Vehicle control method, device, vehicle-mounted equipment and vehicle

Abstract

The present invention relates to a vehicle control method, device, vehicle-mounted equipment and vehicle. The method obtains historical operating status data and current operating status data of the vehicle, determines the historical operating status of the vehicle and the current determination result of the reset of a whole vehicle controller based on the historical operating status data, and determines the current operating status of the vehicle based on the current operating status data. If the historical operating status is consistent with the current operating status and the current determination result is that a reset has occurred, the target object is restored and controlled according to the historical operating status data. The present invention avoids the problems of unsafe driving and equipment damage caused by forcibly controlling the target object to operate according to the historical operating status data when there is a sudden change in driving intention or abnormal change in vehicle status, abnormal change in the operating status of the target object, etc. during the reset of the whole vehicle controller.

Description

Technical Field

[0001] The present invention relates to the field of new energy vehicle control technology, and in particular to a vehicle control method, device, vehicle-mounted equipment and vehicle. Background Art

[0002] New energy vehicles are currently developing rapidly. Compared with traditional fuel vehicles, their electronic and electrical systems are more complex and have higher functional integration. The vehicle controller has functions such as electrical system management, component control, gear control, vehicle mode management, driver acceleration demand collection and demand torque arbitration.

[0003] After the vehicle is powered on, the vehicle jumps from the initialization state to the driving state. The status data such as "electrical system status", "system gear position" and "drivable state" must meet the jump conditions. At the same time, the status data such as "electrical system status", "system gear position" and "drivable state" must meet the driving conditions before the vehicle can drive.

[0004] Once the vehicle controller is reset due to random hardware failure or software operation error, the software will enter initialization and need to re-judge the conditions for entering the driving state. However, during the reset of the vehicle controller, other components except the vehicle controller are still in the vehicle operation state. If the vehicle is in the driving state, there will be a power interruption. If the vehicle is in the charging scenario, there will be a charging interruption. If the vehicle is in the discharging scenario, there will be a discharging interruption. If the vehicle is in the parking state, the accelerator pedal will not be able to drive. If the vehicle is in the intelligent driving scenario, there will be abnormal performances such as exiting the intelligent driving. Usually, it is necessary to optimize the vehicle controller hardware and underlying software (for example, the signal processing module) to avoid power interruptions caused by the reset of the vehicle controller during vehicle driving. However, the hardware reset cannot be completely solved. Therefore, how to ensure the drivability and safety of the vehicle during and after the reset of the vehicle controller is the current research direction.

[0005] For example, the Chinese invention patent "Control method and device of vehicle controller and vehicle control method and system" with authorization announcement number: CN105700419B discloses saving the driving parameters of the vehicle during driving. When the vehicle controller is initialized, the status of the saved driving parameters and the software operating mode parameters is judged. If the stored drivable parameters and the software operating mode parameters are both in a drivable state, it is judged as initialization after reset, and the vehicle controller is controlled to switch to the operating state before the reset occurs.

[0006] This patent can restore power output in principle when the vehicle controller is reset during driving, but there are the following problems: 1. After the reset, the solution does not determine the current operating status of other controllers, and directly switches to the operating status before the reset, which poses a risk of functional failure and controller damage; 2. Directly restoring to the state before the reset may cause driving problems such as vehicle jerking due to torque mutation; 3. It does not consider the scenario where the driver's driving intention changes after the reset when the vehicle controller resets for too long, resulting in driving safety issues; 4. It only saves the vehicle's driving status parameters, and the static vehicle use function cannot be restored when the vehicle controller is reset in the static vehicle use scenario; 5. It does not consider the impact of the low voltage on the input and output interfaces during the reset of the vehicle controller on the power supply of other controllers.

[0007] For another example, the Chinese invention patent "A reset and recovery method, device and vehicle controller" with publication number CN116674579A discloses that when the vehicle controller is initialized, the vehicle status information and the stored historical vehicle status information are obtained, and the historical vehicle status information is compared with the vehicle status information. If the historical vehicle status information is different from the vehicle status information, it is determined that the vehicle controller is abnormally reset, and the vehicle status is restored according to the historical vehicle status information.

[0008] This patent can restore power output in principle when the vehicle controller is reset during driving, but there are the following problems: 1. After the reset, the solution does not determine the current operating status of other controllers, and directly switches to the operating status before the reset, which poses a risk of functional failure and controller damage; 2. Directly restoring to the state before the reset may cause driving problems such as vehicle jerking due to torque mutation; 3. It does not consider the scenario where the driver's driving intention changes after the reset when the vehicle controller resets for too long, resulting in driving safety issues; 4. It only saves the vehicle's driving status parameters, and the static vehicle use function cannot be restored when the vehicle controller is reset in the static vehicle use scenario; 5. It does not consider the impact of the low voltage on the input and output interfaces during the reset of the vehicle controller on the power supply of other controllers.

[0009] For another example, in the Chinese invention patent with publication number: CN115891655A, and the invention name is "Power recovery method, device, terminal and storage medium for new energy vehicles", it is disclosed that during the duration of the current driving cycle, key variables are stored in a specific storage area in real time; when the VCU is reset and re-awakened and initialized, the stored target key variables are read; based on the target key variables, the working state of the vehicle when the reset occurs is judged; when it is judged that the vehicle is in a driving state, the communication waiting state is entered; if the communication is recognized to be restored, the actual state of the BMS relay is identified; when it is recognized that the BMS relay is in a closed state, the VCU is restored to a high voltage state; a command to enter a drivable state is sent to the VCU; a target gear switching command is sent to the VCU, and the target gear is the gear contained in the target key variable; the vehicle gear is switched to the target gear.

[0010] This patent can restore power output in principle when the vehicle controller is reset during driving, but there are the following problems: 1. After the reset, the solution does not determine the current operating status of other controllers, and directly switches to the operating status before the reset, which poses a risk of functional failure and controller damage; 2. Directly restoring to the state before the reset may cause driving problems such as vehicle jerking due to torque mutation; 3. It does not consider the scenario where the driver's driving intention changes after the reset when the vehicle controller resets for too long, resulting in driving safety issues; 4. It only saves the vehicle's driving status parameters, and the static vehicle use function cannot be restored when the vehicle controller is reset in the static vehicle use scenario; 5. It does not consider the impact of the low voltage on the input and output interfaces during the reset of the vehicle controller on the power supply of other controllers.

[0011] In summary, the current control method for resetting the vehicle controller has the following shortcomings: 1. Storage method: real-time storage affects the service life of non-volatile memory; 2. Storage content: only driving-related status and signals are stored, and the vehicle function in a stationary scene cannot be restored; 3. Determine reset: reset is determined only by the stored driving parameters. If the storage fails or the storage is wrong, the function will fail; 4. Recovery method: (1) After determining that a reset has occurred, it is directly restored to the state before the reset without determining the current operating state of other controllers, which poses a risk of functional failure and controller damage; (2) After the reset, the torque request is calculated based on the current driver's accelerator pedal opening, which may cause vehicle jerking due to a sudden change in the requested torque; (3) There is no limit on the reset time of the vehicle controller. If the reset time exceeds a certain time and the driver's driving intention changes after the reset, the state data before the reset is still used after the reset, which increases the driving safety problem; 5. Power retention: The vehicle controller does not maintain the power supply to the power supply interface of other controllers. During the reset, other controllers will be powered off and fail to function. Summary of the invention

[0012] In view of the above-mentioned shortcomings of the prior art, the present application provides a vehicle control method, device, vehicle-mounted equipment and vehicle to solve the above-mentioned technical problems.

[0013] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0014] According to one aspect of an embodiment of the present application, a vehicle control method is provided, the vehicle control method comprising: acquiring historical operating status data and current operating status data of the vehicle; determining the historical operating status of the vehicle and the current determination result of the reset of a vehicle controller based on the historical operating status data; and determining the current operating status of the vehicle based on the current operating status data; the historical operating status includes the operating status when the vehicle controller triggers a reset; if the historical operating status is consistent with the current operating status, and the current determination result is that a reset occurs, then restoring control is performed on a target object according to the historical operating status data, the target object comprising an external controller that performs signal interaction with the vehicle controller, and an internal module that performs signal interaction within the vehicle controller.

[0015] In one embodiment of the present application, if the historical operating status includes a driving status and a charging and discharging status, then based on the historical operating status data, the process of determining the historical operating status of the vehicle and the current determination result of the vehicle controller reset includes: if the historical operating status data satisfies the preset historical driving status determination conditions, then the historical operating status is determined to be the driving status, and the current determination result is determined to be a reset; the preset historical driving status determination conditions include historical gear determination conditions, historical mode determination conditions, and historical status determination conditions; if the historical operating status data satisfies the preset historical charging and discharging status determination conditions, then the historical operating status is determined to be the charging and discharging status, and the current determination result is determined to be a reset; the preset historical charging and discharging status determination conditions include historical status determination conditions, historical mode determination conditions, and historical flag determination conditions.

[0016] In one embodiment of the present application, if the current operating status data includes a driving status and a charging and discharging status, then based on the current operating status data, the process of determining the current operating status of the vehicle includes: if the current operating status data satisfies a preset current driving status determination condition, then the current operating status is determined to be the driving status; the preset current driving status determination condition includes a current mode determination condition, a current request determination condition, and a current status determination condition; if the current operating status data satisfies a preset current charging and discharging status determination condition, then the current operating status is determined to be the charging and discharging status; the preset current charging and discharging status determination condition includes a current mode determination condition, a current flag determination condition, and a current status determination condition.

[0017] In one embodiment of the present application, the process of performing recovery control on the target object according to the historical operating status data includes: sending the historical operating status data to the external controller, controlling the external controller to continue operating according to the historical operating status data, so as to achieve recovery control of the external controller; sending the historical operating status data to the internal module, controlling the internal module to jump to an operating state consistent with the historical operating status data, so as to achieve recovery control of the internal module; and when the internal module includes a demand torque analysis and torque coordination module, the demand torque analysis and torque coordination module obtains the current accelerator pedal opening, calculates the torque request value based on the current accelerator pedal opening, and performs output torque control according to the torque request value and the historical operating status data.

[0018] In one embodiment of the present application, before obtaining the historical operating status data and current operating status data of the vehicle, the vehicle control method includes: collecting the operating status data of the vehicle in real time; if the operating status data collected in real time changes, storing the changed operating status data until the vehicle controller triggers a reset; and using the latest stored operating status data as the historical operating status data.

[0019] In one embodiment of the present application, after the vehicle controller triggers reset, the vehicle control method includes: selecting target operating status data from the stored operating status data, the target operating status data including the latest valid operating status data; controlling the external controller to operate according to the target operating status data until the vehicle controller completes the reset.

[0020] In one embodiment of the present application, after the vehicle controller triggers reset, the vehicle control method includes: the vehicle controller supplies power to the external controller through a power supply maintenance module; if it is monitored that the vehicle controller completes the reset, the power supply interface of the external controller is switched from the connection interface of the power supply maintenance module to the input and output interface of the vehicle controller, so as to maintain the power supply to the external controller during the reset process of the vehicle controller.

[0021] In one embodiment of the present application, after the vehicle controller triggers a reset, the vehicle control method includes: if it is monitored that the vehicle controller completes the reset, then the reset duration of the vehicle controller is obtained; if the reset duration exceeds a preset duration threshold, then the historical operating status data and current operating status data of the vehicle are not obtained, and the target object is controlled to enter a fault state; if the reset duration does not exceed the preset duration threshold, then the process of obtaining the historical operating status data and current operating status data of the vehicle is entered.

[0022] In one embodiment of the present application, after the vehicle controller triggers reset, the vehicle control method includes: monitoring the reset process of the vehicle controller; if it is monitored that the vehicle controller has completed the reset, controlling the vehicle controller to power on and entering the process of obtaining the historical operating status data and current operating status data of the vehicle.

[0023] According to one aspect of an embodiment of the present application, a vehicle control device is provided, comprising: a data acquisition module for acquiring historical operating status data and current operating status data of the vehicle; a status determination module for determining the historical operating status of the vehicle and the current determination result of the reset of a vehicle controller based on the historical operating status data; and determining the current operating status of the vehicle based on the current operating status data; the historical operating status includes the operating status when the vehicle controller triggers a reset; an operation control module for restoring control of a target object according to the historical operating status data if the historical operating status is consistent with the current operating status and the current determination result is that a reset has occurred, the target object comprising an external controller that performs signal interaction with the vehicle controller, and an internal module that performs signal interaction within the vehicle controller.

[0024] According to one aspect of an embodiment of the present application, a vehicle-mounted device is provided, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the vehicle-mounted device implements the vehicle control method as described above.

[0025] According to one aspect of an embodiment of the present application, a vehicle is provided, the vehicle comprising the apparatus as described above or the vehicle-mounted equipment as described above.

[0026] Beneficial effects of the present invention: The present invention obtains the historical operating status data and current operating status data of the vehicle, determines the historical operating status of the vehicle and the current judgment result of the reset of the vehicle controller based on the historical operating status data, and determines the current operating status of the vehicle based on the current operating status data. If the historical operating status is consistent with the current operating status and the current judgment result is that a reset occurs, the target object is restored and controlled according to the historical operating status data. The above process can achieve that before and after the reset of the vehicle controller, when the historical operating status is consistent with the current operating status, the target object is controlled to operate according to the historical operating status data, thereby avoiding the situation that the driving intention suddenly changes or the vehicle state changes abnormally, the operating state of the target object changes abnormally, etc. during the reset of the vehicle controller, and the target object is forcibly controlled to operate according to the historical operating status data, which causes unsafe driving and equipment damage problems; in addition, when the vehicle controller completes the reset and is powered on, the current judgment result is used to further verify whether the vehicle controller is reset, thereby improving the accuracy of the judgment of the reset of the vehicle controller and reducing the probability of misjudgment.

[0027] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0029] Figure 1 is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application;

[0030] Figure 2 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present application;

[0031] Figure 3 is a schematic diagram of a recovery control system shown in an exemplary embodiment of the present application;

[0032] Figure 4 is a flow chart of a vehicle control method in a vehicle driving state shown in an exemplary embodiment of the present application;

[0033] Figure 5An exemplary embodiment of the present application shows a flow chart of a vehicle controller controlling a motor controller, a battery management system, and a thermal management system when the vehicle is in driving state;

[0034] Figure 6 is a flow chart of a vehicle control method under a vehicle charging and discharging state shown in an exemplary embodiment of the present application;

[0035] Figure 7 It is a flow chart showing a vehicle controller controlling a battery management system under a vehicle charging and discharging state, as shown in an exemplary embodiment of the present application;

[0036] Figure 8 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application;

[0037] Fig. 9 A schematic diagram of the structure of a computer system of a vehicle-mounted device suitable for implementing an embodiment of the present application is shown. DETAILED DESCRIPTION

[0038] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are only examples of devices and methods consistent with some aspects of the present application as detailed in the attached claims.

[0039] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0040] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0041] The term "multiple" as used in this application refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0042] The technical solution of the embodiment of the present application involves related technologies such as recovery control, which is specifically described by the following embodiments:

[0043] Figure 1 It is a schematic diagram of an exemplary system architecture shown in an exemplary embodiment of the present application.

[0044] Reference Figure 1 As shown, the system architecture may include a data storage device 101 and an on-board controller 102. The on-board controller 102 may be at least one of a desktop graphics processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. Relevant technicians may use the on-board controller 102 to determine the historical operating state of the vehicle and the current determination result of the vehicle controller reset based on the historical operating state data, and determine the current operating state of the vehicle based on the current operating state data. If the historical operating state is consistent with the current operating state, and the current determination result is that a reset occurs, the target object is restored and controlled according to the historical operating state data. The data storage device 101 is used to store the historical operating state data and the current operating state data of the vehicle. In this embodiment, the data storage device 101 uses a read-only memory (ROM) or a random access memory (RAM) to store the historical operating state data and the current operating state data of the vehicle, and provides them to the on-board controller 102 for processing.

[0045] Schematically, after acquiring the historical operating status data and current operating status data of the data storage device 101, the on-board controller 102 determines the historical operating status of the vehicle and the current determination result of the reset of the vehicle controller based on the historical operating status data, and determines the current operating status of the vehicle based on the current operating status data. If the historical operating status is consistent with the current operating status, and the current determination result is that a reset has occurred, the target object is restored and controlled according to the historical operating status data. The above process can achieve that before and after the reset of the vehicle controller, when the historical operating status is consistent with the current operating status, the target object is controlled to operate according to the historical operating status data, thereby avoiding the situation that the driving intention suddenly changes or the vehicle state changes abnormally, the operating state of the target object changes abnormally, etc. during the reset of the vehicle controller, and the target object is forcibly controlled to operate according to the historical operating status data, resulting in unsafe driving and equipment damage. In addition, when the vehicle controller completes the reset and is powered on, the current determination result is used to further verify whether the vehicle controller has been reset, thereby improving the accuracy of the judgment of the reset of the vehicle controller and reducing the probability of misjudgment.

[0046] It should be noted that the vehicle control method provided in the embodiment of the present application is generally executed by the vehicle-mounted controller 102 , and accordingly, the vehicle control device is generally arranged in the vehicle-mounted controller 102 .

[0047] The implementation details of the technical solution of the embodiment of the present application are described in detail below:

[0048] Figure 2 is a flow chart of a vehicle control method shown in an exemplary embodiment of the present application. The vehicle control method can be executed by a computing processing device. The computing processing device can be Figure 1 The vehicle controller 102 shown in FIG. Figure 2 As shown, the vehicle control method at least includes steps S210 to S230, which are described in detail as follows:

[0049] In step S210, historical running status data and current running status data of the vehicle are obtained.

[0050] In one embodiment of the present application, the historical operating status data includes the vehicle's historical driving status operating data and the vehicle's historical charging and discharging status operating data, and the current operating status data includes the vehicle's current driving status operating data and the vehicle's current charging and discharging status operating data.

[0051] In this embodiment, the vehicle's historical driving status operating data includes the historical electrical system status, historical system gear position, historical drivable status, historical motor controller operating mode, historical battery management system operating mode and historical thermal management system operating mode; the vehicle's historical charging and discharging status operating data includes the historical electrical system status, historical battery management system operating mode and historical vehicle charging and discharging permission flag; the vehicle's current driving status operating data includes the current motor controller operating mode, the current battery management system operating mode, gear shift request and brake pedal status; the vehicle's current charging and discharging status operating data includes the current battery management system operating mode, battery charging and discharging mode, battery charging and discharging status and permission to re-apply high voltage.

[0052] In this embodiment, the time for obtaining the historical operating status data and the current operating status data of the vehicle may be when the vehicle controller completes the reset and is powered on, or may be other times, which are not specifically limited here.

[0053] In step S220, the historical operating state of the vehicle and the current determination result of the vehicle controller reset are determined based on the historical operating state data; and the current operating state of the vehicle is determined based on the current operating state data.

[0054] In this embodiment, the historical operating state includes the operating state when the vehicle controller triggers reset. The historical operating state includes the driving state and the charging and discharging state.

[0055] In step S230, if the historical operating state is consistent with the current operating state, and the current determination result is that a reset has occurred, the target object is restored and controlled according to the historical operating state data.

[0056] In this embodiment, the target object includes an external controller that performs signal interaction with the vehicle controller, and an internal module that performs signal interaction inside the vehicle controller.

[0057] In this embodiment, it is possible to control the target object to operate according to the historical operating status data when the historical operating status is consistent with the current operating status before and after the vehicle controller is reset, thereby avoiding unsafe driving and equipment damage caused by forcibly controlling the target object to operate according to the historical operating status data due to sudden changes in driving intention or abnormal changes in vehicle status, abnormal changes in the operating status of the target object, etc. during the reset of the vehicle controller. In addition, when the vehicle controller is reset and powered on, the current judgment result is used to further verify whether the vehicle controller is reset, thereby improving the accuracy of the vehicle controller reset judgment and reducing the probability of misjudgment.

[0058] In one embodiment of the present application, if the historical operating state includes a driving state and a charging and discharging state, the process of determining the historical operating state of the vehicle and the current determination result of the vehicle controller reset based on the historical operating state data includes:

[0059] If the historical running state data meets the preset historical driving state determination condition, the historical running state is determined to be the driving state, and the current determination result is determined to be a reset.

[0060] In this embodiment, the preset historical driving state determination conditions include historical gear determination conditions, historical mode determination conditions, and historical state determination conditions.

[0061] In this embodiment, if the historical system gear is the drive gear, it is determined that the historical system gear meets the historical gear determination condition; if the historical motor controller working mode is the torque mode, it is determined that the historical motor controller working mode meets the historical mode determination condition; if the historical battery management system working mode is the activation mode, it is determined that the historical battery management system working mode meets the historical mode determination condition; if the historical thermal management system working mode is the activation mode, it is determined that the historical thermal management system working mode meets the historical mode determination condition; if the historical electrical system state is the activation state, it is determined that the historical electrical system state meets the historical state determination condition; if the historical drivable state is drivable, it is determined that the historical drivable state meets the historical state determination condition, thereby determining that the historical operating state is the driving state, and determining that the current determination result is a reset.

[0062] If the historical operation state data meets the preset historical charge and discharge state determination condition, the historical operation state is determined to be the charge and discharge state, and the current determination result is determined to be a reset.

[0063] In this embodiment, the charge and discharge state includes a charging state and a discharging state. The charging state is a gun-plugged charging state, and the discharging state is a gun-plugged discharging state.

[0064] In this embodiment, the preset historical charge and discharge state determination conditions include historical state determination conditions, historical mode determination conditions, and historical flag determination conditions.

[0065] In this embodiment, if the historical electrical system state is an activated state, then it is determined that the historical electrical system state meets the historical state determination conditions; if the historical battery management system operating mode is an activated mode, then it is determined that the historical battery management system operating mode meets the historical mode determination conditions; if the historical vehicle charging permission flag is to allow charging, then it is determined that the historical vehicle charging permission flag meets the historical flag determination conditions, thereby determining that the historical operating state is a charging state, and determining that the current determination result is that a reset has occurred.

[0066] In this embodiment, if the historical electrical system state is an activated state, it is determined that the historical electrical system state meets the historical state determination conditions; if the historical battery management system operating mode is an activated mode, it is determined that the historical battery management system operating mode meets the historical mode determination conditions; if the historical vehicle discharge permission flag is to allow discharge, it is determined that the historical vehicle discharge permission flag meets the historical flag determination conditions, thereby determining that the historical operating state is a discharge state, and determining that the current determination result is a reset.

[0067] In this embodiment, not only the vehicle's historical driving status operating data is recorded, but also the vehicle's historical charging and discharging status operating data can be recorded. After the vehicle controller is reset, the target object can be restored and controlled during the vehicle driving process or the vehicle charging process, avoiding the situation where the target object reset function fails in the vehicle charging scenario when only the vehicle's historical driving status operating data is recorded.

[0068] In an embodiment of the present application, if the current operating state data includes a driving state and a charging and discharging state, then based on the current operating state data, the process of determining the current operating state of the vehicle includes:

[0069] If the current running state data meets the preset current driving state determination condition, the current running state is determined to be the driving state.

[0070] In this embodiment, the preset current driving state determination condition includes a current mode determination condition, a current request determination condition, and a current state determination condition.

[0071] In this embodiment, if the current motor controller operating mode is the torque mode, it is determined that the current motor controller operating mode meets the current mode determination conditions; if the current battery management system operating mode is the activation mode, it is determined that the current battery management system operating mode meets the current mode determination conditions; if the gear shift request is no request, it is determined that the gear shift request meets the current request determination conditions; if the brake pedal state is not depressed, it is determined that the brake pedal state meets the current state determination conditions, thereby determining that the current operating state is the driving state.

[0072] If the current operating state data meets the preset current charge and discharge state determination condition, the current operating state is determined to be the charge and discharge state.

[0073] In this embodiment, the preset current charging state determination condition includes a current mode determination condition, a current flag position determination condition, and a current state determination condition.

[0074] In this embodiment, if the current battery management system operating mode is the activation mode, then it is determined that the current battery management system operating mode meets the current mode determination condition; if the battery charging mode is the DC charging mode or the AC charging mode, then it is determined that the battery charging mode meets the current mode determination condition; if the battery charging state is charging, then it is determined that the battery charging state meets the current state determination condition; if the high voltage flag bit is allowed to be re-uploaded, then it is determined that the high voltage flag bit is allowed to be re-uploaded to meet the current flag bit determination condition, thereby determining that the current operating state is the charging state.

[0075] In this embodiment, if the current battery management system operating mode is the activation mode, then it is determined that the current battery management system operating mode meets the current mode determination condition; if the battery discharge mode is the DC discharge mode or the AC discharge mode, then it is determined that the battery discharge mode meets the current mode determination condition; if the battery discharge state is discharging, then it is determined that the battery discharge state meets the current state determination condition; if the high voltage flag bit is allowed to be re-updated, then it is determined that the high voltage flag bit is allowed to be re-updated to meet the current flag bit determination condition, thereby determining that the current operating state is the discharge state.

[0076] In an embodiment of the present application, the process of performing recovery control on the target object according to the historical operation status data includes:

[0077] The historical operation status data is sent to the external controller, and the external controller is controlled to continue to operate according to the historical operation status data, so as to realize the recovery control of the external controller.

[0078] In this embodiment, when the vehicle is in a driving state, the external controller includes a motor controller, a controller in a battery management system, and a controller in a thermal management system. The process of sending historical operating status data to the external controller includes: (1) sending the historical operating status data and the current determination result to the component control module; (2) the component control module sends the historical operating status data to the external controller in the form of an operating mode request, wherein the component control module sends the historical motor controller operating mode to the motor controller in the form of an IPU (Intelligent Power Unit) operating mode request; the component control module sends the historical battery management system operating mode to the controller in the battery management system in the form of a BCU (Battery Control Unit) operating mode request; and the component control module sends the historical thermal management system operating mode to the controller in the thermal management system in the form of an ITMS (Intelligent Temperature Management System) operating mode request.

[0079] In this embodiment, when the vehicle is in a charging or discharging state, the external controller includes a controller in a battery management system, and the process of sending historical operating status data to the external controller includes: (1) sending the historical operating status data and the current determination result to the component control module; (2) the component control module sends the historical operating status data to the external controller in the form of an operating mode request, wherein the component control module sends the historical battery management system operating mode to the controller in the battery management system in the form of a BCU (Battery Control Unit) operating mode request.

[0080] The historical operating status data is sent to the internal module, and the internal module is controlled to jump to the operating status consistent with the historical operating status data to realize the recovery control of the internal module; and when the internal module includes a demand torque analysis and torque coordination module, the demand torque analysis and torque coordination module obtains the current accelerator pedal opening, calculates the torque request value based on the current accelerator pedal opening, and performs output torque control according to the torque request value and the historical operating status data.

[0081] In this embodiment, when the vehicle is in a driving state, the internal modules include an electrical system state management module, a gear control module and a vehicle mode management module, and the process of sending historical operating state data to the internal modules includes: (1) sending the historical electrical system state and the current judgment result to the electrical system state management module, and the electrical system state management module directly jumps to the power-on and power-off state before the reset; (2) sending the historical system gear and the current judgment result to the gear control module, and the gear control module directly jumps to the gear before the reset; (3) sending the historical drivable state and the current judgment result to the vehicle mode management module, and the vehicle mode management module directly jumps to the drivable state before the reset.

[0082] In this embodiment, when the vehicle is in a charging or discharging state, the internal module includes an electrical system state management module and a vehicle mode management module. The process of sending the historical operating state data to the internal module includes: (1) sending the historical electrical system state and the current judgment result to the electrical system state management module, and the electrical system state management module directly jumps to the power-on and power-off state before the reset; (2) sending the historical drivable state and the current judgment result to the vehicle mode management module, and the vehicle mode management module directly jumps to the drivable state before the reset.

[0083] In this embodiment, after the torque request value is obtained, the torque request value is sent to the motor controller, so that the motor controller outputs torque according to the torque request value under the historical motor controller working mode, and does not perform gradient processing on the torque request value within a preset time, so as to avoid the motor controller directly using the torque request value for torque output and causing a sudden change in the requested torque, which may cause drivability problems such as vehicle jerking.

[0084] In one embodiment of the present application, before acquiring historical running state data and current running state data of the vehicle, the vehicle control method includes:

[0085] Collect vehicle operating status data in real time.

[0086] In this embodiment, when the vehicle is in a driving state, the operating status data includes the electrical system status, system gear, drivable state, motor controller operating mode, battery management system operating mode and thermal management system operating mode, etc.; when the vehicle is in a charging and discharging state, the operating status data includes the electrical system status, battery management system operating mode and the vehicle charging and discharging permission flag, etc.

[0087] If the running status data collected in real time changes, the changed running status data will be stored until the vehicle controller triggers a reset.

[0088] In this embodiment, when the running status data collected in real time changes, only the changed running status data is stored, so as to avoid real-time storage of the running status data and affect the service life of the non-volatile memory.

[0089] The latest stored operating status data is used as historical operating status data.

[0090] In this embodiment, when the vehicle controller triggers reset, the latest running status data is selected from all stored running status data as historical running status data, which can more accurately reflect the historical status when the vehicle controller triggers reset.

[0091] In one embodiment of the present application, after the vehicle controller triggers a reset, the vehicle control method includes:

[0092] Select target operating status data from the stored operating status data.

[0093] In this embodiment, the target operating status data includes the latest valid operating status data.

[0094] Control the external controller to operate according to the target operating status data until the vehicle controller completes the reset.

[0095] In this embodiment, during the reset of the vehicle controller, the vehicle controller message is lost, and the target object operates according to the target operating state data, thereby avoiding the situation where the vehicle is interrupted in power or charging. After the reset of the vehicle controller is completed, the vehicle controller message is restored, and the target object operates according to the historical operating state data, thereby restoring the power output or charging function of the vehicle.

[0096] In one embodiment of the present application, after the vehicle controller triggers a reset, the vehicle control method includes:

[0097] The vehicle controller supplies power to the external controller through the power supply retention module.

[0098] In this embodiment, the power supply holding module may be an electronic fuse (EFUSE) power supply holding module, or other power supply holding modules, which are not specifically limited herein.

[0099] If it is monitored that the vehicle controller has completed resetting, the power supply interface of the external controller is switched from the connection interface of the power supply holding module to the input and output interface of the vehicle controller to achieve power supply maintenance for the external controller during the resetting process of the vehicle controller.

[0100] In this embodiment, the external controller is powered by the power supply holding module to prevent the external controller from being affected by the input and output interface voltage being pulled down during the resetting of the vehicle controller.

[0101] In one embodiment of the present application, after the vehicle controller triggers a reset, the vehicle control method includes:

[0102] If it is detected that the vehicle controller has completed resetting, the resetting duration of the vehicle controller is obtained.

[0103] In this embodiment, the reset duration can be obtained by counting the time when the vehicle controller triggers the reset and the time when the reset is completed through a timer or other device.

[0104] If the time required to complete the reset exceeds a preset time threshold, the historical operating status data and current operating status data of the vehicle will not be obtained, and the target object will be controlled to enter a fault state.

[0105] In this embodiment, the preset duration threshold may be set to 300 ms, or may be set to other durations, which are not specifically limited herein.

[0106] In this embodiment, if the time required to complete the reset exceeds a preset time threshold, it is determined that the driving intention has changed and there are safety issues with the target object operating according to the historical operating status data. Therefore, in this case, the historical operating status data and current operating status data of the vehicle are not obtained, and the target object is controlled to enter a fault state.

[0107] If the reset time does not exceed the preset time threshold, the process of obtaining the historical operating status data and current operating status data of the vehicle is started.

[0108] In this embodiment, when the reset time does not exceed the preset time threshold, the process of obtaining the historical operating status data and the current operating status data of the vehicle is entered to reduce the insecurity caused by changes in driving intentions.

[0109] In one embodiment of the present application, after the vehicle controller triggers a reset, the vehicle control method includes:

[0110] Monitor the reset process of the vehicle controller.

[0111] In this embodiment, the process of monitoring the resetting process of the vehicle controller may be a real-time monitoring method or a periodic monitoring method, which is not limited here.

[0112] If it is detected that the vehicle controller has completed resetting, the vehicle controller is controlled to power on and enter the process of obtaining the vehicle's historical operating status data and current operating status data.

[0113] In this embodiment, when the vehicle controller completes the reset and is powered on, the process of acquiring the historical running status data and the current running status data of the vehicle is entered.

[0114] In this embodiment, whether the vehicle controller is reset can be determined by the reset flag in the historical judgment results. The historical judgment results are determined by the underlying software in the vehicle controller. The underlying software is used to convert, judge and diagnose the input and output signals of the vehicle controller. The underlying software makes judgments based on the input and output signals of the vehicle controller. The process of obtaining the historical judgment results can be obtained by referring to the relevant technical literature on the determination method of the underlying software on the reset of the vehicle controller, which will not be elaborated here.

[0115] Figure 3 is a schematic diagram of a recovery control system shown in an exemplary embodiment of the present application, such as Figure 3 As shown, the recovery control system includes a motor controller, a thermal management system, a battery management system, underlying software, a storage module, a power supply maintenance module, and application layer software, wherein the application layer software includes a reset control module, an electrical system status management module, a gear control module, a vehicle mode management module, a component control module, and a demand torque analysis and torque coordination module.

[0116] In this embodiment, the motor controller, the battery management system, the thermal management system and the vehicle controller exchange signals through the Controller Area Network (CAN), and the vehicle controller supplies power to the motor controller, the controller in the battery management system and the controller in the thermal management system.

[0117] In this embodiment, the application layer software and the bottom layer software exchange signals via a real-time environment (Runtime Environment, RTE).

[0118] In this embodiment, signals between the reset control module, the electrical system status management module, the gear control module, the vehicle mode management module, the component control module, the demand torque analysis and the torque coordination module interact within the application layer software. The storage module is a non-volatile memory, and the storage content is not cleared when the power is off.

[0119] In this embodiment, the EFUSE power supply maintenance module is hard-wired to the motor controller, battery management system, and thermal management system. During the reset of the vehicle controller, the power supply of the input and output interfaces of the vehicle controller is interrupted, and the EFUSE power supply maintenance module maintains power supply to the motor controller, battery management system, and thermal management system to ensure that the motor controller, battery management system, and thermal management system function normally during the reset of the vehicle controller.

[0120] In this embodiment, the historical motor controller operating mode is obtained from the historical IPU operating mode request, the historical battery management system operating mode is obtained from the historical BCU operating mode request, the historical thermal management system operating mode is obtained from the historical ITMS operating mode request, the current IPU operating mode corresponds to the current motor controller operating mode, the current BCU operating mode corresponds to the current battery management system operating mode, the current ITMS operating mode corresponds to the current thermal management system operating mode, and the reset flag is obtained from the current judgment result.

[0121] Figure 4 is a flow chart of a vehicle control method in a vehicle driving state shown in an exemplary embodiment of the present application. Figure 4As shown, the vehicle control method in the driving state of the vehicle includes: (1) the application layer software sends the vehicle's operating status data to the bottom layer software in real time; (2) the bottom layer software stores the vehicle's operating status data in a storage unit, and updates the storage when the above operating status data changes to avoid affecting the service life of the memory; (3) judging whether the vehicle controller triggers a reset. If the vehicle controller triggers a reset, the bottom layer software obtains a historical judgment result based on the vehicle's operating status data and stores the historical judgment result. If the vehicle controller does not trigger a reset, steps (1) and (2) are repeated until the vehicle controller triggers a reset; (4) judging whether the vehicle controller triggers a reset. Whether the controller completes the reset within the preset time threshold (usually set to be less than or equal to 300ms). If the vehicle controller completes the reset within the preset time threshold, the bottom-level software reads the historical judgment results and historical operating status data; if the vehicle controller does not complete the reset within the preset time threshold, it enters the error state; (5) The bottom-level software sends the historical judgment results and historical operating status data to the application layer software, and the application layer software sends them to the reset control module; (6) The reset control module determines whether the vehicle controller is reset. If the reset control module determines that the vehicle controller is reset, it proceeds to the next step; if the reset control module determines that the vehicle controller is not reset, it proceeds to the next step. If a reset occurs, the system will enter an error state; (7) the reset control module determines whether the current operating state is a driving state. If the reset control module determines that the current operating state is not a driving state, the system will enter an error state; if the reset control module determines that the current operating state is a driving state, the reset flag bit in the current determination result and the historical electrical system state will be sent to the electrical system state management module, the reset flag bit in the current determination result and the historical system gear position will be sent to the gear control module, the reset flag bit in the current determination result and the historical drivable state will be sent to the vehicle mode management module, and the reset flag bit in the current determination result and the historical IPU working mode request will be sent to the vehicle mode management module. , historical BCU working mode request, historical ITMS working mode request to the component control module, and send the reset flag in the current judgment result to the demand torque analysis and torque coordination module; (8) The electrical system status management module receives the reset flag in the current judgment result and the historical electrical system status, and directly jumps to the power-on and power-off status before the reset; (9) The gear control module receives the reset flag in the current judgment result and the system gear in the history, and directly jumps to the gear status before the reset; (10) The vehicle mode management module receives the reset flag in the current judgment result and the historical drivable status, and directly jumps to the drivable status before the reset;(11) The component control module receives the reset flag bit in the current judgment result and the historical IPU working mode request, historical BCU working mode request, and historical ITMS working mode request, and sends the historical IPU working mode request to the motor controller, sends the historical BCU working mode request to the controller in the battery management system, and sends the historical ITMS working mode request to the controller in the thermal management system; (12) The demand torque analysis and torque coordination module receives the reset flag bit in the current judgment result, calculates the torque request value according to the current accelerator pedal opening, and the currently calculated torque request value is not gradient processed within the set time, and is sent to the motor controller, and the motor controller performs output torque control according to the historical IPU working mode and torque request value. ;

[0122] In this embodiment, the process of the reset control module determining whether the vehicle controller is reset includes: when the application layer software is initialized and runs, the reset control module preliminarily determines that the vehicle controller is reset through the reset flag in the historical determination result, and when the historical operation state data meets the preset historical driving state determination condition, the historical operation state is determined to be the driving state, and the current determination result is determined to be reset. When both the historical determination result and the current determination result are reset, it is determined that the vehicle controller is reset; if the historical operation state data does not meet the preset historical driving state determination condition, it is determined that the vehicle controller is not reset.

[0123] In this embodiment, the process of the reset control module determining whether the current operating state is the driving state includes: the reset control module determines that the current operating state is the driving state when the current operating state data meets the preset current driving state determination condition; if the current operating state data does not meet the preset current driving state determination condition, the reset control module determines that the current operating state is not the driving state.

[0124] Figure 5 An exemplary embodiment of the present application shows a flow chart of a vehicle controller controlling a motor controller, a battery management system, and a thermal management system when the vehicle is in motion. Figure 5As shown in the figure, the process of the vehicle controller controlling the motor controller, battery management system, and thermal management system when the vehicle is in driving state includes: (1) the vehicle is in driving state; (2) judging whether the vehicle controller triggers reset. If the vehicle controller does not trigger reset, the driving state continues until the vehicle controller triggers reset; if the vehicle controller triggers reset, the next step is entered; (3) the controller in the battery management system executes the target operating state data (i.e., the latest valid BCU operating mode) sent by the vehicle controller within a preset time (usually less than 550ms); the motor controller executes the target operating state data (i.e., the latest valid IPU operating mode and torque request value) sent by the vehicle controller within a preset time (usually less than 550ms); the controller in the thermal management system executes the target operating state data (i.e., the latest valid IPU operating mode and torque request value) sent by the vehicle controller within a preset time (usually less than 550ms). The target operating status data (i.e., the latest valid ITMS operating mode) sent by the vehicle controller; (4) determine whether the vehicle controller completes the reset within the preset time threshold. If the vehicle controller completes the reset within the preset time threshold, the controller in the battery management system executes the historical BCU operating mode request sent by the current vehicle controller to maintain the high voltage state; the motor controller executes the historical IPU operating mode request and torque request value sent by the current vehicle controller to achieve continuous power output; the controller in the thermal management system executes the historical ITMS operating mode request sent by the current vehicle controller to maintain the normal thermal management function; if the vehicle controller fails to complete the reset within the preset time threshold, the motor controller enters a fault state and reports a fault code; the battery management system enters a fault state and reports a fault code; the thermal management system enters a fault state and reports a fault code.

[0125] Figure 6 is a flow chart of a vehicle control method under a vehicle charging and discharging state shown in an exemplary embodiment of the present application, such as Figure 6As shown, the vehicle control method under the vehicle charging and discharging state includes: (1) the application layer software sends the vehicle's operating status data to the bottom layer software in real time; (2) the bottom layer software stores the vehicle's operating status data in a storage unit, and updates the storage when the above operating status data changes to avoid affecting the service life of the memory; (3) judging whether the vehicle controller triggers a reset. If the vehicle controller triggers a reset, the bottom layer software obtains a historical judgment result based on the vehicle's operating status data and stores the historical judgment result. If the vehicle controller does not trigger a reset, steps (1) and (2) are repeated until the vehicle controller is reset. The controller triggers a reset; (4) Determine whether the vehicle controller completes the reset within a preset time threshold (usually set to be less than or equal to 300ms). If the vehicle controller completes the reset within the preset time threshold, the bottom-level software reads the historical judgment results and historical operating status data; if the vehicle controller does not complete the reset within the preset time threshold, it enters an error state; (5) The bottom-level software sends the historical judgment results and historical operating status data to the application layer software, and the application layer software sends them to the reset control module; (6) The reset control module determines whether the vehicle controller is reset. If the reset control module determines that the vehicle controller is reset, If a reset occurs, the next step is entered; if the reset control module determines that the vehicle controller has not been reset, the error state is entered; (7) The reset control module determines whether the current operating state is the charging and discharging state. If the reset control module determines that the current operating state is not the charging and discharging state, the error state is entered; if the reset control module determines that the current operating state is the charging and discharging state, the reset flag bit in the current determination result and the historical electrical system state are sent to the electrical system state management module; the reset flag bit in the current determination result and the historical vehicle charging and discharging permission flag bit are sent to the vehicle mode management module; the reset flag bit in the current determination result and the historical BCU working mode request are sent to the component control module; (8) The electrical system state management module receives the reset flag bit in the current determination result and the historical electrical system state, and directly jumps to the power-on and power-off state before the reset; (9) The vehicle mode management module receives the reset flag bit in the current determination result and the historical vehicle charging and discharging permission flag bit, and directly jumps to the charging and discharging permission state before the reset; (10) The component control module receives the reset flag bit in the current determination result and the historical BCU working mode request, and sends the historical BCU working mode request to the controller in the battery management system.

[0126] In this embodiment, the process of the reset control module determining whether the vehicle controller is reset includes: when the application layer software is initialized and runs, the reset control module preliminarily determines that the vehicle controller is reset through the reset flag in the historical determination result, and when the historical operation status data meets the preset historical charge and discharge status determination condition, the historical operation status is determined to be the charge and discharge state, and the current determination result is determined to be reset. When both the historical determination result and the current determination result are reset, it is determined that the vehicle controller is reset; if the historical operation status data does not meet the preset historical charge and discharge status determination condition, it is determined that the vehicle controller is not reset.

[0127] In this embodiment, the process of the reset control module determining whether the current operating state is a charge and discharge state includes: when the current operating state data meets the preset current charge and discharge state determination condition, the reset control module determines that the current operating state is a charge and discharge state; when the current operating state data does not meet the preset current charge and discharge state determination condition, the reset control module determines that the current operating state is not a charge and discharge state.

[0128] Figure 7 FIG. 1 is a flow chart showing an exemplary embodiment of the present application showing a vehicle controller controlling a battery management system under a vehicle charging and discharging state. Figure 7 As shown in the figure, the process of the vehicle controller controlling the battery management system during the vehicle charging and discharging state includes: (1) the vehicle is in the charging and discharging state; (2) judging whether the vehicle controller triggers reset. If the vehicle controller does not trigger reset, the charging and discharging state continues until the vehicle controller triggers reset; if the vehicle controller triggers reset, it proceeds to the next step; (3) the battery management system executes the target operating state data (i.e., the latest valid BCU working mode) sent by the vehicle controller within a preset time (usually less than 550ms); (4) judging whether the vehicle controller completes reset within the preset time threshold. If the vehicle controller completes reset within the preset time threshold, the controller in the battery management system executes the historical BCU working mode request and the historical vehicle charging and discharging permission flag sent by the current vehicle controller to achieve charging and discharging maintenance; if the vehicle controller does not complete reset within the preset time threshold, the motor controller enters a fault state and reports a fault code.

[0129] The following describes an embodiment of the device of the present application, which can be used to execute the vehicle control method in the above embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the embodiment of the vehicle control method in the above embodiment of the present application.

[0130] Figure 8 is a block diagram of a vehicle control device shown in an exemplary embodiment of the present application. The device can be applied to Figure 1The implementation environment shown is specifically configured in the vehicle controller 102. The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0131] like Figure 8 As shown, the exemplary vehicle control device includes:

[0132] The data acquisition module 801 is used to acquire the historical running status data and the current running status data of the vehicle.

[0133] The state determination module 802 is used to determine the historical operating state of the vehicle and the current determination result of the vehicle controller reset based on the historical operating state data; and to determine the current operating state of the vehicle based on the current operating state data.

[0134] The operation control module 803 is used to perform recovery control on the target object according to the historical operation status data if the historical operation status is consistent with the current operation status and the current determination result is that a reset has occurred.

[0135] In one embodiment of the present application, the historical operating status data includes the vehicle's historical driving status operating data and the vehicle's historical charging and discharging status operating data, and the current operating status data includes the vehicle's current driving status operating data and the vehicle's current charging and discharging status operating data.

[0136] In this embodiment, the vehicle's historical driving status operating data includes the historical electrical system status, historical system gear position, historical drivable status, historical motor controller operating mode, historical battery management system operating mode and historical thermal management system operating mode; the vehicle's historical charging and discharging status operating data includes the historical electrical system status, historical battery management system operating mode and historical vehicle charging and discharging permission flag; the vehicle's current driving status operating data includes the current motor controller operating mode, the current battery management system operating mode, gear shift request and brake pedal status; the vehicle's current charging and discharging status operating data includes the current battery management system operating mode, battery charging and discharging mode, battery charging and discharging status and permission to re-apply high voltage.

[0137] In this embodiment, the time for obtaining the historical operating status data and the current operating status data of the vehicle may be when the vehicle controller completes the reset and is powered on, or may be other times, which are not specifically limited here.

[0138] In this embodiment, the historical operating state includes the operating state when the vehicle controller triggers reset. The historical operating state includes the driving state and the charging and discharging state.

[0139] In this embodiment, the target object includes an external controller that performs signal interaction with the vehicle controller, and an internal module that performs signal interaction inside the vehicle controller.

[0140] In this embodiment, it is possible to control the target object to operate according to the historical operating status data when the historical operating status is consistent with the current operating status before and after the vehicle controller is reset, thereby avoiding unsafe driving and equipment damage caused by forcibly controlling the target object to operate according to the historical operating status data due to sudden changes in driving intention or abnormal changes in vehicle status, abnormal changes in the operating status of the target object, etc. during the reset of the vehicle controller. In addition, when the vehicle controller is reset and powered on, the current judgment result is used to further verify whether the vehicle controller is reset, thereby improving the accuracy of the vehicle controller reset judgment and reducing the probability of misjudgment.

[0141] It should be noted that the vehicle control device provided in the above embodiment and the vehicle control method provided in the above embodiment belong to the same concept, wherein the specific manner in which each module and unit performs the operation has been described in detail in the method embodiment, and will not be repeated here. In practical applications, the vehicle control device provided in the above embodiment can distribute the above functions to different functional modules as needed, that is, divide the internal structure of the device into different functional modules to complete all or part of the functions described above, and this is not limited here.

[0142] An embodiment of the present application also provides a vehicle-mounted device, including: one or more processors; a storage device for storing one or more programs, when the one or more programs are executed by one or more processors, the vehicle-mounted device implements the vehicle control method provided in the above-mentioned embodiments.

[0143] According to one aspect of an embodiment of the present application, a vehicle is provided, the vehicle including the apparatus provided in the above-mentioned embodiments or the vehicle-mounted equipment provided in the above-mentioned embodiments.

[0144] Fig. 9 The structure diagram of the computer system of the vehicle-mounted device suitable for implementing the embodiment of the present application is shown. It should be noted that: Fig. 9 The computer system of the vehicle-mounted device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0145] like Fig. 9As shown, the computer system 900 includes a central processing unit (CPU) 901, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 902 or the program loaded from the storage part 908 to the random access memory (RAM) 903, such as executing the method in the above embodiment. In the RAM 903, various programs and data required for system operation are also stored. The CPU 901, the ROM 902 and the RAM 903 are connected to each other through the bus 904. The input / output (I / O) interface 905 is also connected to the bus 904.

[0146] The following components are connected to the I / O interface 905: an input section 906 including a keyboard, a mouse, etc.; an output section 907 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the I / O interface 905 as needed. A removable medium 911, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 910 as needed so that a computer program read therefrom is installed into the storage section 908 as needed.

[0147] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a computer program for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 909, and / or installed from a removable medium 911. When the computer program is executed by a central processing unit (CPU) 901, various functions defined in the system of the present application are executed.

[0148] It should be noted that the computer-readable medium shown in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier, which carries a computer-readable computer program. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0149] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. The names of these units do not, in some cases, constitute limitations on the units themselves.

[0151] Another aspect of the present application provides a computer-readable storage medium on which computer-readable instructions are stored. When the computer-readable instructions are executed by a processor of a computer, the computer executes the vehicle control method provided in the above embodiments. The computer-readable storage medium may be included in the vehicle-mounted device described in the above embodiments, or may exist independently without being assembled into the vehicle-mounted device.

[0152] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0153] Through the description of the above implementation methods, it is easy for those skilled in the art to understand that the example implementation methods described here can be implemented by software or by combining software with necessary hardware. Therefore, the technical solution according to the implementation methods of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the implementation methods of the present application.

[0154] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the embodiments disclosed herein. The present application is intended to cover any variations, uses or adaptations of the present application, which follow the general principles of the present application and include common knowledge or customary technical means in the art that are not disclosed in the present application.

[0155] It should be understood that the above content is only a preferred exemplary embodiment of the present application and is not intended to limit the implementation scheme of the present application. Ordinary technicians in this field can easily make corresponding changes or modifications based on the main concept and spirit of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection required by the claims.

Claims

1. A vehicle control method, characterized in that: The vehicle control method comprises: Obtain historical and current operating status data of the vehicle; Based on the historical running status data, determine the historical running status of the vehicle and the current determination result of the vehicle controller reset; and based on the current running status data, determine the current running status of the vehicle; the historical running status includes the running status when the vehicle controller triggers the reset; If the historical operating state is consistent with the current operating state, and both the current judgment result and the historical judgment result are reset, the target object is restored and controlled according to the historical operating state data. The target object includes an external controller that interacts with the vehicle controller through signals, and an internal module that interacts with signals within the vehicle controller. The historical judgment result is obtained by judging the underlying software within the vehicle controller.

2. The vehicle control method according to claim 1, characterized in that: If the historical operating state includes a driving state and a charging and discharging state, then based on the historical operating state data, the process of determining the historical operating state of the vehicle and the current determination result of the vehicle controller reset includes: If the historical running state data meets the preset historical driving state determination condition, the historical running state is determined to be the driving state, and the current determination result is determined to be reset; the preset historical driving state determination condition includes a historical gear determination condition, a historical mode determination condition, and a historical state determination condition; If the historical operating status data meets the preset historical charge and discharge status determination conditions, the historical operating status is determined to be the charge and discharge status, and the current determination result is determined to be a reset; the preset historical charge and discharge status determination conditions include historical status determination conditions, historical mode determination conditions, and historical flag determination conditions.

3. The vehicle control method according to claim 1, characterized in that: If the current running state data includes a driving state and a charging and discharging state, then based on the current running state data, the process of determining the current running state of the vehicle includes: If the current running state data satisfies a preset current driving state determination condition, the current running state is determined to be the driving state; the preset current driving state determination condition includes a current mode determination condition, a current request determination condition, and a current state determination condition; If the current operating state data meets the preset current charge and discharge state determination condition, the current operating state is determined to be the charge and discharge state; the preset current charge and discharge state determination condition includes a current mode determination condition, a current flag determination condition, and a current state determination condition.

4. The vehicle control method according to claim 1, characterized in that: The process of performing recovery control on the target object according to the historical operation status data includes: Sending the historical operation status data to the external controller, and controlling the external controller to continue to operate according to the historical operation status data, so as to achieve recovery control of the external controller; The historical operating status data is sent to the internal module, and the internal module is controlled to jump to an operating status consistent with the historical operating status data to achieve recovery control of the internal module; and when the internal module includes a demand torque analysis and torque coordination module, the demand torque analysis and torque coordination module obtains the current accelerator pedal opening, calculates the torque request value based on the current accelerator pedal opening, and performs output torque control according to the torque request value and the historical operating status data.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: Before acquiring the historical running state data and the current running state data of the vehicle, the vehicle control method includes: Collecting the running status data of the vehicle in real time; If the running status data collected in real time changes, the changed running status data is stored until the vehicle controller triggers a reset; The latest stored operation status data is used as the historical operation status data.

6. The vehicle control method according to claim 5, characterized in that: After the vehicle controller triggers reset, the vehicle control method includes: Selecting target operating status data from the stored operating status data, wherein the target operating status data includes the latest valid operating status data; The external controller is controlled to operate according to the target operating state data until the vehicle controller is reset.

7. The vehicle control method according to claim 5, characterized in that: After the vehicle controller triggers reset, the vehicle control method includes: The vehicle controller supplies power to the external controller via a power supply holding module; If it is monitored that the vehicle controller has completed resetting, the power supply interface of the external controller is switched from the connection interface of the power supply maintenance module to the input and output interface of the vehicle controller to maintain power supply to the external controller during the resetting process of the vehicle controller.

8. The vehicle control method according to claim 5, characterized in that: After the vehicle controller triggers reset, the vehicle control method includes: If it is monitored that the vehicle controller has completed resetting, the resetting duration of the vehicle controller is obtained; If the reset time exceeds a preset time threshold, the historical running state data and the current running state data of the vehicle are not obtained, and the target object is controlled to enter a fault state; If the reset time does not exceed the preset time threshold, the process of obtaining the historical running status data and the current running status data of the vehicle is started.

9. The vehicle control method according to claim 5, characterized in that: After the vehicle controller triggers reset, the vehicle control method includes: Monitoring the resetting process of the vehicle controller; If it is monitored that the vehicle controller has completed resetting, the vehicle controller is controlled to be powered on, and a process of acquiring historical operating status data and current operating status data of the vehicle is started.

10. A vehicle control device, characterized in that: The vehicle control device comprises: A data acquisition module is used to acquire historical operating status data and current operating status data of the vehicle; A state determination module, for determining the historical operation state of the vehicle and the current determination result of the vehicle controller reset based on the historical operation state data; and determining the current operation state of the vehicle based on the current operation state data; the historical operation state includes the operation state when the vehicle controller triggers the reset; An operation control module is used to restore and control a target object according to the historical operation status data if the historical operation status is consistent with the current operation status and both the current judgment result and the historical judgment result are reset. The target object includes an external controller that performs signal interaction with the vehicle controller and an internal module that performs signal interaction within the vehicle controller. The historical judgment result is obtained by judging the underlying software within the vehicle controller.

11. A vehicle-mounted device, characterized in that: include: one or more processors; A storage device for storing one or more programs, when the one or more programs are executed by the one or more processors, enables the vehicle-mounted device to implement the vehicle control method as described in any one of claims 1 to 9.

12. A vehicle, characterized in that: The vehicle comprises the apparatus according to claim 10 or the vehicle-mounted device according to claim 11.

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