Vehicle control method and device and related product

Abstract

The invention relates to a vehicle control method and device and a related product. The method comprises the steps that a working current value of a vehicle end in a standing state is obtained; if the working current values are not larger than the maximum quiescent current of the vehicle within the first sleep time limit, a first sleep instruction is sent to a bottom layer controller, and the bottom layer controller comprises an RTC power supply module and a mobile communication module; the bottom layer controller disconnects the unnecessary power consumption equipment according to the first dormancy instruction to enter a first dormancy state; if the duration of the first dormancy state is not less than the second dormancy time limit, sending a second dormancy instruction to the bottom layer controller; and the bottom layer controller cuts off the main power supply of the vehicle battery according to the second dormancy instruction, starts the RTC power supply module to supply power to the basic communication module and the mobile communication module of the bottom layer controller, and enters a second dormancy state.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to a vehicle control method, device, program product, medium, controller and vehicle. Background Art

[0002] The battery life of an autonomous vehicle includes the power consumption of the vehicle's daily operations and the power consumption of the autonomous vehicle in a dormant state when the vehicle is stationary. If the standby time is too long and the vehicle battery is depleted when the vehicle is stationary, it will not only cause the vehicle to malfunction and shut down, but also cause irreversible damage to the battery. In order to ensure the long-term and good operation of the autonomous vehicle and increase the battery life, the autonomous vehicle that has been stationary for a long time needs to be put into sleep and then awakened when the vehicle needs to work.

[0003] At present, there are two main sleep and wake-up methods for autonomous driving vehicles. In the first method, the sleep and wake-up logic are shown in Figure 1 (a) and Figure 1 (b) respectively. The vehicle-side current fluctuation is judged. If the vehicle-side current is less than the static current for a period of time (such as 1 hour), the vehicle actively enters sleep mode, and the vehicle-side bottom-level controller turns off all non-essential outputs and retains the wake-up function; wake-up requires operating the vehicle-side screen APP or manual button to trigger the wake-up signal to the bottom-level controller, thereby activating other devices in the vehicle, so that the vehicle can work normally and reach the working state, and can execute tasks at any time. In the second method, the sleep and wake-up logic is shown in Figure 2 (a) and Figure 2 (b). On the basis of the first method, a second-level sleep mode is set. When the vehicle continues to sleep in the first mode for a period of time (such as 8 hours) and the vehicle does not move, the vehicle sends a sleep command to the battery management system (BMS) to enter the second-level sleep mode; wake-up requires the key switch or charging method to trigger the wake-up signal to the bottom-level controller to wake up the vehicle.

[0004] Both of the above two methods require manual triggering of the wake-up signal to wake up the vehicle, and cannot achieve automatic wake-up, and cannot achieve closed-loop control of automatic driving and unmanned operation sleep wake-up. Summary of the invention

[0005] The purpose of the present invention is to provide a vehicle control method, device, program product, medium, controller and vehicle to address the technical problem in the prior art that manual intervention is required to wake up a dormant vehicle.

[0006] To achieve the above object, the present invention provides a vehicle control method in a first aspect, the method comprising:

[0007] Get the working current value of the vehicle end in a static state;

[0008] If the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit, a first sleep instruction is sent to the bottom layer controller, the bottom layer controller includes an RTC power supply module and a mobile communication module; the bottom layer controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters the first sleep state;

[0009] If the duration of the first sleep state is not less than the second sleep time limit, a second sleep instruction is sent to the underlying controller; the underlying controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and mobile communication module of the underlying controller, and enters the second sleep state.

[0010] Further, the bottom layer controller obtains a remote wake-up trigger message;

[0011] If the vehicle is in the first dormant state, the bottom-level controller wakes up the non-essential power-consuming device according to the remote wake-up trigger message;

[0012] If the vehicle is in the second sleep state, the underlying controller wakes up the vehicle battery main power supply according to the remote wake-up trigger message; the underlying controller switches power supply from the RTC power supply module to the vehicle battery; and the non-essential power-consuming devices are woken up by the vehicle battery and the underlying controller.

[0013] Furthermore, the power supply and charging modes of the RTC power supply module are switched according to the vehicle battery status, wherein the charging mode is to charge the RTC power supply module through the vehicle battery.

[0014] Further, if the vehicle is in the first dormant state, the bottom layer controller wakes up the non-essential power-consuming device according to the remote wake-up trigger message, specifically:

[0015] The bottom-level controller parses the remote wake-up trigger message obtained through the mobile communication module to generate a first control instruction;

[0016] The non-essential power consuming device is woken up according to the first control instruction, wherein the first control instruction includes vehicle battery direct power supply wakeup and bottom layer controller output opening wakeup.

[0017] Further, the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, specifically including:

[0018] The bottom-level controller cuts off the internal discharge relay of the vehicle battery and the power supply of the MCU according to the second sleep instruction, and retains the internal wake-up trigger message function of the vehicle battery.

[0019] Further, the bottom layer controller wakes up the vehicle battery main power supply according to the remote wake-up trigger message, specifically including:

[0020] The basic communication module of the bottom-level controller sends the remote wake-up trigger message obtained through the mobile communication module to the wake-up trigger message function module inside the vehicle battery;

[0021] The vehicle battery internal wake-up trigger message function module parses the remote wake-up trigger message to generate a second control instruction;

[0022] The vehicle battery main power supply is awakened according to the second control instruction, wherein the second control instruction includes vehicle battery direct power supply awakening and bottom-level controller output opening awakening.

[0023] Further, the bottom-level controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters a first sleep state, specifically including:

[0024] The vehicle battery is retained to power the mobile communication module and the basic communication module of the underlying controller.

[0025] A second aspect of the present invention provides a vehicle control device, the device comprising:

[0026] The first acquisition module is used to obtain the working current value of the vehicle end in a static state;

[0027] A first sending module is used to send a first sleep instruction to a bottom-level controller if the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit, and the bottom-level controller includes an RTC power supply module and a mobile communication module; the bottom-level controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters a first sleep state;

[0028] The second sending module is used to send a second sleep instruction to the bottom-level controller if the duration of the first sleep state is not less than the second sleep time limit; the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and the mobile communication module of the bottom-level controller, and enters the second sleep state.

[0029] Furthermore, the vehicle control device further comprises:

[0030] A second acquisition module, used for the bottom layer controller to acquire a remote wake-up trigger message;

[0031] A first wake-up module, configured to cause the bottom layer controller to wake up the non-essential power-consuming device according to the remote wake-up trigger message if the vehicle is in the first dormant state;

[0032] The second wake-up module is used for waking up the main power supply of the vehicle battery according to the remote wake-up trigger message if the vehicle is in the second sleep state; the bottom-level controller switches the power supply from the RTC power supply module to the vehicle battery; and wakes up the non-essential power-consuming equipment through the vehicle battery and the bottom-level controller.

[0033] A third aspect of the present invention provides a computer program product, which, when executed on a computer, enables the computer to execute the vehicle control method as described in any one of the first aspects.

[0034] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any one of the methods described in the first aspect.

[0035] A fifth aspect of the present invention provides a controller, comprising a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of any one of the methods described in the first aspect.

[0036] A sixth aspect of the present invention provides a vehicle, characterized in that it includes the controller described in the fifth aspect.

[0037] The vehicle control method, device and related products provided by the present invention realize remote control of the first-level sleep and second-level sleep awakening of the vehicle by setting a mobile communication module in the vehicle-side underlying controller and switching the basic communication module and the mobile communication module of the vehicle-side underlying controller to the RTC power supply module for power supply when the vehicle enters the second sleep state. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] FIG. 1( a ) is one of the existing vehicle sleep logic schematic diagrams;

[0039] FIG1( b ) is one of the existing vehicle wake-up logic schematic diagrams;

[0040] FIG. 2( a ) is a second schematic diagram of the existing vehicle sleep logic;

[0041] FIG2( b ) is a second schematic diagram of the existing vehicle wake-up logic;

[0042] Figure 3 One of the flow charts of the vehicle control method provided in the first embodiment of the present invention;

[0043] Figure 4 A second flowchart of the vehicle control method provided in the first embodiment of the present invention;

[0044] Figure 5 A third flowchart of the vehicle control method provided in the first embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the structure of a vehicle control device provided in Embodiment 2 of the present invention;

[0046] Figure 7 A second structural diagram of a vehicle control device provided in Embodiment 2 of the present invention;

[0047] Figure 8 A schematic diagram of the structure of a computer program product provided in Embodiment 3 of the present invention;

[0048] Fig. 9 This is a schematic diagram of the controller structure provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0051] The present invention may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The present invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communications network. In a distributed computing environment, program modules may be located in local and remote computer storage media, including storage devices.

[0052] In the present invention, "module", "device", "system" and the like refer to related entities applied to computers, such as hardware, a combination of hardware and software, software or software in execution, etc. In detail, for example, an element can be, but is not limited to, a process, a processor, an object, an executable element, an execution thread, a program and / or a computer running on a processor. In addition, an application or script program running on a server, a server can all be an element. One or more elements can be in an execution process and / or thread, and an element can be localized on a computer and / or distributed between two or more computers, and can be operated by various computer-readable media. An element can also communicate through local and / or remote processes according to a signal with one or more data packets, for example, a signal from a data that interacts with another element in a local system, a distributed system, and / or a network on the Internet through a signal to interact with other systems.

[0053] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include" and "comprise" include not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the existence of other identical elements in the process, method, article or equipment that includes the elements.

[0054] The vehicle control method, device, and related products provided by the present invention receive remote wake-up trigger messages through the mobile communication module of the vehicle-side underlying controller, thereby realizing remote control of the first sleep state awakening; when the vehicle enters the second sleep state, the basic communication module and the mobile communication module of the vehicle-side underlying controller are switched from the vehicle battery to the RTC power supply module, thereby realizing remote control of the vehicle's secondary sleep state; when the RTC power supply module is idle, the vehicle battery is used to charge the RTC power supply module, thereby saving space on the vehicle side.

[0055] The vehicle control method provided in this application can be used to remotely control the sleep, wake-up, and working states of autonomous driving vehicles or robots (such as unmanned sweepers, unmanned floor washers, unmanned sprinkler trucks, shopping guide robots, guide robots, disinfection robots, hotel service robots, etc.) in commercial scenarios such as shopping malls, railway stations, hospitals, and hotels.

[0056] The "autonomous driving vehicles" referred to in this application include vehicles or robots with L0-L5 autonomous driving technology levels as established by the Society of Automotive Engineers International (SAE International) or the Chinese national standard "Automotive Driving Automation Classification".

[0057] Embodiment 1

[0058] Figure 3 This is one of the flow charts of the vehicle control method provided in the first embodiment of the present invention, such as Figure 3 As shown, the vehicle control method includes:

[0059] Step 110, obtaining the working current value of the vehicle end in a static state.

[0060] Specifically, when the vehicle is in a stationary state, the current output value of the vehicle battery fluctuates within a certain range, and the real-time current fluctuation range will not exceed the maximum static current of the vehicle. The working current value of the vehicle in a stationary state can be obtained in real time through the on-board diagnostic system interface.

[0061] Step 120, if the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit, send a first sleep instruction to the underlying controller, the underlying controller includes an RTC power supply module and a mobile communication module; the underlying controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters the first sleep state.

[0062] Specifically, the duration of the working current value not exceeding the maximum static current value of the vehicle is recorded. If the duration reaches the first sleep time limit, the controller brain sends the first sleep instruction to the bottom-level controller, and the bottom-level controller parses the first sleep instruction to generate a control instruction to disconnect non-essential power-consuming devices and enter the first sleep state. The static current of the vehicle is the current value generated by the engine and the surrounding area of ​​the engine when the car is turned off. The current value is obtained from the battery management system (BMS) of the vehicle. The current value is a range value, such as 2A±0.2A, that is, the maximum static current of the vehicle is 2.2A and the minimum static current is 1.8A.

[0063] Among them, the first sleep time limit can be preset according to experience or demand; the controller brain is responsible for high-level control and decision-making of the autonomous driving system; the bottom-level controller is responsible for controlling the specific actions of the vehicle, and the bottom-level controller realizes the specific control of the vehicle by receiving instructions transmitted from the controller brain; the RTC power supply module includes a real-time clock (RTC) circuit, which uses an RTC charge and discharge battery. The RTC charge and discharge battery has a long life and a low self-discharge rate and does not require frequent maintenance; the mobile communication module can be a 4G or 5G communication module capable of long-distance mobile transmission; non-essential power-consuming equipment includes perception radars, ultrasonic waves, cameras, motors, and speakers.

[0064] In an optional embodiment, at least the vehicle battery is retained to power non-essential communication functions such as the mobile communication module and the basic communication module of the underlying controller.

[0065] Specifically, in the first sleep state, undisconnected devices or outputs are powered by the vehicle battery. The first sleep state is a light sleep state. Usually, the first sleep time limit is set shorter, such as 1 hour. Therefore, there are situations where the vehicle needs to be awakened frequently. In order to ensure the vehicle wake-up time and avoid high-frequency use of internal switches and relays in the vehicle battery to reduce its service life, in the first sleep state, the vehicle battery maintains the main power supply state.

[0066] Step 130, if the duration of the first sleep state is not less than the second sleep time limit, send a second sleep instruction to the bottom-level controller; the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and the mobile communication module of the bottom-level controller, and enters the second sleep state.

[0067] Specifically, if the duration of the first sleep state is not less than the second sleep time limit, it means that the duration of the first sleep state is long, and the vehicle battery is in a long standby discharge state, which will cause the vehicle battery to be depleted and affect the life of the vehicle battery. The controller brain sends the second sleep instruction to the basic communication module of the bottom controller, and the basic communication module parses the second sleep instruction to generate a control instruction to control the battery management system. Among them, the bottom controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, specifically including: the bottom controller cuts off the main power supply such as the discharge relay and the microcontroller unit (MCU) power supply inside the vehicle battery according to the second sleep instruction, and retains the internal wake-up trigger message function of the vehicle battery. In the first sleep state, the main power consumption of the vehicle battery is the power consumption of the discharge relay and the power consumption of the MCU. By executing the second sleep instruction, the power loss of the vehicle battery in a long standby state is avoided. When the vehicle battery enters a deep sleep state, it is not powered, and only the wake-up trigger message function is maintained for automatic wake-up of the vehicle battery. Among them, the RTC power supply module is started to power the basic communication module and the mobile communication module of the underlying controller. Specifically, the underlying controller is bidirectionally powered by the vehicle battery and the RTC power supply module. When the vehicle battery enters deep sleep, it no longer provides power to the underlying controller. When the underlying controller receives the second sleep instruction, the basic communication module and the mobile communication module of the underlying controller are switched to the RTC power supply module for power supply to ensure that the mobile communication module of the underlying controller can remotely receive the wake-up trigger message, and the basic communication module can wake up the main power supply of the vehicle battery according to the received wake-up trigger message.

[0068] In a preferred embodiment, Figure 4 The second flowchart of the vehicle control method provided in the first embodiment of the present invention is as follows: Figure 4 As shown, after step 130, the vehicle control method further includes:

[0069] Step 210: The bottom-level controller obtains a remote wake-up trigger message.

[0070] Step 220: If the vehicle is in the first dormant state, the bottom-level controller wakes up non-essential power-consuming devices according to the remote wake-up trigger message.

[0071] Specifically, the bottom-level controller parses the remote wake-up trigger message obtained through the mobile communication module to generate a first control instruction; wakes up non-essential power-consuming devices according to the first control instruction, wherein the first control instruction includes wake-up by direct power supply from the vehicle battery and wake-up by turning on the output of the bottom-level controller, such as motor control values, DC converters, etc., which are directly powered by the vehicle battery, and speakers, solenoid valves, etc., which are awakened by turning on the output of the bottom-level controller. For the awakening of the first dormant state, the mobile communication module and the basic communication module of the bottom-level controller are powered by the vehicle battery.

[0072] Step 230, if the vehicle is in the second sleep state, the bottom-level controller wakes up the vehicle battery main power supply according to the remote wake-up trigger message; the bottom-level controller switches the power supply from the RTC power supply module to the vehicle battery power supply; and wakes up non-essential power-consuming devices through the vehicle battery and the bottom-level controller.

[0073] Among them, the bottom-level controller wakes up the main power supply of the vehicle battery according to the remote wake-up trigger message, specifically including: first, the basic communication module of the bottom-level controller sends the remote wake-up trigger message obtained through the mobile communication module to the wake-up trigger message function module inside the vehicle battery; secondly, the internal wake-up trigger message function module of the vehicle battery parses the remote wake-up trigger message to generate a second control instruction; finally, the main power supply of the vehicle battery is awakened according to the second control instruction, wherein the second control instruction includes direct power supply wake-up of the vehicle battery and output opening wake-up of the bottom-level controller.

[0074] In yet another alternative, Figure 5 The third flowchart of the vehicle control method provided in the first embodiment of the present invention is as follows: Figure 5 As shown, after step 230, the vehicle control method further includes:

[0075] Step 310 , switching the power supply and charging mode of the RTC power supply module according to the vehicle battery status, wherein the charging mode is to charge the RTC power supply module through the vehicle battery.

[0076] Specifically, the vehicle battery status is divided into a working state, a first sleep state and a second sleep state. When the vehicle battery is in the first sleep state and the working state, the RTC power supply module is in a charging state. Charging the RTC power supply module through the vehicle battery can avoid additional charging equipment occupying space on the vehicle side, and the cyclic charging and discharging of the RTC can further increase the vehicle standby time; when the vehicle battery is in the second sleep state, the vehicle battery is turned off to supply power to the main control to avoid battery loss during standby. The basic communication and wake-up functions are maintained through the RTC circuit with a long service life and low self-discharge rate. While avoiding vehicle battery loss, remote automatic wake-up control is realized, and there is no need for manual wake-up operations on the vehicle side, which solves the closed-loop control of sleep and wake-up of autonomous driving without human operation.

[0077] Embodiment 2

[0078] A second embodiment of the present invention provides a vehicle control device, Figure 6 This is one of the structural diagrams of the vehicle control device provided in the second embodiment of the present invention, such as Figure 6 As shown, the vehicle control device 400 includes a first acquisition module 401 , a first sending module 402 and a second sending module 403 .

[0079] The first acquisition module 401 is used to acquire the working current value of the vehicle end in a static state.

[0080] The first sending module 402 is used to send a first sleep instruction to the bottom-level controller if the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit. The bottom-level controller includes an RTC power supply module and a mobile communication module; the bottom-level controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters the first sleep state. In a possible implementation, at least the vehicle battery is retained to supply power to the mobile communication module and the basic communication module of the bottom-level controller.

[0081] The second sending module 403 is used to send a second sleep instruction to the bottom-level controller if the duration of the first sleep state is not less than the second sleep time limit; the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and the mobile communication module of the bottom-level controller, and enters the second sleep state.

[0082] Among them, the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, specifically including: the bottom-level controller cuts off the internal discharge relay and MCU power supply of the vehicle battery according to the second sleep instruction, and retains the internal wake-up trigger message function of the vehicle battery.

[0083] In a preferred embodiment, Figure 7 The second structural diagram of the vehicle control device provided in the second embodiment of the present invention is as follows: Figure 7 As shown, the vehicle control device also includes a second acquisition module 404 , a first wake-up module 405 and a second wake-up module 406 .

[0084] The second acquisition module 404 is used for the bottom-level controller to acquire the remote wake-up trigger message.

[0085] The first wake-up module 405 is used for waking up non-essential power-consuming devices according to the remote wake-up trigger message when the vehicle is in the first sleep state.

[0086] Specifically, the bottom-level controller parses the remote wake-up trigger message obtained through the mobile communication module to generate a first control instruction; wakes up non-essential power-consuming devices according to the first control instruction, wherein the first control instruction includes vehicle battery direct power supply wake-up and bottom-level controller output opening wake-up.

[0087] The second wake-up module 406 is used for waking up the main power supply of the vehicle battery according to the remote wake-up trigger message when the vehicle is in the second sleep state; the bottom-level controller switches the power supply from the RTC power supply module to the vehicle battery; and wakes up non-essential power-consuming devices through the vehicle battery and the bottom-level controller.

[0088] Among them, the bottom-level controller wakes up the main power supply of the vehicle battery according to the remote wake-up trigger message, specifically including: the basic communication module of the bottom-level controller sends the remote wake-up trigger message obtained through the mobile communication module to the internal wake-up trigger message function module of the vehicle battery; the internal wake-up trigger message function module of the vehicle battery parses the remote wake-up trigger message to generate a second control instruction; the main power supply of the vehicle battery is woken up according to the second control instruction, wherein the second control instruction includes direct power supply wake-up of the vehicle battery and output opening wake-up of the bottom-level controller.

[0089] The second wake-up module 406 is further used to switch the power supply and charging mode of the RTC power supply module according to the vehicle battery status, wherein the charging mode is to charge the RTC power supply module through the vehicle battery.

[0090] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. In addition, all or part of these modules can be integrated together, or they can be implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each module above can be completed by an integrated logic circuit of hardware in the processor element or instructions in the form of software.

[0091] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application specific integrated circuits (ASIC), or one or more microprocessors (DSP), or one or more field programmable gate arrays (FPGA). For another example, when a module above is implemented in the form of a processing element scheduling program code, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0092] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The above computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) methods. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0093] Embodiment 3

[0094] Embodiment 3 provides a computer program product including instructions, such as Figure 8 As shown, when the computer program product runs on a computer, the computer is enabled to execute any one of the vehicle control methods provided in the first embodiment.

[0095] Embodiment 4

[0096] Embodiment 4 of the present invention provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, any one of the vehicle control methods provided in Embodiment 1 is implemented.

[0097] Embodiment 5

[0098] Embodiment 5 of the present invention provides a controller, Fig. 9 This is a schematic diagram of the controller structure provided in Embodiment 5 of the present invention. Fig. 9 As shown, it includes a memory 500, a processor 600 and a computer program stored in the memory, and the processor executes the computer program to implement any one of the vehicle control methods provided in the above-mentioned embodiment 1.

[0099] Embodiment 6

[0100] A sixth embodiment of the present invention provides a vehicle, comprising the controller of the fifth embodiment described above.

[0101] In one possible implementation, the vehicle may be equipped with various sensors for sensing environmental information and the vehicle's own information (including but not limited to lidar, camera, millimeter-wave radar, ultrasonic radar, inertial measurement unit, wheel speed meter, etc.), and the controller may be an autonomous driving domain controller mounted on the vehicle. When the vehicle is in operation, the autonomous driving domain controller communicates with the various sensors mounted on the vehicle, and plans a path for the vehicle based on the various information collected by these sensors, thereby achieving the purpose of controlling the vehicle to drive automatically.

[0102] The professionals should further realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0103] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0104] The above specific implementation methods further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific implementation methods of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: The method comprises: Get the working current value of the vehicle end in a static state; If the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit, a first sleep instruction is sent to the bottom layer controller, the bottom layer controller includes an RTC power supply module and a mobile communication module; the bottom layer controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters the first sleep state; If the duration of the first sleep state is not less than the second sleep time limit, a second sleep instruction is sent to the underlying controller; the underlying controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and mobile communication module of the underlying controller, and enters the second sleep state.

2. The vehicle control method according to claim 1, characterized in that: The method further comprises: The bottom layer controller obtains a remote wake-up trigger message; If the vehicle is in the first dormant state, the bottom-level controller wakes up the non-essential power-consuming device according to the remote wake-up trigger message; If the vehicle is in the second sleep state, the underlying controller wakes up the vehicle battery main power supply according to the remote wake-up trigger message; the underlying controller switches power supply from the RTC power supply module to the vehicle battery; and the non-essential power-consuming devices are woken up by the vehicle battery and the underlying controller.

3. The vehicle control method according to claim 2, characterized in that: The method further comprises: The power supply and charging modes of the RTC power supply module are switched according to the vehicle battery status, wherein the charging mode is to charge the RTC power supply module through the vehicle battery.

4. The vehicle control method according to claim 1, characterized in that: If the vehicle is in the first dormant state, the bottom-level controller wakes up the non-essential power-consuming device according to the remote wake-up trigger message, specifically: The bottom-level controller parses the remote wake-up trigger message obtained through the mobile communication module to generate a first control instruction; The non-essential power consuming device is woken up according to the first control instruction, wherein the first control instruction includes vehicle battery direct power supply wakeup and bottom layer controller output opening wakeup.

5. The vehicle control method according to claim 1, characterized in that: The bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, specifically including: The bottom-level controller cuts off the internal discharge relay of the vehicle battery and the power supply of the MCU according to the second sleep instruction, and retains the internal wake-up trigger message function of the vehicle battery.

6. The vehicle control method according to claim 2, characterized in that: The bottom layer controller wakes up the vehicle battery main power supply according to the remote wake-up trigger message, specifically including: The basic communication module of the bottom-level controller sends the remote wake-up trigger message obtained through the mobile communication module to the wake-up trigger message function module inside the vehicle battery; The vehicle battery internal wake-up trigger message function module parses the remote wake-up trigger message to generate a second control instruction; The vehicle battery main power supply is awakened according to the second control instruction, wherein the second control instruction includes vehicle battery direct power supply awakening and bottom-level controller output opening awakening.

7. The vehicle control method according to claim 1, characterized in that: The bottom-level controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters the first sleep state, specifically including: The vehicle battery is retained to power the mobile communication module and the basic communication module of the underlying controller.

8. A vehicle control device, characterized in that: The vehicle control device comprises: The first acquisition module is used to obtain the working current value of the vehicle end in a static state; A first sending module is used to send a first sleep instruction to a bottom-level controller if the working current value is not greater than the maximum static current of the vehicle within the first sleep time limit, and the bottom-level controller includes an RTC power supply module and a mobile communication module; the bottom-level controller disconnects non-essential power-consuming devices according to the first sleep instruction and enters a first sleep state; The second sending module is used to send a second sleep instruction to the bottom-level controller if the duration of the first sleep state is not less than the second sleep time limit; the bottom-level controller cuts off the main power supply of the vehicle battery according to the second sleep instruction, and starts the RTC power supply module to power the basic communication module and the mobile communication module of the bottom-level controller, and enters the second sleep state.

9. The vehicle control device according to claim 8, characterized in that: The vehicle control device further comprises: A second acquisition module, used for the bottom layer controller to acquire a remote wake-up trigger message; A first wake-up module, configured to cause the bottom layer controller to wake up the non-essential power-consuming device according to the remote wake-up trigger message if the vehicle is in the first dormant state; The second wake-up module is used for waking up the main power supply of the vehicle battery according to the remote wake-up trigger message if the vehicle is in the second sleep state; the bottom-level controller switches the power supply from the RTC power supply module to the vehicle battery; and wakes up the non-essential power-consuming equipment through the vehicle battery and the bottom-level controller.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to claims 1 to 7 are implemented.

11. A controller comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method of claims 1-7.

12. A vehicle, characterized in that: Comprising a controller as claimed in claim 11.

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