehicle stability and safety, embodiments of this application provide a vehicle control method, a vehicle control device, a computer-readable storage medium, and an electronic device.

[0033] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0034] This embodiment provides a vehicle control method that runs on a vehicle controller or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0035] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application. Figure 1 As shown, the method includes the following steps:

[0036] Step S101: Obtain the vehicle system voltage in real time;

[0037] Specifically, vehicle system voltage generally refers to the voltage required by the entire vehicle's electrical system. Generally, vehicle voltage varies depending on different systems and components. For example, most modern cars use a 12-volt voltage system for starting the engine, ignition system, lights, and other electronic devices. However, some newer electric or hybrid vehicles may use higher voltage systems, such as high-voltage batteries and electric drive systems, typically 200 volts or higher. The vehicle's voltage system is crucial for normal operation and performance, and therefore requires regular inspection and maintenance.

[0038] Step S102: Obtain a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold;

[0039] Specifically, the first voltage threshold can be 0.75 times the rated supply voltage, and the second voltage threshold can be 0.5 times the rated supply voltage. Generally, the rated supply voltage is 12V or 24V. The settings of the first and second voltage thresholds can be adjusted according to the actual application.

[0040] Due to the characteristics of relay products' activation and deactivation, relay products have a relatively high probability of activating under certain environments when the supply voltage is 0.5 to 0.75 times the rated voltage. However, once activated, even if the supply voltage drops to 0.5 times the rated voltage, there is still sufficient activation force to meet basic vibration and mechanical shock resistance requirements. Stable deactivation only occurs when the supply voltage drops to approximately 0.2 times the rated voltage. Therefore, setting a first and second voltage threshold increases the likelihood of vehicle movement when the supply voltage is too low due to prolonged vehicle idling or excessively low temperatures. During driving, the possibility of sudden loss of power due to low supply voltage is reduced, improving driving safety. Furthermore, during charging, charging will not immediately stop due to low supply voltage, allowing for a judgment time and improving the user experience.

[0041] Among them, such as Figure 2 As shown, obtaining the first voltage threshold and the second voltage threshold includes the following steps:

[0042] Step S1021: Obtain the rated power supply voltage of the vehicle.

[0043] Step S1022: The third preset multiple of the rated power supply voltage is determined as the first voltage threshold.

[0044] Step S1023: The fourth preset multiple of the rated power supply voltage is determined as the second voltage threshold, and the third preset multiple is greater than the fourth preset multiple.

[0045] Specifically, this increases the likelihood of moving the vehicle when it has been idle for a long time or when the power supply voltage is too low due to low temperature; it also reduces the possibility of the vehicle suddenly losing power due to low power supply voltage during driving, thus improving driving safety; and it does not immediately stop charging when the power supply voltage is too low, allowing for a judgment time, which improves the user experience.

[0046] The rated power supply voltage is typically 12V or 24V, the third preset multiplier is typically 0.75, and the fourth preset multiplier is typically 0.5. The settings for the third and fourth preset multipliers can be adjusted according to the actual application.

[0047] Step S103: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, perform the corresponding target operation according to the vehicle's current operating status to ensure that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging.

[0048] Specifically, when the vehicle system voltage drops below 0.75 times the rated voltage, a determination is made as to whether it exceeds 0.75 times the rated supply voltage, thus determining the final handling action. When the vehicle system voltage is between 0.5 and 0.75 times the rated supply voltage, an attempt to power on is allowed, and the vehicle enters limp mode to allow it to move. If a low voltage fault is triggered during driving, and the voltage is between 0.5 and 0.75 times the rated voltage, the output power will be limited to 50% of its original value to prevent the vehicle from losing power directly. If a low voltage fault is triggered during charging, and the voltage is between 0.5 and 0.75 times the rated voltage, the charging current will be limited, and charging will stop after a period of time, allowing time for judgment.

[0049] Specifically, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is performed based on the vehicle's current operating state, including the following steps:

[0050] Step S201: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in an off-power state, a pre-power-on signal is issued.

[0051] Step S202: Upon receiving a power-on success signal, the output mode of the maximum power limit of the vehicle is adjusted to limp mode, and a first fault signal is sent to the vehicle controller. The first fault signal indicates that the vehicle system voltage is less than the first voltage threshold. The power-on success signal is the signal sent by the vehicle after it has successfully powered on according to the pre-power-on signal.

[0052] Step S203: Upon receiving the first power-down signal sent by the vehicle controller, control the vehicle to immediately power down. The first power-down signal is the power-down signal issued by the vehicle controller based on the first fault signal.

[0053] Specifically, this makes it more likely that the vehicle can be moved when it has been parked for a long time or when the power supply voltage is too low due to low temperature.

[0054] Existing technology sets the threshold for low-voltage power supply U of the BMS to 0.75 times the rated supply voltage U0. A fault is triggered if the voltage falls below 0.75 times the rated supply voltage U0. If this fault is triggered before the power-on command is executed, the power-on command will not be allowed. This means that normal power-on is impossible when the vehicle has been idle for a long time or the temperature is too low, which would normally allow power-on. Existing technology ignores this possibility of power-on failure, reducing vehicle stability and user experience.

[0055] In some embodiments, when the BMS is powered on, it first checks whether the system voltage U is greater than or equal to 0.75 times the rated supply voltage U0. If it is, the power-on is completed normally, and the system waits for the next step. When the system voltage U is less than 0.75 times the rated supply voltage U0, it checks whether the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If the system voltage U is less than 0.5 times U0, the power-on is prohibited. If the system voltage U is greater than or equal to 0.5 times U0, the system attempts to power on. If the power-on is successful, the power limit is allowed to be in limp mode, and a fault of too low threshold is reported to the vehicle. If the vehicle requires to stop operation, the system will power off.

[0056] Specifically, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is performed based on the vehicle's current operating state, including the following steps:

[0057] Step S301: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in driving mode, the first preset multiple of the current limit output power of the vehicle is determined as the target limit output power.

[0058] Step S302: Adjust the current limited output power to the target limited output power, and send the second fault signal to the vehicle controller. The second fault signal indicates that the vehicle system voltage is less than the first voltage threshold.

[0059] Step S303: Upon receiving the second power-down signal sent by the vehicle controller, control the vehicle to immediately power down. The second power-down signal is the power-down signal issued by the vehicle controller based on the second fault signal.

[0060] Specifically, this reduces the likelihood of the vehicle suddenly losing power due to low supply voltage during driving, thus improving driving safety. The first preset multiplier can be 0.5 times.

[0061] In existing technology, after a low power supply voltage fault is triggered during vehicle operation following power-on, the power is limited to 0%, meaning that no further current output is allowed. At the same time, a request to reduce the voltage is sent to the vehicle. This causes the vehicle to shut down directly, reducing the safety of the vehicle during operation.

[0062] In some embodiments, during the driving process after the vehicle is powered on, if the system voltage U is detected to be less than 0.75 times the rated supply voltage U0, it is determined whether the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If it is less than 0.5 times U0, the output power is limited to 0%, and a power-down request is made simultaneously; if it is greater than or equal to 0.5 times U0, the output power is limited to 50%, and a fault of too low threshold is reported to the vehicle. If the vehicle requests to stop running, the power is turned off accordingly.

[0063] Specifically, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is performed based on the vehicle's current operating state, including the following steps:

[0064] Step S401: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a charging state, the second preset multiple of the current limit charging current of the vehicle is determined as the target limit charging current.

[0065] Step S402: Adjust the current charging current to the target charging current, and control the vehicle to charge according to the target charging current.

[0066] Specifically, this design prevents charging from stopping immediately if the supply voltage is too low during the charging process, allowing for a judgment time and improving the user experience. The second preset multiplier can be 0.5x.

[0067] In existing technology, if a low supply voltage fault is triggered during the charging process after power-on, the charging process will normally stop. The fault will automatically resolve itself when the supply voltage rises to 0.8 times the rated voltage U0. This results in a lower user experience.

[0068] In some embodiments, during the charging process after the vehicle is powered on, if the system voltage U is detected to be less than 0.75 times the rated supply voltage U0, it is determined whether the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If it is less than 0.5 times U0, charging is stopped according to the standard charging procedure; if it is greater than or equal to 0.5 times U0, the charging current is limited to 50%, and after a period of time, charging is stopped according to the standard charging procedure.

[0069] The method further includes the following steps after adjusting the current charging current limit to the target charging current limit and controlling the vehicle to charge according to the target charging current limit:

[0070] Step S501: Obtain the actual charging time of the vehicle. The actual charging time is the real charging time of the vehicle when it is charged according to the target charging current.

[0071] Step S502: When the actual charging time is less than the preset charging time and the vehicle system voltage is greater than the first voltage threshold at the current moment, control the vehicle to charge according to the current limited charging current.

[0072] Step S503: If the actual charging time is equal to the preset charging time, and the vehicle system voltage of the vehicle is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time, control the vehicle to stop charging.

[0073] Specifically, this allows for a decision-making time, preventing immediate stopping of charging. Instead, it reduces the charging current and stops charging after a preset charging time buffer, improving the user experience. The preset charging time can be 3 to 5 minutes, and the specific setting can be adjusted according to the actual application.

[0074] The preset charging time is not a fixed value. If the low-voltage system can be charged synchronously by DC / DC during the charging process, the low-voltage supply voltage will reach the normal level after a period of time, the fault will disappear, the charging current will not be limited, and the vehicle will be charged normally. If the low-voltage system cannot be charged synchronously during the charging process, the low-voltage system will consume power and the voltage will drop after a period of time. When the supply voltage is lower than 0.5 times U0, the charging will stop according to the procedure.

[0075] Step S104: When the vehicle system voltage is less than the second voltage threshold, control the vehicle to stop working according to the current operating status of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped powering on.

[0076] Specifically, when the vehicle system voltage is lower than the second voltage threshold mentioned above, it is determined that the vehicle relay cannot be stably engaged. At this time, it is necessary to control the vehicle to stop working in order to ensure the safety of the vehicle system.

[0077] The activation and deactivation characteristics of a relay depend on its operating principle and internal structure. Generally, the activation and deactivation characteristics of a relay can be described in the following aspects:

[0078] 1. Pull-in characteristics: When voltage or current is applied to the control terminal of the relay, the electromagnetic coil generates a magnetic field, attracting the contacts to close, thereby switching the relay to the working state. Pull-in characteristics typically include pull-in time, pull-in voltage / current, and stability of the pull-in action.

[0079] 2. Disconnection Characteristics: When the voltage or current is disconnected from the control terminal of the relay, the magnetic field of the electromagnetic coil disappears, the contacts open, and the relay switches to a non-operating state. Disconnection characteristics include disconnection time, disconnection voltage / current, and stability of the disconnection action.

[0080] 3. Contact elasticity: The contact elasticity of a relay's contacts during the closing and opening processes has a significant impact on its performance and lifespan. A high-quality relay should have good contact elasticity, enabling it to maintain a stable contact state during long-term use.

[0081] 4. Vibration and interference resistance: The relay needs to have a certain degree of vibration and interference resistance during the activation and deactivation process to ensure stable operation and accurate action.

[0082] In summary, the activation and deactivation characteristics of a relay play a crucial role in its stability, reliability, and performance within a circuit.

[0083] The activation and deactivation characteristics of a relay in a vehicle refer to the operating state and characteristics of the relay under specific conditions.

[0084] 1. Pull-in characteristic: When the control voltage of the intermediate relay reaches the set value, the pull-in characteristic of the intermediate relay is manifested by the electromagnet being pulled in, causing the contacts to close, thereby realizing the circuit switching.

[0085] 2. Disconnection characteristics: When the control voltage of the intermediate relay is lower than the set value, the disconnection characteristics of the intermediate relay are manifested as the electromagnet disconnecting, the contacts opening, and the circuit being disconnected.

[0086] In general, the activation and deactivation characteristics of a relay depend on the magnitude and set value of the control voltage, as well as the working principle of the electromagnet and the design of the contacts.

[0087] Specifically, when the vehicle system voltage is lower than the second voltage threshold, the vehicle is controlled to stop operating based on its current operating status, including the following steps:

[0088] Step S1041: When the vehicle system voltage is less than the second voltage threshold and the vehicle is in an off-power state, control the vehicle to stop powering on.

[0089] Step S1042: When the vehicle system voltage is less than the second voltage threshold and the vehicle is in driving mode, adjust the current limit output power of the vehicle to zero and control the vehicle to power down.

[0090] Step S1043: When the vehicle system voltage is less than the second voltage threshold and the vehicle is in a charging state, control the vehicle to stop charging.

[0091] Specifically, when the vehicle system voltage is lower than the second voltage threshold mentioned above, it is determined that the vehicle relay cannot be stably engaged. At this time, controlling the vehicle to stop working can ensure the safety of the vehicle system.

[0092] The vehicle control method described in this application first acquires the vehicle system voltage in real time; then acquires a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold; then, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, performs a corresponding target operation based on the vehicle's current operating state to ensure that the vehicle does not stop working, wherein ensuring the vehicle does not stop working includes at least: the vehicle not being powered off and the vehicle not stopping charging; finally, when the vehicle system voltage is less than the second voltage threshold, controls the vehicle to stop working based on the vehicle's current operating state, wherein stopping the vehicle to work includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping powering on. This method sets two threshold voltages and adjusts the BMS power supply voltage threshold and processing behavior accordingly. This increases the likelihood of the vehicle moving when it has been idle for a long time or the temperature is too low, leading to a low power supply voltage. During driving, the possibility of the vehicle suddenly losing power due to a low power supply voltage is reduced, improving driving safety. During charging, charging will not stop immediately if the power supply voltage is too low, but will allow for a judgment time, improving the user experience. This method solves the problem of existing technologies that control the vehicle's power on and off using only a single threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety.

[0093] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the vehicle control method of this application will be described in detail below with reference to specific embodiments.

[0094] first, Figure 3 A flowchart illustrating a vehicle control method provided in the prior art, such as... Figure 3As shown, the existing technology sets the threshold for the low-voltage power supply U of the BMS to 0.75 times the rated supply voltage U0. A fault is triggered if the voltage drops below 0.75 times the rated supply voltage U0. If this fault is triggered before the power-on command is executed, the power-on command will not be allowed to be executed. If this fault is triggered during vehicle operation after power-on, the power is limited to 0%, meaning no further current output is allowed, and a request for lower voltage is sent to the vehicle. If this fault is triggered during the charging process after power-on, the charging process will stop normally. The fault will automatically disengage when the supply voltage rises to 0.8 times the rated voltage U0.

[0095] The existing threshold setting does not take into account the various possibilities of the low-voltage power supply system. The setting is relatively simple. When the power supply circuit has excessive line resistance due to aging, or has been idle for a long time, or when the low-voltage energy storage device cannot be guaranteed to be within the threshold range due to low temperature, the whole vehicle system will not be able to connect to high voltage.

[0096] This embodiment relates to a specific vehicle control method, such as... Figure 4 As shown, it includes the following steps:

[0097] Step S1: When the BMS is powered on, first check if the system voltage U is greater than or equal to 0.75 times the rated supply voltage U0. If it is, the power-on is completed normally, and the next operation is awaited. When the system voltage U is less than 0.75 times the rated supply voltage U0, check if the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If it is less than 0.5 times U0, the power-on is prohibited. If it is greater than or equal to 0.5 times U0, the power-on is attempted. If the power-on is successful, the power limit is allowed to be in limp mode, and a fault of too low threshold is reported to the vehicle. If the vehicle requires to stop operation, the power is shut down.

[0098] Step S2: During the driving process after the vehicle is powered on, if the system voltage U is detected to be less than 0.75 times the rated supply voltage U0, determine whether the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If it is less than 0.5 times U0, limit the output power to 0% and request power down simultaneously; if it is greater than or equal to 0.5 times U0, limit the output power to 50% and report a fault of too low threshold to the vehicle. If the vehicle requests to stop running, then cooperate in powering down.

[0099] Step S3: During the charging process after the vehicle is powered on, if the system voltage U is detected to be less than 0.75 times the rated supply voltage U0, determine whether the system voltage U is greater than or equal to 0.5 times the rated supply voltage U0. If it is less than 0.5 times U0, stop charging according to the procedure; if it is greater than or equal to 0.5 times U0, limit the charging current to 50%, and stop charging according to the procedure after a period of time.

[0100] In the above embodiments, by lowering the BMS power supply voltage threshold and processing actions, the likelihood of the vehicle moving is increased when the power supply voltage is too low due to prolonged vehicle parking or low temperature. During driving, the possibility of the vehicle suddenly losing power due to low power supply voltage is reduced, improving driving safety. During the charging process, charging will not stop immediately due to low power supply voltage, but will have a judgment time, improving the user experience.

[0101] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0102] This application also provides a vehicle control device. It should be noted that the vehicle control device of this application can be used to execute the vehicle control method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0103] The following describes the vehicle control device provided in the embodiments of this application.

[0104] Figure 5 This is a schematic diagram of a vehicle control device according to an embodiment of this application. Figure 5 As shown, the device includes a first acquisition unit 10, a second acquisition unit 20, an execution unit 30, and a control unit 40. The first acquisition unit 10 is used to acquire the vehicle system voltage in real time. The second acquisition unit 20 is used to acquire a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold. The execution unit 30 is used to perform a corresponding target operation based on the current operating state of the vehicle when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, so that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle not being powered off and the vehicle not stopping charging. The control unit 40 is used to control the vehicle to stop working when the vehicle system voltage is less than the second voltage threshold, based on the current operating state of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping powering on.

[0105] The vehicle control device of this application includes a first acquisition unit, a second acquisition unit, an execution unit, and a control unit. The first acquisition unit is used to acquire the vehicle system voltage in real time. The second acquisition unit is used to acquire a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold. The execution unit is used to execute a corresponding target operation based on the current operating state of the vehicle when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, so that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle not being powered off and the vehicle not stopping charging. The control unit is used to control the vehicle to stop working when the vehicle system voltage is less than the second voltage threshold, based on the current operating state of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle stopping charging, and the vehicle stopping powering on. This device sets two threshold voltages to adjust the BMS power supply voltage threshold and processing method. This increases the likelihood of the vehicle moving when it has been idle for a long time or the temperature is too low, resulting in a low power supply voltage. During driving, the possibility of the vehicle suddenly losing power due to a low power supply voltage is reduced, improving driving safety. During charging, charging will not stop immediately if the power supply voltage is too low, but will allow for a judgment time, improving the user experience. This solves the problem of existing technologies that control the power supply of the entire vehicle with only a single threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety.

[0106] In some optional instances, such as Figure 6 As shown, the execution unit includes a first processing module 31, a first adjustment module 32, and a first control module 33. The first processing module 31 is used to issue a pre-power-on signal when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in an off-power state. The first adjustment module 32 is used to adjust the output mode of the vehicle's maximum power limit to limp mode upon receiving a successful power-on signal, and to send a first fault signal to the vehicle controller. The first fault signal indicates that the vehicle system voltage is less than the first voltage threshold. The successful power-on signal is the signal issued by the vehicle after successfully powering on according to the pre-power-on signal. The first control module 33 is used to control the vehicle to immediately power off upon receiving a first power-off signal from the vehicle controller. The first power-off signal is the power-off signal issued by the vehicle controller based on the first fault signal. This increases the likelihood of the vehicle moving when it has been idle for a long time or when the supply voltage is too low due to low temperature.

[0107] In some optional examples, the execution unit includes a first determining module, a sending module, and a second control module. The first determining module is used to determine a first preset multiple of the current limited output power of the vehicle as the target limited output power when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a driving state. The sending module is used to adjust the current limited output power to the target limited output power and send a second fault signal to the vehicle controller, the second fault signal indicating that the vehicle system voltage is less than the first voltage threshold. The second control module is used to control the vehicle to immediately power down upon receiving a second power-down signal from the vehicle controller, the second power-down signal being a power-down signal issued by the vehicle controller based on the second fault signal. This reduces the possibility of the vehicle suddenly losing power due to excessively low supply voltage during driving, improving driving safety.

[0108] In this embodiment, the execution unit includes a second determining module and a third control module. The second determining module is used to determine a second preset multiple of the current limiting charging current of the vehicle as the target limiting charging current when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a charging state. The third control module is used to adjust the current limiting charging current to the target limiting charging current and control the vehicle to charge according to the target limiting charging current. This way, charging will not immediately stop due to low supply voltage during the charging process, allowing for a judgment time and improving the user experience.

[0109] In some optional embodiments, the above-mentioned device further includes a first acquisition module, a fourth control module, and a fifth control module. The first acquisition module is used to acquire the actual charging time of the vehicle after adjusting the current charging current to the target charging current and controlling the vehicle to charge according to the target charging current. The actual charging time is the true charging time of the vehicle charging according to the target charging current. The fourth control module is used to control the vehicle to charge according to the current charging current when the actual charging time is less than a preset charging time and the vehicle system voltage is greater than the first voltage threshold at the current moment. The fifth control module is used to control the vehicle to stop charging when the actual charging time is equal to the preset charging time and the vehicle system voltage is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time. This allows for a judgment time, preventing immediate stopping of charging, but only reducing the charging current and stopping charging after a preset charging time buffer, thus improving the user experience.

[0110] In one optional embodiment, the control unit includes a first control subunit, a second control subunit, and a third control subunit. The first control subunit is used to control the vehicle to stop powering on when the vehicle system voltage is lower than the second voltage threshold and the vehicle is in a de-energized state. The second control subunit is used to adjust the current output power of the vehicle to zero and control the vehicle to power off when the vehicle system voltage is lower than the second voltage threshold and the vehicle is in a driving state. The third control subunit is used to control the vehicle to stop charging when the vehicle system voltage is lower than the second voltage threshold and the vehicle is in a charging state. When the vehicle system voltage is lower than the second voltage threshold, it is determined that the vehicle relay cannot stably engage. Controlling the vehicle to stop operating at this time ensures the safety of the vehicle system.

[0111] As an optional solution, the second acquisition unit includes an acquisition subunit, a first determination subunit, and a second determination subunit. The acquisition subunit is used to acquire the rated supply voltage of the vehicle. The first determination subunit is used to determine a third preset multiple of the rated supply voltage as the first voltage threshold. The second determination subunit is used to determine a fourth preset multiple of the rated supply voltage as the second voltage threshold, wherein the third preset multiple is greater than the fourth preset multiple. This increases the likelihood of the vehicle moving when it has been idle for a long time or when the supply voltage is too low due to low temperature. It also reduces the possibility of the vehicle suddenly losing power due to low supply voltage during driving, improving driving safety. Furthermore, it allows for a judgment time during charging, preventing immediate stoppage of charging due to low supply voltage, thus improving the user experience.

[0112] The control device for the aforementioned vehicle includes a processor and a memory. The first acquisition unit and other components are stored as program units in the memory, and the processor executes these program units to perform the corresponding functions. All of the aforementioned modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0113] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured. By adjusting kernel parameters, the problem of limited application scenarios and poor vehicle stability and safety caused by controlling the vehicle's power on and off using only a single threshold voltage in existing technologies can be addressed.

[0114] The memory may include non-permanent memory in computer-readable media, such as 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.

[0115] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle control method.

[0116] Specifically, the vehicle control methods include:

[0117] Step S101: Obtain the vehicle system voltage in real time;

[0118] Specifically, vehicle system voltage generally refers to the voltage required by the entire vehicle's electrical system. Generally, vehicle voltage varies depending on different systems and components. For example, most modern cars use a 12-volt voltage system for starting the engine, ignition system, lights, and other electronic devices. However, some newer electric or hybrid vehicles may use higher voltage systems, such as high-voltage batteries and electric drive systems, typically 200 volts or higher. The vehicle's voltage system is crucial for normal operation and performance, and therefore requires regular inspection and maintenance.

[0119] Step S102: Obtain a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold;

[0120] Specifically, the first voltage threshold can be 0.75 times the rated supply voltage, and the second voltage threshold can be 0.5 times the rated supply voltage. Generally, the rated supply voltage is 12V or 24V. The settings of the first and second voltage thresholds can be adjusted according to the actual application.

[0121] Step S103: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, perform the corresponding target operation according to the vehicle's current operating status to ensure that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging.

[0122] Specifically, when the vehicle system voltage drops below 0.75 times the rated voltage, a determination is made as to whether it exceeds 0.75 times the rated supply voltage, thus determining the final handling action. When the vehicle system voltage is between 0.5 and 0.75 times the rated supply voltage, an attempt to power on is allowed, and the vehicle enters limp mode to allow it to move. If a low voltage fault is triggered during driving, and the voltage is between 0.5 and 0.75 times the rated voltage, the output power will be limited to 50% of its original value to prevent the vehicle from losing power directly. If a low voltage fault is triggered during charging, and the voltage is between 0.5 and 0.75 times the rated voltage, the charging current will be limited, and charging will stop after a period of time, allowing time for judgment.

[0123] Step S104: When the vehicle system voltage is less than the second voltage threshold, control the vehicle to stop working according to the current operating status of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped powering on.

[0124] Specifically, when the vehicle system voltage is lower than the second voltage threshold mentioned above, it is determined that the vehicle relay cannot be stably engaged. At this time, it is necessary to control the vehicle to stop working in order to ensure the safety of the vehicle system.

[0125] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, the corresponding target operation is performed according to the vehicle's current operating state, including: issuing a pre-power-on signal when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle's operating state is an off-power state; upon receiving a successful power-on signal, adjusting the vehicle's maximum power output mode to limp mode, and sending a first fault signal to the vehicle controller, wherein the first fault signal indicates that the vehicle system voltage is less than the first voltage threshold, and the successful power-on signal is the signal issued by the vehicle after successfully powering on according to the pre-power-on signal; and upon receiving a first power-off signal sent by the vehicle controller, controlling the vehicle to immediately power off, wherein the first power-off signal is the power-off signal issued by the vehicle controller according to the first fault signal.

[0126] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed based on the vehicle's current operating state, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a driving state, determining a first preset multiple of the vehicle's current limited output power as the target limited output power; adjusting the current limited output power to the target limited output power, and sending a second fault signal to the vehicle controller, the second fault signal indicating that the vehicle system voltage is less than the first voltage threshold; and upon receiving a second power-down signal from the vehicle controller, controlling the vehicle to immediately power down, the second power-down signal being a power-down signal issued by the vehicle controller based on the second fault signal.

[0127] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed based on the vehicle's current operating state, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a charging state, determining a second preset multiple of the vehicle's current limiting charging current as a target limiting charging current; adjusting the current limiting charging current to the target limiting charging current; and controlling the vehicle to charge according to the target limiting charging current.

[0128] Optionally, after adjusting the current charging current to the target charging current and controlling the vehicle to charge according to the target charging current, the method further includes: obtaining the actual charging time of the vehicle, wherein the actual charging time is the true charging time of the vehicle charging according to the target charging current; controlling the vehicle to charge according to the current charging current when the actual charging time is less than a preset charging time and the vehicle system voltage is greater than the first voltage threshold at the current moment; and controlling the vehicle to stop charging when the actual charging time is equal to the preset charging time and the vehicle system voltage is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time.

[0129] Optionally, when the vehicle system voltage is less than the second voltage threshold, the vehicle is controlled to stop operating based on its current operating state, including: controlling the vehicle to stop powering on when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a non-powered state; adjusting the current limited output power of the vehicle to zero and controlling the vehicle to power off when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a driving state; and controlling the vehicle to stop charging when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a charging state.

[0130] Optionally, obtaining the first voltage threshold and the second voltage threshold includes: obtaining the rated supply voltage of the vehicle; determining a third preset multiple of the rated supply voltage as the first voltage threshold; and determining a fourth preset multiple of the rated supply voltage as the second voltage threshold, wherein the third preset multiple is greater than the fourth preset multiple.

[0131] This invention provides a processor for running a program, wherein the program executes the vehicle control method during runtime.

[0132] Specifically, the vehicle control methods include:

[0133] Step S101: Obtain the vehicle system voltage in real time;

[0134] Specifically, vehicle system voltage generally refers to the voltage required by the entire vehicle's electrical system. Generally, vehicle voltage varies depending on different systems and components. For example, most modern cars use a 12-volt voltage system for starting the engine, ignition system, lights, and other electronic devices. However, some newer electric or hybrid vehicles may use higher voltage systems, such as high-voltage batteries and electric drive systems, typically 200 volts or higher. The vehicle's voltage system is crucial for normal operation and performance, and therefore requires regular inspection and maintenance.

[0135] Step S102: Obtain a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold;

[0136] Specifically, the first voltage threshold can be 0.75 times the rated supply voltage, and the second voltage threshold can be 0.5 times the rated supply voltage. Generally, the rated supply voltage is 12V or 24V. The settings of the first and second voltage thresholds can be adjusted according to the actual application.

[0137] Step S103: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, perform the corresponding target operation according to the vehicle's current operating status to ensure that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging.

[0138] Specifically, when the vehicle system voltage drops below 0.75 times the rated voltage, a determination is made as to whether it exceeds 0.75 times the rated supply voltage, thus determining the final handling action. When the vehicle system voltage is between 0.5 and 0.75 times the rated supply voltage, an attempt to power on is allowed, and the vehicle enters limp mode to allow it to move. If a low voltage fault is triggered during driving, and the voltage is between 0.5 and 0.75 times the rated voltage, the output power will be limited to 50% of its original value to prevent the vehicle from losing power directly. If a low voltage fault is triggered during charging, and the voltage is between 0.5 and 0.75 times the rated voltage, the charging current will be limited, and charging will stop after a period of time, allowing time for judgment.

[0139] Step S104: When the vehicle system voltage is less than the second voltage threshold, control the vehicle to stop working according to the current operating status of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped powering on.

[0140] Specifically, when the vehicle system voltage is lower than the second voltage threshold mentioned above, it is determined that the vehicle relay cannot be stably engaged. At this time, it is necessary to control the vehicle to stop working in order to ensure the safety of the vehicle system.

[0141] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, the corresponding target operation is performed according to the vehicle's current operating state, including: issuing a pre-power-on signal when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle's operating state is an off-power state; upon receiving a successful power-on signal, adjusting the vehicle's maximum power output mode to limp mode, and sending a first fault signal to the vehicle controller, wherein the first fault signal indicates that the vehicle system voltage is less than the first voltage threshold, and the successful power-on signal is the signal issued by the vehicle after successfully powering on according to the pre-power-on signal; and upon receiving a first power-off signal sent by the vehicle controller, controlling the vehicle to immediately power off, wherein the first power-off signal is the power-off signal issued by the vehicle controller according to the first fault signal.

[0142] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed based on the vehicle's current operating state, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a driving state, determining a first preset multiple of the vehicle's current limited output power as the target limited output power; adjusting the current limited output power to the target limited output power, and sending a second fault signal to the vehicle controller, the second fault signal indicating that the vehicle system voltage is less than the first voltage threshold; and upon receiving a second power-down signal from the vehicle controller, controlling the vehicle to immediately power down, the second power-down signal being a power-down signal issued by the vehicle controller based on the second fault signal.

[0143] Optionally, when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, a corresponding target operation is performed based on the vehicle's current operating state, including: when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a charging state, determining a second preset multiple of the vehicle's current limiting charging current as a target limiting charging current; adjusting the current limiting charging current to the target limiting charging current; and controlling the vehicle to charge according to the target limiting charging current.

[0144] Optionally, after adjusting the current charging current to the target charging current and controlling the vehicle to charge according to the target charging current, the method further includes: obtaining the actual charging time of the vehicle, wherein the actual charging time is the true charging time of the vehicle charging according to the target charging current; controlling the vehicle to charge according to the current charging current when the actual charging time is less than a preset charging time and the vehicle system voltage is greater than the first voltage threshold at the current moment; and controlling the vehicle to stop charging when the actual charging time is equal to the preset charging time and the vehicle system voltage is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time.

[0145] Optionally, when the vehicle system voltage is less than the second voltage threshold, the vehicle is controlled to stop operating based on its current operating state, including: controlling the vehicle to stop powering on when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a non-powered state; adjusting the current limited output power of the vehicle to zero and controlling the vehicle to power off when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a driving state; and controlling the vehicle to stop charging when the vehicle system voltage is less than the second voltage threshold and the vehicle is in a charging state.

[0146] Optionally, obtaining the first voltage threshold and the second voltage threshold includes: obtaining the rated supply voltage of the vehicle; determining a third preset multiple of the rated supply voltage as the first voltage threshold; and determining a fourth preset multiple of the rated supply voltage as the second voltage threshold, wherein the third preset multiple is greater than the fourth preset multiple.

[0147] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0148] Step S101: Obtain the vehicle system voltage in real time;

[0149] Step S102: Obtain a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold;

[0150] Step S103: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, perform the corresponding target operation according to the vehicle's current operating status to ensure that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging.

[0151] Step S104: When the vehicle system voltage is less than the second voltage threshold, control the vehicle to stop working according to the current operating status of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped powering on.

[0152] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0153] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0154] Step S101: Obtain the vehicle system voltage in real time;

[0155] Step S102: Obtain a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold;

[0156] Step S103: When the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, perform the corresponding target operation according to the vehicle's current operating status to ensure that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging.

[0157] Step S104: When the vehicle system voltage is less than the second voltage threshold, control the vehicle to stop working according to the current operating status of the vehicle. The vehicle stopping working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped powering on.

[0158] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0159] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0160] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0161] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0162] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0163] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0164] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0165] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0166] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0167] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0168] 1) The vehicle control method of the present application firstly acquires the vehicle system voltage in real time; then acquires a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold; then, when the vehicle system voltage is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is executed according to the vehicle's operating state at the current moment, so that the vehicle does not stop working, wherein the vehicle does not stop working includes at least: the vehicle does not lose power and the vehicle does not stop charging; finally, when the vehicle system voltage is less than the second voltage threshold, the vehicle is controlled to stop working according to the vehicle's operating state at the current moment, wherein the vehicle stops working includes at least: the vehicle loses power, the vehicle stops charging, and the vehicle stops gaining power. This method sets two threshold voltages and adjusts the BMS power supply voltage threshold and processing behavior accordingly. This increases the likelihood of the vehicle moving when it has been idle for a long time or the temperature is too low, leading to a low power supply voltage. During driving, the possibility of the vehicle suddenly losing power due to a low power supply voltage is reduced, improving driving safety. During charging, charging will not stop immediately if the power supply voltage is too low, but will allow for a judgment time, improving the user experience. This method solves the problem of existing technologies that control the vehicle's power on and off using only a single threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety.

[0169] 2) The vehicle control device of the present application includes a first acquisition unit, a second acquisition unit, an execution unit, and a control unit. The first acquisition unit is used to acquire the vehicle system voltage in real time. The second acquisition unit is used to acquire a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold. The execution unit is used to perform a corresponding target operation according to the current operating state of the vehicle when the vehicle system voltage is less than the first voltage threshold and greater than or equal to the second voltage threshold, so that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not power off and the vehicle does not stop charging. The control unit is used to control the vehicle to stop working according to the current operating state of the vehicle when the vehicle system voltage is less than the second voltage threshold. The vehicle stopping working includes at least: the vehicle powering off, the vehicle stopping charging, and the vehicle stopping powering on. This device sets two threshold voltages to adjust the BMS power supply voltage threshold and processing method. This increases the likelihood of the vehicle moving when it has been idle for a long time or the temperature is too low, resulting in a low power supply voltage. During driving, the possibility of the vehicle suddenly losing power due to a low power supply voltage is reduced, improving driving safety. During charging, charging will not stop immediately if the power supply voltage is too low, but will allow for a judgment time, improving the user experience. This solves the problem of existing technologies that control the power supply of the entire vehicle with only a single threshold voltage, which limits the application scenarios and leads to poor vehicle stability and safety.

[0170] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method for controlling a vehicle, characterized in that, include: Real-time acquisition of the vehicle's low-voltage power supply system voltage; A first voltage threshold and a second voltage threshold are obtained, wherein the first voltage threshold is greater than the second voltage threshold; When the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, the corresponding target operation is performed according to the current operating status of the vehicle so that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging. When the voltage of the low-voltage power supply system is less than the second voltage threshold, the vehicle is controlled to stop working according to the current operating status of the vehicle. The stopping of the vehicle's work includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped being powered on. When the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, the corresponding target operation is executed according to the current operating state of the vehicle, including: when the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the operating state of the vehicle is not powered on, issuing a pre-power-on signal; upon receiving a successful power-on signal, adjusting the output mode of the vehicle's maximum power limit to limp mode, and sending a first fault signal to the vehicle controller, the first fault signal indicating that the voltage of the low-voltage power supply system is less than the first voltage threshold, the successful power-on signal being the signal issued by the vehicle after successfully powering on according to the pre-power-on signal; upon receiving a first power-off signal sent by the vehicle controller, controlling the vehicle to immediately power off, the first power-off signal being the power-off signal issued by the vehicle controller according to the first fault signal.

2. The control method according to claim 1, characterized in that, When the voltage of the low-voltage power supply system is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is performed according to the vehicle's current operating status, including: When the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in driving mode, the first preset multiple of the current limited output power of the vehicle is determined as the target limited output power. The current output power limit is adjusted to the target output power limit, and a second fault signal is sent to the vehicle controller. The second fault signal indicates that the voltage of the low-voltage power supply system is less than the first voltage threshold. Upon receiving a second power-down signal from the vehicle controller, the vehicle is immediately powered down. The second power-down signal is a power-down signal issued by the vehicle controller based on the second fault signal.

3. The control method according to claim 1, characterized in that, When the voltage of the low-voltage power supply system is less than the first voltage threshold but greater than or equal to the second voltage threshold, the corresponding target operation is performed according to the vehicle's current operating status, including: When the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a charging state, the second preset multiple of the current limit charging current of the vehicle is determined as the target limit charging current. The current charging current limit is adjusted to the target charging current limit, and the vehicle is controlled to charge according to the target charging current limit.

4. The control method according to claim 3, characterized in that, After adjusting the current charging current to the target charging current and controlling the vehicle to charge according to the target charging current, the method further includes: The actual charging time of the vehicle is obtained, and the actual charging time is the actual charging time of the vehicle when charging according to the target limit charging current; If the actual charging time is less than the preset charging time and the voltage of the low-voltage power supply system is greater than the first voltage threshold at the current moment, the vehicle is controlled to charge according to the current limited charging current. If the actual charging time is equal to the preset charging time, and the low-voltage power supply system voltage of the vehicle is always less than the first voltage threshold and greater than or equal to the second voltage threshold within the preset charging time, the vehicle is controlled to stop charging.

5. The control method according to any one of claims 1 to 4, characterized in that, When the voltage of the low-voltage power supply system is less than the second voltage threshold, the vehicle is controlled to stop operating based on its current operating status, including: If the voltage of the low-voltage power supply system is less than the second voltage threshold and the vehicle is in a non-powered state, control the vehicle to stop powering on. When the voltage of the low-voltage power supply system is less than the second voltage threshold and the vehicle is in driving mode, the current limited output power of the vehicle is adjusted to zero, and the vehicle is powered off. If the voltage of the low-voltage power supply system is less than the second voltage threshold and the vehicle is in a charging state, the vehicle is controlled to stop charging.

6. The control method according to any one of claims 1 to 4, characterized in that, Obtaining the first voltage threshold and the second voltage threshold includes: Obtain the rated power supply voltage of the vehicle; The third preset multiple of the rated power supply voltage is determined as the first voltage threshold; The fourth preset multiple of the rated power supply voltage is determined as the second voltage threshold, and the third preset multiple is greater than the fourth preset multiple.

7. A vehicle control device, characterized in that, include: The first acquisition unit is used to acquire the voltage of the vehicle's low-voltage power supply system in real time; The second acquisition unit is used to acquire a first voltage threshold and a second voltage threshold, wherein the first voltage threshold is greater than the second voltage threshold. An execution unit is configured to perform a corresponding target operation based on the current operating state of the vehicle when the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, so that the vehicle does not stop working. The vehicle not stopping working includes at least: the vehicle does not lose power and the vehicle does not stop charging. The control unit is used to control the vehicle to stop working according to the current operating status of the vehicle when the voltage of the low-voltage power supply system is less than the second voltage threshold. The stopping of the vehicle working includes at least: the vehicle being powered off, the vehicle being stopped charging, and the vehicle being stopped being powered on. The execution unit includes a first processing module, a first adjustment module, and a first control module. The first processing module is used to issue a pre-power-on signal when the voltage of the low-voltage power supply system is less than the first voltage threshold and greater than or equal to the second voltage threshold, and the vehicle is in a non-power-on state. The first adjustment module is used to adjust the output mode of the vehicle's maximum power limit to limp mode and send a first fault signal to the vehicle controller when a power-on success signal is received. The first fault signal indicates that the voltage of the low-voltage power supply system is less than the first voltage threshold. The power-on success signal is the signal issued by the vehicle after successfully powering on according to the pre-power-on signal. The first control module is used to control the vehicle to immediately power off when a first power-off signal is received from the vehicle controller. The first power-off signal is the power-off signal issued by the vehicle controller according to the first fault signal.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle control method according to any one of claims 1 to 6.

9. An electronic device, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including a method for performing a vehicle control method according to any one of claims 1 to 6.

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