A vehicle control method, device, system and storage medium

Abstract

The application discloses a vehicle control method, device, system and storage medium. The method comprises the following steps: monitoring the battery power of the vehicle; when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, a first dynamic voltage of the current battery is acquired, wherein the dynamic voltage of the vehicle when running at the preset power is greater than a cut-off voltage triggering vehicle power-off; when the first dynamic voltage of the current battery is greater than the cut-off voltage and less than a preset voltage, a first output power corresponding to the first dynamic voltage of the current battery is determined by querying a dynamic voltage and output power table; and the current power of the vehicle is adjusted to the first output power, wherein the current power of the vehicle is greater than the first output power. By adopting the scheme provided in the application, the utilization efficiency of the battery power can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of battery control, and in particular relates to a vehicle control method, device, system and storage medium. BACKGROUND

[0002] SOC (State of Charge) is one of the most important parameters in battery management, which directly reflects the remaining available capacity of the battery and is an important indicator for evaluating the performance and state of the battery.

[0003] The vehicle sets a power reservation mechanism, that is, during the use of the vehicle by the user, the user is prohibited from using up the power, and a part of the power is reserved to ensure the normal operation of the safety function of the vehicle, for example, the hybrid vehicle needs to reserve the power for the start of the range extender, and for example, all vehicle models need to reserve the power required for the normal operation of the safety function to ensure that the user can request rescue operation with the safety function, therefore, during the use of the vehicle by the user, the power of the battery is monitored, when the power of the battery reaches the reserved power, the vehicle is powered off. In addition, when the battery of the vehicle is in a discharging state, due to polarization, the dynamic voltage of the battery will gradually decrease, and under a certain output power, the lower the SOC power, the greater the dynamic voltage drop, therefore, in the prior art, in the case that the remaining power of the battery is low, in order to prevent the battery from over-discharging and under-voltage, a cut-off voltage is set, when the dynamic voltage reaches the cut-off voltage, the vehicle is powered off.

[0004] That is, there are two conditions for triggering the vehicle power-off according to the running state of the battery, one is that the power reserve of the battery decreases, and the other is that the dynamic voltage of the battery decreases to the cut-off voltage; any one of the two conditions triggers the vehicle power-off, therefore, if the discharging power of the battery is high, the dynamic voltage of the battery will decrease to the cut-off voltage when the power reserve of the battery has not decreased to the reserved power.

[0005] It can be seen that in the prior art, when the dynamic voltage of the battery decreases to the cut-off voltage and triggers the vehicle power-off, the battery power cannot be fully utilized. Therefore, how to improve the utilization efficiency of the battery power has become a technical problem to be solved. SUMMARY

[0006] The present application provides a vehicle control method, device, system and storage medium to improve the utilization efficiency of the battery power.

[0007] The present application provides a vehicle control method, comprising:

[0008] monitoring the battery power of the vehicle;

[0009] acquire a first dynamic voltage of the battery currently, wherein a dynamic voltage of the vehicle when the vehicle is running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle;

[0010] determine a first output power corresponding to the first dynamic voltage of the battery currently by querying the dynamic voltage and output power table when the first dynamic voltage of the battery currently is greater than the cut-off voltage and less than a preset voltage;

[0011] control the vehicle to adjust the current power to the first output power, wherein the current power of the vehicle is greater than the first output power.

[0012] The application has the beneficial effects that: during driving of the vehicle, the battery power of the vehicle is monitored, and when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, a first dynamic voltage of the battery currently is acquired, wherein a dynamic voltage of the vehicle when the vehicle is running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle. In the application, a dynamic voltage and output power table is provided, and when the first dynamic voltage of the battery currently is greater than the cut-off voltage and less than a preset voltage, a first output power corresponding to the first dynamic voltage of the battery currently is determined by querying the dynamic voltage and output power table, and the vehicle is controlled to adjust the current power to the first output power. Since the power is limited, the situation that the dynamic voltage of the vehicle rapidly decreases to reach the cut-off voltage, the whole vehicle is powered off, and the battery power cannot be fully utilized is avoided, the utilization efficiency of the battery power is improved on the basis of ensuring safety and functionality.

[0013] In one embodiment, the method further comprises:

[0014] acquiring a static voltage corresponding to the reserved power and acquiring a polarization voltage of the battery when the battery is running at the preset power with a specific discharge power;

[0015] determining that a sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when the battery is running at the preset power with the specific discharge power is the preset voltage.

[0016] In one embodiment, the acquiring of the static voltage corresponding to the reserved power comprises:

[0017] calibrating the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle;

[0018] determining that a sum of the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle is the reserved power;

[0019] query a correspondence table of remaining power and static voltage to determine a static voltage corresponding to the reserved power.

[0020] In one embodiment, the method further comprises:

[0021] controlling the vehicle to power off when the battery power of the vehicle is less than the reserved power;

[0022] controlling the vehicle battery to disconnect high voltage power when the first dynamic voltage reaches the cutoff voltage. In one embodiment, the controlling the vehicle to adjust the current power to the first output power comprises:

[0023] reducing a conversion ratio between the electronic accelerator pedal opening degree and the motor output power to adjust the current power of the vehicle to the first output power; or

[0024] controlling the vehicle to turn off at least one power consuming device with a priority lower than a preset priority to adjust the current power of the vehicle to the first output power.

[0025] In one embodiment, the dynamic voltage and output power reference table comprises a plurality of power limit levels, wherein different power limit levels correspond to different voltage intervals respectively, and different voltage intervals correspond to different output powers respectively, and the method further comprises:

[0026] when the first dynamic voltage of the battery is monitored to change to a second dynamic voltage, determining whether the first dynamic voltage and the second dynamic voltage correspond to a same power limit level, wherein the second dynamic voltage is greater than the cutoff voltage;

[0027] when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limit level, determining a second output power corresponding to the second dynamic voltage of the battery by querying the dynamic voltage and output power reference table;

[0028] controlling the vehicle to adjust the current power to the second output power.

[0029] In one embodiment, the method further comprises:

[0030] when the first dynamic voltage and the second dynamic voltage correspond to the same power limit level, controlling the vehicle to continue to operate at the first output power.

[0031] In one embodiment, the method further comprises:

[0032] when the output voltage of the battery is greater than a preset voltage, controlling the vehicle to operate at a maximum output power.

[0033] The application also provides a vehicle control device, comprising:

[0034] monitoring a battery power of the vehicle;

[0035] a first obtaining module, configured to obtain a first dynamic voltage of the battery when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, wherein a dynamic voltage of the vehicle when running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle;

[0036] a first determining module, configured to determine a first output power corresponding to the first dynamic voltage of the battery by querying a dynamic voltage and output power table when the first dynamic voltage of the battery is greater than the cut-off voltage and less than a preset voltage;

[0037] a first control module, configured to control the vehicle to adjust a current power to the first output power, wherein the current power of the vehicle is greater than the first output power.

[0038] In an embodiment, the apparatus further comprises:

[0039] a second obtaining module, configured to obtain a static voltage corresponding to the reserved power and obtain a polarization voltage of the battery when running at the preset power with a specific discharge power;

[0040] a second determining module, configured to determine that a sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when running at the preset power with the specific discharge power is the preset voltage.

[0041] In an embodiment, the second obtaining module comprises:

[0042] a calibration sub-module, configured to calibrate a power required for driving the vehicle, a power required for a preset function of the vehicle and a power required for a preset working condition of the vehicle;

[0043] a determining sub-module, configured to determine that a sum of the power required for driving the vehicle, the power required for the preset function of the vehicle and the power required for the preset working condition of the vehicle is the reserved power;

[0044] a querying sub-module, configured to query a corresponding relationship table of a remaining power and a static voltage to determine the static voltage corresponding to the reserved power.

[0045] In an embodiment, the apparatus further comprises:

[0046] a second control module, configured to control the vehicle to power off when the battery power of the vehicle is less than the reserved power;

[0047] The second control module is further configured to control the vehicle battery to disconnect high-voltage power when the first dynamic voltage reaches the cut-off voltage.

[0048] In one embodiment, the first control module comprises:

[0049] a reducing sub-module, configured to reduce a conversion ratio between an electronic accelerator pedal opening degree and a motor output power, so as to adjust a current power of the vehicle to the first output power;

[0050] a control sub-module, configured to control the vehicle to shut down at least one power consuming device with a priority lower than a preset priority, so as to adjust the current power of the vehicle to the first output power.

[0051] In one embodiment, the dynamic voltage and output power reference table comprises a plurality of power limitation levels, wherein different power limitation levels correspond to different voltage intervals respectively, and different voltage intervals correspond to different output powers respectively.

[0052] In one embodiment, the apparatus further comprises:

[0053] the monitoring module is further configured to determine whether the first dynamic voltage and the second dynamic voltage correspond to a same power limitation level when it is monitored that the current first dynamic voltage of the battery changes to a second dynamic voltage, wherein the second dynamic voltage is greater than the cutoff voltage;

[0054] the querying module is configured to determine a second output power corresponding to the current second dynamic voltage of the battery by querying the dynamic voltage and output power reference table when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limitation level;

[0055] the control module is configured to control the vehicle to adjust the current power to the second output power.

[0056] In one embodiment, the control module in the apparatus is further configured to:

[0057] when the first dynamic voltage and the second dynamic voltage correspond to the same power limitation level, control the vehicle to continue running at the current power.

[0058] In one embodiment, the control module in the apparatus is further configured to:

[0059] when the current output voltage of the battery is greater than a preset voltage, control the vehicle to run at a maximum output power.

[0060] The application further provides a vehicle control system, comprising:

[0061] at least one processor; and,

[0062] a memory connected to the at least one processor in communication; wherein,

[0063] The memory stores instructions executable by the at least one processor to implement the vehicle control method recited in any of the above embodiments.

[0064] The application also provides a computer readable storage medium, characterized in that when the instructions in the storage medium are executed by the processor corresponding to the vehicle control system, the vehicle control system can implement the vehicle control method recited in any of the above embodiments.

[0065] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art upon examination of the following or can be learned by practice of the application. The objects and other advantages of the application can be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

[0066] The technical solutions of the present application will be further described in detail below with the aid of the accompanying drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0067] The accompanying drawings are included to provide a further understanding of the present application and are incorporated in and constitute a part of this specification, illustrate embodiments of the present application and serve to explain the present application, and do not limit the present application. In the drawings:

[0068] Figure 1 A flow chart of a vehicle control method in an embodiment of the present application;

[0069] Figure 2 A structural diagram of a vehicle control device in an embodiment of the present application;

[0070] Figure 3 A hardware structure schematic diagram of a vehicle control system in an embodiment of the present application. DETAILED DESCRIPTION

[0071] The preferred embodiments of the present application will be described below with reference to the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to explain and illustrate the present application, and do not limit the present application.

[0072] Figure 1 A flow chart of a vehicle control method in an embodiment of the present application, as shown in Figure 1 The method can be implemented as the following steps S101-S104:

[0073] In step S101, the battery power of the vehicle is monitored;

[0074] In step S102, when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, a first dynamic voltage of the battery at present is acquired, wherein the dynamic voltage of the vehicle when running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle;

[0075] In step S103, when the first dynamic voltage of the battery at present is greater than the cut-off voltage and less than a preset voltage, a first output power corresponding to the first dynamic voltage of the battery at present is determined by inquiring a dynamic voltage and output power table;

[0076] In step S104, the current power of the vehicle is adjusted to the first output power, wherein the current power of the vehicle is greater than the first output power.

[0077] In the present application, the battery power of the vehicle is monitored. Since the battery power is usually sufficient and the dynamic voltage of the battery changes little, under-voltage protection does not occur. Therefore, the battery power of the vehicle is continuously monitored during vehicle running.

[0078] When it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, a first dynamic voltage of the battery at present is acquired, wherein the dynamic voltage of the vehicle when running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle. The preset power can be a preset value, for example, 20%; the preset power can also be determined according to the current use of the user's power equipment, for example, the preset power is the power meeting the use of the current power equipment for 30 minutes.

[0079] Since the lower the battery power is, the greater the dynamic voltage of the battery decreases at a certain output power, therefore, when the battery power is at a low level, if the vehicle continuously outputs at a large power, the dynamic voltage is easily triggered to rapidly decrease to the cut-off voltage, thereby causing the vehicle to power off. Therefore, when the battery power is at a low level, that is, when it is monitored that the battery power is less than a preset power, not only the vehicle is controlled according to the battery power, but also the dynamic voltage detection of the battery is started, and the output power of the vehicle is controlled according to the dynamic voltage of the battery.

[0080] When the first dynamic voltage of the battery is greater than the cutoff voltage and less than the preset voltage, the first output power corresponding to the first dynamic voltage of the battery is determined by querying the dynamic voltage and output power table. In order to fully utilize the power of the battery and avoid triggering the vehicle power-off when the battery voltage drops to the cutoff voltage, a preset voltage greater than the cutoff voltage is set to limit the power of the vehicle when the battery voltage is less than the preset voltage, so as to avoid triggering the cutoff voltage due to excessive power of the vehicle. Since there is polarization phenomenon in the working state of the battery, first, the static voltage corresponding to the reserved power is obtained, and the polarization voltage of the battery running at a specific discharge power under the preset power is obtained; in order to determine the static voltage of the vehicle reserved power, the power required for driving the vehicle, the power required for the preset function of the vehicle and the power required for the preset working condition of the vehicle are calibrated, and the sum of the power required for driving the vehicle, the power required for the preset function of the vehicle and the power required for the preset working condition of the vehicle is the reserved power, and the static voltage corresponding to the reserved power is determined by querying the corresponding relationship table of the remaining power and the static voltage. Then, the sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery running at a specific discharge power under the preset power is the preset voltage.

[0081] When the first dynamic voltage of the battery is greater than the cutoff voltage and less than the preset voltage, the first output power corresponding to the first dynamic voltage of the battery is determined by querying the dynamic voltage and output power table. The dynamic voltage and output power table is obtained by pre-calibration, that is, the power required for driving reservation, function reservation and working condition reservation under static voltage state and the corresponding voltage are found, and the dynamic voltage fluctuation bandwidth under the corresponding power limiting working condition is found by limiting the power of each scene, forming the dynamic voltage and output power table as shown in the following table. Of course, different voltage values in the dynamic voltage detection range can also be classified to form multiple power limitation levels, and different power limitation levels correspond to different voltage intervals, and different voltage intervals correspond to different output powers.

[0082] Table 1 Dynamic voltage and output power table

[0083]

[0084] The vehicle is controlled to adjust the current power to the first output power, wherein the current power of the vehicle is greater than the first output power. The power limit can be achieved in various ways. For example, the controller can adjust at least part of the electric appliances connected to the battery to a low-power mode to reduce the maximum allowable discharge power of the battery, thereby limiting the power of the battery. For example, the conversion ratio between the electronic accelerator pedal opening degree and the motor output power can be reduced to adjust the current power of the vehicle to the first output power. The vehicle can also be directly controlled to turn off at least one electric device with a priority lower than a preset priority to adjust the current power of the vehicle to the first output power.

[0085] In addition, in order to effectively utilize the battery power, a plurality of different power limit levels can be set, and each power limit level corresponds to a different voltage interval, and each voltage interval corresponds to a different output power. Since the dynamic voltage and output power table contains a plurality of power limit levels, when the first dynamic voltage of the battery is monitored to change to a second dynamic voltage, it is determined whether the first dynamic voltage and the second dynamic voltage correspond to the same power limit level, wherein the second dynamic voltage is greater than the cutoff voltage; when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limit level, the second output power corresponding to the second dynamic voltage of the battery is determined by querying the dynamic voltage and output power table; the vehicle is controlled to adjust the current power to the second output power. The strategy for controlling the vehicle to adjust the power is the same as described above, which can be to adjust the output power of the electric device, or to determine the electric device to be turned off by combining the importance of the electric device and the power consumption of the electric device.

[0086] When the battery is in the charging state, the battery power can gradually recover. When the battery output voltage is monitored to be greater than the preset voltage, it indicates that the battery power is sufficient to support the operation of the vehicle electrical equipment, and therefore the vehicle is controlled to operate at the maximum output power. The beneficial effects of the present application are that during the driving of the vehicle, the battery power of the vehicle is monitored, and when the battery power of the vehicle is monitored to be less than the preset power and greater than the reserved power, the current first dynamic voltage of the battery is obtained, wherein the dynamic voltage of the vehicle when operating at the preset power is greater than the cutoff voltage triggering the power-off of the vehicle. In the present application, a dynamic voltage and output power table is provided, and when the current first dynamic voltage of the battery is greater than the cutoff voltage and less than the preset voltage, the first output power corresponding to the current first dynamic voltage of the battery is determined by querying the dynamic voltage and output power table, and the vehicle is controlled to adjust the current power to the first output power. Since the power is limited, the situation that the dynamic voltage of the vehicle rapidly decreases to reach the cutoff voltage, resulting in the power-off of the vehicle and the failure to fully utilize the battery power, is avoided, and the utilization efficiency of the battery power is improved on the basis of ensuring safety and functionality.

[0087] In one embodiment, the above method can also be implemented as steps A1-A2 as follows:

[0088] In step A1, the static voltage corresponding to the reserved power is obtained, and the polarization voltage of the battery when operating at the preset power with a specific discharge power is obtained.

[0089] In step A2, the sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when operating at the preset power with a specific discharge power is determined to be the preset voltage.

[0090] Since the battery has a polarization phenomenon in the working state, in the present embodiment, first, the static voltage corresponding to the reserved power is obtained, and the polarization voltage of the battery when operating at the preset power with a specific discharge power is obtained. Then, the sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when operating at the preset power with a specific discharge power is determined to be the preset voltage.

[0091] In one embodiment, the above step A1 of obtaining the static voltage corresponding to the reserved power can be implemented as steps A11-A13 as follows:

[0092] In step A11, the power required for driving the vehicle, the power required for the preset function of the vehicle, and the power required for the preset working condition of the vehicle are calibrated.

[0093] In step A12, the sum of the power required for driving the vehicle, the power required for the preset function of the vehicle, and the power required for the preset working condition of the vehicle is determined to be the reserved power.

[0094] In step A13, the correspondence table of the remaining power and the static voltage is inquired to determine the static voltage corresponding to the reserved power.

[0095] In the embodiment, the corresponding static voltage is determined according to the reserved power of the vehicle. Since the corresponding power must be reserved for the functions necessary for the vehicle, such as the functions of driving, braking, safety, etc. Therefore, the power required for driving the vehicle, the power required for the preset functions of the vehicle, and the power required for the preset working conditions of the vehicle are calibrated. The specific calibration process is the prior art, and will not be described here. Then, the sum of the power required for driving the vehicle, the power required for the preset functions of the vehicle, and the power required for the preset working conditions of the vehicle is the reserved power; the correspondence table of the remaining power and the static voltage is inquired to determine the static voltage corresponding to the reserved power.

[0096] In one embodiment, the method can also be implemented as steps B1-B2 as follows:

[0097] In step B1, when the battery power of the vehicle is less than the reserved power, the vehicle is powered off;

[0098] In step B2, when the first dynamic voltage reaches the cutoff voltage, the vehicle battery is disconnected from the high voltage.

[0099] In one embodiment, the above step S104 can be implemented as steps C1 or C2 as follows:

[0100] In step C1, the conversion ratio between the electronic accelerator pedal opening degree and the motor output power is reduced to adjust the current power of the vehicle to the first output power:

[0101] In step C2, the vehicle is controlled to turn off at least one power consumption device with a priority lower than a preset priority to adjust the current power of the vehicle to the first output power.

[0102] In the embodiment, the current power of the vehicle can be adjusted by reducing the motor output power. Specifically, the output power of the vehicle within a preset time period before the user limited power is obtained; then, the difference between the first output power and the output power before the limited power is calculated; according to the difference, the maximum output power of the motor is reduced; and according to the conversion ratio between the electronic accelerator pedal opening degree and the maximum output power of the motor.

[0103] For example, the average output power of the vehicle in the last 10 minutes before the power limit is 160 kW, and when the first output power is 150 kW under the power limit, it indicates that the output power needs to be reduced by 10 kW. In this embodiment, the output power of the electric motor is reduced to achieve a 10 kW reduction in the output power of the vehicle, so the maximum output power of the electric motor is reduced by 10 kW, and the maximum opening of the electronic accelerator pedal is adjusted to the maximum output power of the electric motor, and the conversion ratio between the opening of the electronic accelerator pedal and the output power of the electric motor is linearly adjusted.

[0104] The output power of the vehicle can also be reduced by turning off the power-consuming devices. When turning off the power-consuming devices, there are various strategies to achieve this:

[0105] First, the power-consuming devices with low importance levels are preferentially turned off

[0106] The importance levels of the power-consuming devices can be predetermined, and the important power-consuming devices are divided into higher importance levels. Specifically, at least one power-consuming device with a priority level lower than a preset priority level is turned off by the vehicle to adjust the current power of the vehicle to the first output power. Since the power is limited, the power-consuming devices with low importance levels are preferentially turned off, which avoids affecting the operation and safety of the vehicle.

[0107] Second, the power-consuming devices with high output power are preferentially turned off

[0108] Since the output power of the vehicle power-consuming devices can be obtained in advance, in order to reduce the number of power-consuming devices turned off, the power-consuming devices with high output power are preferentially turned off.

[0109] In this embodiment, the above two strategies are combined, the power-consuming devices with low importance levels are preferentially selected, and then the power-consuming devices with high output power are selected from the remaining power-consuming devices with low importance levels to be turned off. When one power-consuming device is turned off and the first output power is still not reached, the power-consuming devices with high output power are sequentially selected from the remaining power-consuming devices with low importance levels to be turned off until the output power is reduced to the first output power.

[0110] In one embodiment, the dynamic voltage and output power table includes a plurality of power limit levels, wherein different power limit levels correspond to different voltage intervals, and different voltage intervals correspond to different output powers. The method can also be implemented as steps D1-D3:

[0111] In step D1, when the first dynamic voltage of the battery is monitored to change to a second dynamic voltage, it is determined whether the first dynamic voltage and the second dynamic voltage correspond to the same power limit level;

[0112] In step D2, when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limit level, the second output power corresponding to the second dynamic voltage of the battery at present is determined by inquiring the dynamic voltage and output power table;

[0113] In step D3, the current power of the vehicle is adjusted to the second output power.

[0114] In the embodiment, in order to realize the effective utilization of the battery power, a plurality of different power limit levels can be set, different power limit levels correspond to different voltage intervals respectively, and different voltage intervals correspond to different output powers respectively. Furthermore, the appropriate output power can be selected according to the dynamic voltage of the battery, so as to realize the accurate control of the battery power.

[0115] Since the dynamic voltage and output power table contains a plurality of power limit levels, when it is monitored that the first dynamic voltage of the battery at present changes to the second dynamic voltage, it is judged whether the first dynamic voltage and the second dynamic voltage correspond to the same power limit level, wherein the second dynamic voltage is greater than the cut-off voltage; when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limit level, the second output power corresponding to the second dynamic voltage of the battery at present is determined by inquiring the dynamic voltage and output power table; and the current power of the vehicle is adjusted to the second output power. The strategy of adjusting the power of the vehicle is the same as the foregoing, which can be adjusting the output power of the electric device or can be jointly determining the electric device to be turned off by combining the importance and the electric power of the electric device.

[0116] In one embodiment, the method can also be implemented as the following step D4:

[0117] In step D4, when the first dynamic voltage and the second dynamic voltage correspond to the same power limit level, the vehicle is controlled to continue to run at the current power.

[0118] In one embodiment, the method can also be implemented as the following step E1:

[0119] In step E1, when the output voltage of the battery at present is greater than the preset voltage, the vehicle is controlled to run at the maximum output power.

[0120] Since the battery is in the charging condition, the battery power can be gradually recovered. When it is monitored that the output voltage of the battery is greater than the preset voltage, it indicates that the battery power is sufficient to support the vehicle running of the electric device of the vehicle, and therefore the vehicle is controlled to run at the maximum output power.

[0121] Figure 2 The structure diagram of a vehicle control device in an embodiment of the present application is shown in FIG. 1. Figure 2 As shown in FIG. 1, the device comprises:

[0122] The monitoring module 201 monitors the battery power of the vehicle.

[0123] The first obtaining module 202 is configured to obtain a first dynamic voltage of the battery when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, wherein the dynamic voltage of the vehicle when running at the preset power is greater than a cutoff voltage triggering power-off of the vehicle.

[0124] The first determining module 203 is configured to determine a first output power corresponding to the first dynamic voltage of the battery by querying a dynamic voltage and output power table when the first dynamic voltage of the battery is greater than the cutoff voltage and less than a preset voltage.

[0125] The first control module 204 is configured to control the vehicle to adjust a current power to the first output power, wherein the current power of the vehicle is greater than the first output power.

[0126] In an embodiment, the device further comprises:

[0127] The second obtaining module is configured to obtain a static voltage corresponding to the reserved power and obtain a polarization voltage of the battery when running at the preset power with a specific discharge power.

[0128] The second determining module is configured to determine that a sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when running at the preset power with the specific discharge power is the preset voltage.

[0129] In an embodiment, the second obtaining module comprises:

[0130] The calibration sub-module is configured to calibrate the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle.

[0131] The determining sub-module is configured to determine that a sum of the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle is the reserved power.

[0132] The querying sub-module is configured to query a corresponding relationship table of the remaining power and the static voltage to determine the static voltage corresponding to the reserved power.

[0133] In an embodiment, the device further comprises:

[0134] The second control module is configured to control the vehicle to power off when the battery power of the vehicle is less than the reserved power.

[0135] The second control module is further configured to control the vehicle battery to disconnect high-voltage power when the first dynamic voltage reaches the cutoff voltage.

[0136] In one embodiment, the first control module comprises:

[0137] a reducing submodule, configured to reduce a conversion ratio between an electronic accelerator pedal opening degree and a motor output power, so as to adjust a current power of the vehicle to the first output power;

[0138] Further comprising:

[0139] a control submodule, configured to control the vehicle to shut down at least one power consuming device with a priority lower than a preset priority, so as to adjust the current power of the vehicle to the first output power.

[0140] In one embodiment, the dynamic voltage and output power reference table comprises a plurality of power limitation levels, wherein different power limitation levels correspond to different voltage intervals respectively, and different voltage intervals correspond to different output powers respectively.

[0141] In one embodiment, the apparatus further comprises:

[0142] the monitoring module is further configured to determine whether the first dynamic voltage and the second dynamic voltage correspond to a same power limitation level when it is monitored that the current first dynamic voltage of the battery changes to a second dynamic voltage, wherein the second dynamic voltage is greater than the cutoff voltage;

[0143] the querying submodule is configured to determine a second output power corresponding to the current second dynamic voltage of the battery by querying the dynamic voltage and output power reference table when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limitation level;

[0144] the control module is configured to control the vehicle to adjust the current power to the second output power.

[0145] In one embodiment, the control module in the apparatus is further configured to:

[0146] control the vehicle to continue running at the current power when the first dynamic voltage and the second dynamic voltage correspond to the same power limitation level.

[0147] In one embodiment, the control module in the apparatus is further configured to:

[0148] control the vehicle to run at a maximum output power when the current output voltage of the battery is greater than a preset voltage.

[0149] Figure 3 A hardware structure diagram of a vehicle control system in one embodiment of the present application is shown in FIG. 1, which comprises: Figure 3 at least one processor 320; and

[0150] at least one processor 320; and

[0151] a memory 304 connected with the at least one processor 320; wherein

[0152] The memory 304 stores instructions executable by the at least one processor 320 for implementing the vehicle control method as described in any one of the above embodiments.

[0153] With reference to Figure 3 The vehicle control system 300 can include one or more of the following components: a processing component 302, a memory 304, a power supply component 306, a multimedia component 308, an audio component 310, an input / output (I / O) interface 312, a sensor component 314, and a communication component 316.

[0154] The processing component 302 generally controls the overall operations of the vehicle control system 300. The processing component 302 can include one or more processors 320 to execute instructions to complete all or part of steps of the above methods. In addition, the processing component 302 can include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 can include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0155] The memory 304 is configured to store various types of data to support the operations of the vehicle control system 300. Examples of these data include instructions for any application or method operating on the vehicle control system 300, such as text, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage devices, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic or optical disk.

[0156] The power supply component 306 provides power for the various components of the vehicle control system 300. The power supply component 306 can include a power supply management system, one or more power supplies, and other components associated with generating, managing and distributing power for the vehicle control system 300.

[0157] The multimedia component 308 includes a screen providing an output interface between the vehicle control system 300 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensor can not only sense a boundary of a touching or swiping action, but also detect duration and pressure related to the touching or swiping action. In some embodiments, the multimedia component 308 can further include a front camera and / or a back camera. The front camera and / or the back camera can receive external multimedia data when the vehicle control system 300 is in an operation mode, such as a photographing mode or a video mode. Each of the front camera and the back camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0158] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC) that is configured to receive an external audio signal when the vehicle control system 300 is in an operation mode, such as an alarm mode, a recording mode, a voice recognition mode, and a voice output mode. The received audio signal can be further stored in the memory 304 or transmitted via the communication component 316. In some embodiments, the audio component 310 further includes a speaker for outputting audio signals.

[0159] The I / O interface 312 provides an interface between the processing component 302 and peripheral interface modules, which can be a keyboard, a click wheel, a button, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0160] The sensor assembly 314 includes one or more sensors for providing status assessments of various aspects of the vehicle control system 300. For example, the sensor assembly 314 can include a sound sensor. In addition, the sensor assembly 314 can detect an open / closed status of the vehicle control system 300, relative positioning of components, such as a display and keypad of the vehicle control system 300, operating status of the vehicle control system 300 or a component of the vehicle control system 300, such as an operating status of a defroster, structural status, operating status of a material discharge blade, etc., orientation or acceleration / deceleration of the vehicle control system 300, and temperature changes of the vehicle control system 300. The sensor assembly 314 can include a proximity sensor configured to detect the presence of a nearby object without any physical contact. The sensor assembly 314 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, a material pile thickness sensor, or a temperature sensor.

[0161] The communication assembly 316 is configured to enable the vehicle control system 300 to provide wired or wireless communication capabilities with other devices and cloud platforms. The vehicle control system 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an example embodiment, the communication assembly 316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an example embodiment, the communication assembly 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0162] In an example embodiment, the vehicle control system 300 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for executing the vehicle control method described in any of the embodiments above.

[0163] The present application also provides a computer-readable storage medium, characterized in that when instructions in the storage medium are executed by a processor corresponding to the vehicle control system, the vehicle control system is enabled to implement the vehicle control method described in any of the embodiments above.

[0164] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In one embodiment, the present application can be implemented in software and can be stored on a computer readable medium, which can include random access memory (RAM), read only memory (ROM), magnetic disk or optical disk, or the like. The software implementation of the present application files can further be transmitted or received over a modem or network connection.

[0165] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0166] These computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0167] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0168] Obviously, numerous modifications and variations of the present application are possible in light of the above teachings. It is therefore to be understood that within the scope of the appended claims and their equivalents, the application can be practiced otherwise than as specifically described.

Claims

1. A vehicle control method characterized by, The method comprises: monitoring the battery power of the vehicle; when it is monitored that the battery power of the vehicle is less than a preset power and greater than a reserved power, obtaining a first dynamic voltage of the battery at present, wherein the dynamic voltage of the vehicle when running at the preset power is greater than a cut-off voltage triggering power-off of the vehicle; when the first dynamic voltage of the battery at present is greater than the cut-off voltage and less than a preset voltage, determining a first output power corresponding to the first dynamic voltage of the battery at present by querying a dynamic voltage and output power table; controlling the vehicle to adjust the current power to the first output power, wherein the current power of the vehicle is greater than the first output power.

2. The method of claim 1, wherein, The method further comprises: obtaining a static voltage corresponding to the reserved power, and obtaining a polarization voltage of the battery when running at a specific discharge power at the preset power; determining that the sum of the static voltage corresponding to the reserved power and the polarization voltage of the battery when running at the specific discharge power at the preset power is the preset voltage.

3. The method of claim 2, wherein, The method further comprises: calibrating the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle; determining that the sum of the power required for driving the vehicle, the power required for preset functions of the vehicle, and the power required for preset working conditions of the vehicle is the reserved power; querying a corresponding relationship table of the remaining power and the static voltage to determine the static voltage corresponding to the reserved power.

4. The method of claim 1, wherein, The method further comprises: when the battery power of the vehicle is less than the reserved power, controlling the vehicle to power off; when the first dynamic voltage reaches the cut-off voltage, controlling the vehicle battery to disconnect high-voltage power.

5. The method of claim 1, wherein, The method further comprises: reducing the conversion ratio between the opening degree of the electronic accelerator pedal and the output power of the electric motor to adjust the current power of the vehicle to the first output power; or controlling the vehicle to turn off at least one power consumption device with a priority lower than a preset priority to adjust the current power of the vehicle to the first output power. The dynamic voltage and output power table comprises a plurality of power limitation levels, wherein different power limitation levels correspond to different voltage intervals, and different voltage intervals correspond to different output powers, and the method further comprises:

6. The method of claim 1, wherein, when it is monitored that the first dynamic voltage of the battery at present changes to a second dynamic voltage, determining whether the first dynamic voltage and the second dynamic voltage correspond to the same power limitation level, wherein the second dynamic voltage is greater than the cut-off voltage; when the first dynamic voltage and the second dynamic voltage do not correspond to the same power limitation level, determining a second output power corresponding to the second dynamic voltage of the battery at present by querying the dynamic voltage and output power table; controlling the vehicle to adjust the current power to the second output power. The method further comprises:

7. The method of claim 6, wherein, when the first dynamic voltage and the second dynamic voltage correspond to the same power limitation level, controlling the vehicle to continue running at the first output power. The method comprises:

8. A vehicle control device characterized by comprising: a monitoring module for monitoring the battery power of the vehicle; ​ The first acquisition module is configured to acquire a first dynamic voltage of the battery when it is monitored that the battery level of the vehicle is less than a preset battery level and greater than a reserved battery level, wherein the dynamic voltage of the vehicle when running at the preset battery level is greater than a cut-off voltage triggering vehicle power-off. The first determination module is configured to determine a first output power corresponding to the first dynamic voltage of the battery by querying a dynamic voltage and output power table when the first dynamic voltage of the battery is greater than the cut-off voltage and less than a preset voltage. The first control module is configured to control the vehicle to adjust a current power to the first output power, wherein the current power of the vehicle is greater than the first output power.

9. A vehicle control system characterized by comprising: comprise: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to implement the vehicle control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by the processor corresponding to the vehicle control system, the vehicle control system can implement the vehicle control method according to any one of claims 1-7.

Images