Vehicle gear control method, device and equipment

Abstract

The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle gear control method, device and equipment, and the method comprises the steps: when a vehicle control unit of a vehicle is reset, obtaining an actual gear and a first target gear of the vehicle before the vehicle control unit is reset; whether a new second target gear requirement exists in the reset period of the vehicle control unit or not is detected, and the duration of the reset period is smaller than the communication degradation tolerance duration of a reset associated system of the vehicle control unit; and if the second target gear requirement is not detected, gear shifting operation is executed according to the actual gear of the vehicle before resetting and the first target gear. According to the vehicle gear control method provided by the embodiment of the invention, the technical problem of low driving safety during short-time resetting of the vehicle control unit in related technologies can be solved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control technology, and in particular to a vehicle gear control method, device and equipment. Background Art

[0002] In the related art, the driving safety is low when the vehicle controller is reset for a short time. Summary of the invention

[0003] In view of the above problems, the embodiments of the present invention provide a vehicle gear control method, device and equipment, which are used to solve the problem of low driving safety when the vehicle controller is reset for a short time in the prior art.

[0004] According to one aspect of an embodiment of the present invention, a vehicle gear control method is provided, the method comprising:

[0005] When a vehicle controller of a vehicle is reset, obtaining an actual gear position and a first target gear position of the vehicle before the vehicle controller is reset;

[0006] Detecting whether there is a new second target gear requirement during the resetting period of the vehicle controller, wherein the duration of the resetting period is less than the communication degradation tolerance duration of the vehicle controller resetting associated system;

[0007] If the second target gear position requirement is not detected, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the first target gear position.

[0008] In an optional manner, obtaining the actual gear position of the vehicle before the vehicle controller is reset specifically includes:

[0009] Acquiring the actual gear state value of the vehicle and the execution state of the electronic parking unit stored before resetting;

[0010] The actual gear position of the vehicle before resetting is determined according to the actual gear position state value and the execution state of the electronic parking unit.

[0011] In an optional manner, obtaining the first target gear position of the vehicle before the vehicle controller is reset specifically includes:

[0012] Obtaining the target gear state value of the vehicle, the identified gear shift source, and the vehicle operating condition stored before resetting;

[0013] A first target gear position of the vehicle before resetting is determined based on the target gear position state value, the identified gear shift source, and the vehicle operating condition.

[0014] In an optional manner, after detecting whether there is a new second target gear position requirement during the resetting of the vehicle controller, the method further includes:

[0015] If the second target gear requirement is detected, obtaining a first gear shift source corresponding to the first target gear and a second gear source corresponding to the second target gear;

[0016] When the priority of the first gear shift source is higher than the priority of the second gear source, performing a gear shift operation according to the actual gear position of the vehicle before resetting and the first target gear position;

[0017] When the priority of the second gear shift source is higher than the priority of the first gear source, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the second target gear position.

[0018] In an optional manner, performing the gear shifting operation according to the actual gear position of the vehicle before resetting and the first target gear position includes:

[0019] comparing the actual gear position with the first target gear position;

[0020] When the actual gear position is consistent with the first target gear position, maintaining the actual gear position;

[0021] When the actual gear position is inconsistent with the first target gear position, the actual gear position is switched according to the first target gear position.

[0022] In an optional manner, before obtaining the actual gear position and the first target gear position of the vehicle before the vehicle controller is reset, the method further includes:

[0023] Before resetting the vehicle controller, recording the actual gear state value, target gear state value, execution state of the electronic parking unit, identified gear shift source and vehicle operating condition of the vehicle;

[0024] The actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition are stored in the storage space allocated by the underlying software of the vehicle controller.

[0025] In an optional manner, the vehicle gear control method further includes:

[0026] When the vehicle controller of the vehicle is reset, the message communication with the reset-related system is interrupted and the reset time is obtained;

[0027] When the reset time does not reach a preset time threshold, receiving a work request sent by the reset-associated system, wherein the reset-associated system at least includes a vehicle body electronic stability system, a microcontroller unit and an intelligent driving system, a battery management system and an instrument system;

[0028] When the reset time reaches a preset time threshold, determining whether to resume message communication with the reset associated system;

[0029] When the message communication with the reset associated system is not restored, it is determined that the reset associated system has lost communication, wherein the reset associated system performs a degradation action when the communication is lost.

[0030] In an optional manner, after receiving the work request sent by the reset association system, the method further includes:

[0031] After completing the reset, respond to the work request of the reset-related system, and send a work instruction to the reset-related system, so that the reset-related system responds to the work instruction.

[0032] According to another aspect of an embodiment of the present invention, there is provided a vehicle gear control device, comprising:

[0033] An acquisition module, used for acquiring the actual gear position and the first target gear position of the vehicle before the vehicle controller is reset when the vehicle controller is reset;

[0034] A detection module, used to detect whether there is a new second target gear requirement during the reset period of the vehicle controller, wherein the duration of the reset period is less than the communication degradation tolerance duration of the vehicle controller reset associated system;

[0035] The gear shift module is used to perform a gear shift operation according to the actual gear position of the vehicle before resetting and the first target gear position if the second target gear position requirement is not detected.

[0036] According to another aspect of an embodiment of the present invention, there is provided a vehicle gear position control device, comprising:

[0037] A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus;

[0038] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle gear control method as described above.

[0039] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein the storage medium stores at least one executable instruction, wherein the executable instruction enables a vehicle gear control device / apparatus to perform the operation of the vehicle gear control method described above.

[0040] Therefore, the vehicle gear control method provided in an embodiment of the present invention can actively restore the gear quickly and accurately by quickly and accurately performing a gear shifting operation based on the actual gear position of the vehicle before the vehicle controller is reset and no new second target gear demand is detected during the reset period, thereby effectively improving driving safety.

[0041] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0043] Figure 1 A schematic flow chart of a first embodiment of a vehicle gear control method provided by an embodiment of the present invention;

[0044] Figure 2 An interactive schematic diagram of VCU reset provided by an embodiment of the present invention;

[0045] Figure 3 The overall process intention of VCU reset provided by the embodiment of the present invention;

[0046] Figure 4 A schematic flow chart of a second embodiment of a vehicle gear control method provided by an embodiment of the present invention;

[0047] Figure 5 A communication diagram of a reset association system provided by an embodiment of the present invention;

[0048] Figure 6 A schematic diagram of the structure of a vehicle gear control device provided by an embodiment of the present invention;

[0049] Figure 7 A schematic structural diagram of an embodiment of a vehicle gear control device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0051] Compared with traditional fuel vehicles, electric vehicles have added many electronic control units to provide users with more experience functions. An obvious consequence of the increased complexity is the increase in defects and failures in electronics and software, which may lead to road accidents. For example, if the VCU undergoes a short (about 500ms) hardware reset or software reset, if it cannot actively restore to the working mode before the reset, it may cause abnormal termination of charging and sudden power loss during high-speed driving, which will cause great complaints and vehicle risks to users. Driving safety cannot be guaranteed when the vehicle controller is reset for a short time.

[0052] The embodiment of the present invention first provides a vehicle gear control method, which is applied to a vehicle-mounted terminal.

[0053] It should be noted that the above-mentioned vehicle gear control method can be implemented through the vehicle controller of the vehicle terminal, and the above-mentioned vehicle controller can be at least one of an application-specific integrated circuit (ASIC), a digital signal processor (DSP), a digital signal processing device (DSPD), a programmable logic device (PLD), a field programmable gate array (FPGA), a central processing unit (CPU), a controller, a microcontroller, and a microprocessor.

[0054] Figure 1 FIG. 1 is a flow chart showing a first embodiment of a vehicle gear control method according to the present invention, and the method is executed by a vehicle-mounted terminal. Figure 1 As shown, the process may include steps 101 to 103:

[0055] Step 101: When a vehicle controller of a vehicle is reset, an actual gear position and a first target gear position of the vehicle before the vehicle controller is reset are obtained.

[0056] In one embodiment, when the vehicle is charging and driving at high speed, the bottom-level software (BSW) of the vehicle controller (VCU) recognizes that the software has been reset, generates a reset signal, and detects the reset signal of the vehicle controller through the vehicle terminal. When the reset signal is detected, it is determined that the vehicle controller has been reset.

[0057] In one embodiment, the bottom-level software (BSW) of the vehicle control unit (VCU) can monitor the operating status of the vehicle control unit (VCU), and when it is identified that the software is reset, the bottom-level software (BSW) generates a reset signal and sets the corresponding reset signal (VCU_Rst=1). The reset signal can be used to trigger the control process of vehicle gear switching to ensure that the vehicle can operate safely when a reset occurs.

[0058] In one implementation, the first target gear is the target gear when the vehicle is about to perform a gear shift operation before the vehicle controller is reset. In each driving cycle, a dedicated storage space is opened up by the underlying software (BSW) of the VCU to store the key signal that can realize active gear shifting when the VCU is reset. The key signal carries at least the actual gear, target gear, vehicle speed, motor torque, feedback status of the parking brake system, etc. before the vehicle is reset. This embodiment does not impose specific restrictions on this.

[0059] In one implementation, when the vehicle controller is reset, the underlying software (BSW) should be able to complete related software initialization within a first preset time period, which may be 200ms. Software initialization may include controller self-test, MCAL initialization, OS startup, protocol stack initialization, application layer (ASW) task scheduling, etc. This embodiment does not impose any specific restrictions on this.

[0060] In one embodiment, after the BSW completes initialization, the function of the application layer (ASW) is restored according to the stored key signal. The gear switching needs to be completed within a second preset time to finally achieve active recovery of the gear. The second preset time may be 300ms.

[0061] like Figure 2 As shown, Figure 2 The interactive diagram of VCU reset is as follows. When the vehicle controller (VCU) self-resets, the bottom-level software (BSW) reset flag is set, message sending is stopped, and software initialization (including MCAL initialization, OS startup, etc.) is performed. The software initialization should be completed within 200ms. After self-reset, the vehicle controller (VCU) communication is restored, the CAN transceiver initialization and the bottom-level software (BSW) resume message sending are completed, and the application layer (ASW) function recovery is completed within 300ms, including the initialization of the actual gear, the determination of the target gear, and the gear switching.

[0062] In one embodiment, when BSW completes software initialization after reset, ASW needs to synchronously restore gear switching to achieve active recovery of the VCU gear. If the operating state before reset cannot be restored in time after reset, or the driver is required to manually operate, unexpected deceleration, vehicle power loss and other dangerous conditions may occur, affecting driving safety.

[0063] Step 102: Detect whether there is a new second target gear requirement during the reset period of the vehicle controller, wherein the duration of the reset period is less than the communication degradation tolerance duration of the vehicle controller reset associated system.

[0064] In one embodiment, the reset-associated system, i.e., the counterpart of the vehicle controller, refers to other vehicle control units that still need to maintain communication with the vehicle controller during the reset period, such as the vehicle electronic stability system, microcontroller unit, intelligent driving system, battery management system, and instrument system, etc. This embodiment does not impose specific restrictions on this. The communication degradation tolerance time refers to the maximum time during the reset of the vehicle controller that these counterparts can still maintain basic communication functions. During this period, the reset-associated system can operate normally, and the signals interacting with the VCU are sent normally, and related fault degradation actions such as communication abnormalities will not be triggered. The communication degradation tolerance time can be 500ms or other values, and this embodiment does not impose specific restrictions on this.

[0065] In one embodiment, the vehicle terminal will continuously monitor the driver's gear operation request during the vehicle controller reset. If the driver makes a new gear request through the gear selection device (such as a gear lever or a touch screen) during the reset period, the vehicle terminal will identify and record the new second target gear request.

[0066] In one implementation, the vehicle terminal monitors the driver's gear operation in real time and transmits the operation information to the vehicle controller. The vehicle controller determines whether it is necessary to switch to a new second target gear according to the driver's gear operation request and the current operating state of the vehicle. If the new gear request has a higher priority and does not pose a threat to vehicle safety, the gear switching operation will be performed according to the second target gear.

[0067] Step 103: If the second target gear position requirement is not detected, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the first target gear position.

[0068] In one embodiment, if no new second target gear requirement is detected during the resetting of the vehicle controller, a gear shifting operation is performed according to the actual gear and target gear before the resetting, thereby ensuring that the vehicle can quickly return to the operating state before the resetting after the resetting, thereby avoiding the need for manual intervention by the driver and improving driving safety and comfort.

[0069] In one embodiment, the vehicle terminal monitors in real time whether the gear switch has been completed (i.e., the actual gear becomes the target gear) or the actual gear switch has failed. After the actual gear completes the target gear switch, the current gear operating state is maintained and reported to the instrument display.

[0070] In one embodiment, step 103 may include: comparing the actual gear position with the first target gear position; when the actual gear position is consistent with the first target gear position, maintaining the actual gear position; when the actual gear position is inconsistent with the first target gear position, switching the actual gear position according to the first target gear position.

[0071] It should be noted that when the actual gear is consistent with the first target gear, it indicates that the vehicle is already in the desired gear state, so there is no need to perform any gear switching operation to maintain the actual gear state. However, if the actual gear is inconsistent with the first target gear, the vehicle controller needs to immediately perform a gear switching operation to ensure that the vehicle can quickly switch to the desired gear state.

[0072] In one embodiment, the vehicle gear shifting operation will also comprehensively consider multiple factors, such as vehicle speed, engine status, brake system status, etc., to ensure the smoothness and safety of the gear shifting. At the same time, the gear shifting process will also be monitored and adjusted to ensure that the vehicle can achieve optimal driving performance and safety under different working conditions.

[0073] like Figure 3 As shown, Figure 3 For the overall process intention of VCU reset, perform initial reset judgment. When VCU is reset, initialize the actual gear-reset (including resetting the stored gear and EPB status), generate the target gear request (based on the stored target gear, driver / intelligent driving / special mode request, and current working condition judgment), the application layer (ASW) runs the actual gear (after executing the target gear), and sends the gear to the instrument display. When VCU is not reset, initialize the actual gear-not reset (including stored gear and EPB status), generate the target gear request (based on the stored target gear, driver / intelligent driving / special mode request, and current working condition judgment), the application layer (ASW) runs the actual gear (after executing the target gear), and sends the gear to the instrument display.

[0074] Therefore, the vehicle gear control method provided in an embodiment of the present invention can actively restore the gear quickly and accurately by quickly and accurately performing a gear shifting operation based on the actual gear position of the vehicle before the vehicle controller is reset and no new second target gear demand is detected during the reset period, thereby effectively improving driving safety.

[0075] Based on the first embodiment, in the vehicle gear control method provided by the embodiment of the present invention, obtaining the actual gear of the vehicle before the vehicle controller is reset can be achieved through steps A1 and A2:

[0076] Step A1: Acquire the actual gear state value of the vehicle and the execution state of the electronic parking unit stored before resetting.

[0077] In one embodiment, the actual gear state value of the vehicle and the execution state of the electronic parking brake (EPB) stored before the reset can be directly read by the storage system of the vehicle. This information is usually stored in the non-volatile memory of the vehicle to ensure that the information is not lost in the event of power failure or reset. By reading these stored values, the vehicle system can quickly understand the gear state and electronic parking state before the reset.

[0078] Step A2: Determine the actual gear position of the vehicle before resetting according to the actual gear position state value and the execution state of the electronic parking unit.

[0079] In one embodiment, the actual gear position refers to the gear position of the vehicle before resetting, such as P gear (parking gear), R gear (reverse gear), N gear (neutral gear), D gear (drive gear), etc. The execution state of the electronic parking unit (EPB) indicates whether the electronic parking system is in an activated state, that is, whether the vehicle is in a parking state.

[0080] In one implementation, by analyzing the gear position status value stored before the reset and the execution status of the electronic parking unit, the actual gear position of the vehicle before the vehicle controller is reset can be accurately determined.

[0081] In one embodiment, after the VCU is reset, the actual gear of the vehicle is initialized. The initial state of the actual gear is executed based on the gear state stored at the last power-off and the execution state of the EPB. After the initialization is completed, the corresponding gear switch is executed based on the request state of the target gear.

[0082] Therefore, the vehicle gear control method provided in the embodiment of the present invention can quickly and accurately determine the actual gear position of the vehicle before the vehicle controller is reset based on the actual gear state value and the execution state of the electronic parking unit, and then quickly restore to the appropriate gear position, effectively improving the gear shifting efficiency.

[0083] Based on the first embodiment, in the vehicle gear control method provided by the embodiment of the present invention, obtaining the first target gear of the vehicle before the vehicle controller is reset can be achieved through step B1 and step B2:

[0084] Step B1: Acquire the target gear state value of the vehicle, the identified gear shift source and the vehicle operating condition stored before resetting.

[0085] In one embodiment, the gear shift source refers to the source that can issue a gear shift request, including but not limited to a gear shift request triggered by the driver through a gear lever or button, a gear shift request triggered by the vehicle's automatic driving system, a gear shift request triggered by a remote control system, etc. This embodiment does not impose specific restrictions on this, and the sources of these gear shift requests will be monitored and processed by the vehicle controller.

[0086] In one implementation, the vehicle operating condition refers to the operating state and environmental conditions of the vehicle, such as the vehicle's speed, acceleration, steering state, motor torque, battery state, external environment, etc. This embodiment does not impose specific limitations on this.

[0087] In one embodiment, the target gear state value, the identified shift source, and the vehicle operating condition stored before the reset can be read from the vehicle controller through the vehicle's communication system, and are usually stored in the vehicle's non-volatile memory to ensure that the information is not lost in the event of a power outage or reset. By reading these stored values, the vehicle system can quickly understand the target gear state and the shift source before the reset.

[0088] Step B2: Determine the first target gear position of the vehicle before resetting based on the target gear position state value, the identified gear shift source and the vehicle operating condition.

[0089] In one embodiment, by comprehensively analyzing the target gear state value stored before the reset, the identified shift source, and the vehicle operating condition, the first target gear of the vehicle before the vehicle controller is reset can be accurately determined. For example, if the driver triggers a shift request through a gear lever or button, and the vehicle operating condition allows the shift, then this request will be determined as the first target gear before the reset.

[0090] In one embodiment, if the target gear state value is inconsistent with the gear corresponding to the identified shift source, a most suitable gear is selected as the first target gear according to the vehicle operating conditions and the principle of safety priority. For example, when the vehicle is traveling at high speed, if the driver makes a shift request due to an erroneous operation, the system will give priority to the safe gear and will not immediately execute the driver's shift request.

[0091] In one embodiment, if the vehicle operating conditions indicate that the current environment is not suitable for a gear shift operation, such as in extreme weather conditions or when the vehicle is in emergency braking, the system will temporarily ignore the gear shift request to ensure vehicle safety.

[0092] In one embodiment, the VCU gear control function divides the sources of gear shift requests into several categories, including the driver's operation of the gear shift lever, the gear request of the intelligent driving when the intelligent driving is turned on, the special mode request (such as car wash mode, trailer mode, activation of logistics mode, etc.) and the safety gear request based on the vehicle condition. A special mode request means that the gear shift request comes from the vehicle's request for a gear in a special mode. For example, the car wash mode / trailer mode hopes to keep the N gear, and the P gear hopes to be kept during the OTA upgrade. A safety gear request based on the vehicle condition means that the gear shift request comes from the safety gear request corresponding to the vehicle condition. The safety gear includes automatically entering the P gear when leaving the vehicle, and automatically returning to the P gear when the vehicle is powered off, etc. This embodiment does not impose specific restrictions on this.

[0093] In one embodiment, the vehicle operating conditions include EPB status, vehicle speed, motor torque, vehicle charging status, etc., wherein the vehicle charging status refers to whether the vehicle is being charged. Whether the vehicle is being charged is determined based on whether the DC gun / AC gun is plugged in. If the gun is not plugged in, it indicates that the vehicle is not in a charging state. If the gun is plugged in, it indicates that the vehicle is in a charging state. The vehicle charging status is combined with the vehicle shift source and a comprehensive judgment is made to determine the target shift source. For example, if the DC gun or AC gun is plugged in, the vehicle terminal may limit or prohibit certain gear switching operations to avoid interference or influence on the charging process.

[0094] In one embodiment, when the vehicle is in a charging state, in order to ensure charging efficiency and vehicle stability, the shift source pays more attention to factors of the current working conditions, such as vehicle speed, vehicle braking status, and motor torque. At this time, the shift source may include the driver operating the shift lever, the intelligent driving request for the gear position when the intelligent driving is turned on, special mode requests (such as car wash mode, trailer mode, activation of logistics mode, etc.), and safety gear requests based on vehicle conditions. Exemplarily, when the bottom software (BSW) self-reset flag is 1, the EPB state is clamped, the vehicle speed is <3kph and the vehicle speed is valid, and the motor torque is <5Nm, then the shift source is parsed as P (driver request, gear request for trailer mode exit, intelligent driving request P, and gear request with sudden loss of ready before reset and vehicle speed <3), and then priority sorting is performed to determine that the gear corresponding to the target shift source is the intelligent driving request P gear.

[0095] In one embodiment, when the vehicle is not in a charging state, the shift source selection pays more attention to the vehicle's operating status and driving needs. In this case, the vehicle's braking state becomes a key factor in determining the source of the shift. For example, in the scenario of emergency braking or frequent braking, the vehicle may automatically select a safer shift source to ensure driving safety and stability. Exemplarily, when the bottom-level software (BSW) self-reset flag is 1, the EPB state is non-clamped, and the DC gun / AC gun signal is not plugged in, then the shift source includes a driver request, a gear request to activate the car wash mode or a gear request for the trailer mode, an intelligent driving request N, a gear request that suddenly drops ready before reset and the vehicle speed is >3, and a request to maintain N from the vehicle fault downgrade action, and then prioritizes it to determine that the gear corresponding to the target shift source is the intelligent driving request N gear; when the bottom-level software (BSW) self-reset flag is 1, the EPB state is released, the DC gun / AC gun signal is not plugged in, and the vehicle has entered the ready state (this When the self-reset flag of the underlying software (BSW) is 1, the EPB state is released, the DC gun / AC gun signal is not plugged in, and the whole vehicle has entered the ready state (ready reset has been completed at this time), the gear shift sources include driver request, gear request for activating the logistics mode, and gear request for the intelligent driving request R, and then priority sorting is performed to determine that the gear corresponding to the target gear shift source is the intelligent driving request P gear; when the self-reset flag of the underlying software (BSW) is 1, the EPB state is released, the DC gun / AC gun signal is not plugged in, and the whole vehicle has entered the ready state (ready reset has been completed at this time), the waiting gear sources include driver request, gear request for activating the logistics mode, and gear request for the intelligent driving request R, and then priority sorting is performed to determine that the gear corresponding to the target gear shift source is the intelligent driving request P gear.

[0096] In one implementation, after the reset gear is switched to the corresponding target gear, the EPB fails or the state is unknown, and it is actively switched to N (neutral).

[0097] In one embodiment, when the target gear position and the actual gear position initialized by normal power-on are both P, when the BSW reset signal is received, the reset initialization target gear position and the actual gear position are judged, and after the reset gear position is actively switched, a new gear shift request is responded to.

[0098] Therefore, the vehicle gear control method provided in the embodiment of the present invention can quickly and accurately determine the first target gear of the vehicle before the vehicle controller is reset based on the target gear state value, the identified gear shift source and the vehicle operating condition, thereby effectively improving the gear shift efficiency.

[0099] Based on the first embodiment, in the vehicle gear control method provided by the embodiment of the present invention, step 102, after that, further includes steps C1 to C3:

[0100] Step C1: if the second target gear requirement is detected, a first gear shift source corresponding to the first target gear and a second gear source corresponding to the second target gear are obtained.

[0101] In one embodiment, if the second target gear request is detected, the first gear shift source corresponding to the first target gear and the second gear source corresponding to the second target gear are obtained. The gear shift sources are prioritized to ensure that the most appropriate gear can be selected when multiple gear shift requests exist at the same time.

[0102] Step C2: When the priority of the first gear shift source is higher than the priority of the second gear source, performing a gear shift operation according to the actual gear of the vehicle before resetting and the first target gear.

[0103] In one embodiment, if the priority of the first gear shift source is higher than the priority of the second gear source, the system will perform the gear shift operation according to the actual gear of the vehicle before the reset and the first target gear. For example, if the driver's operation of the shift paddle has a higher priority than the special mode request, the system will perform the gear shift operation according to the driver's instruction to ensure that the driver's intention is given priority.

[0104] Step C3: When the priority of the second gear shift source is higher than the priority of the first gear source, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the second target gear position.

[0105] In one embodiment, if the priority of the second gear source is higher than the priority of the first gear shift source, the system will perform the gear shift operation according to the second target gear requirement. For example, if the priority of a special mode request (such as a car wash mode or a towing mode) is higher than the driver's request to operate the shift lever, the system will give priority to satisfying the gear shift request in the special mode to ensure the safety and stability of the vehicle under specific working conditions.

[0106] Therefore, the vehicle gear control method provided in the embodiment of the present invention ensures the rationality and safety of vehicle gear control under complex working conditions by determining the final target gear for gear switching according to the priorities of the gear shift sources corresponding to different target gears.

[0107] Based on the first embodiment, in the vehicle gear control method provided by the embodiment of the present invention, before step 101, it also includes: before the vehicle controller is reset, recording the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition of the vehicle, and storing the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition in the storage space allocated by the underlying software of the vehicle controller.

[0108] In one embodiment, before the vehicle controller is reset, the actual gear state value, target gear state value, execution state of the electronic parking unit, identified gear shift source and vehicle operating condition of the vehicle are recorded, and this information is stored in the storage space allocated by the underlying software of the vehicle controller, ensuring that the current state and historical state information of the vehicle will not be lost during the reset process, so that it can quickly restore to the correct gear state after the reset.

[0109] In one embodiment, before resetting the vehicle controller, it will automatically detect and record the current gear state value, target gear state value, execution state of the electronic parking unit, identified gear shift source and vehicle operating condition. This information is stored in a dedicated storage space allocated by the underlying software so that it can be quickly restored to the state before resetting after resetting, ensuring that the vehicle's gear control will not be confused or erroneous due to the reset operation. For example, during vehicle driving, if an emergency occurs and the vehicle controller needs to be reset, the system will immediately record the current gear state value, target gear state value, execution state of the electronic parking unit, identified gear shift source and vehicle operating condition. After the reset is completed, the system will read the information stored in the dedicated storage space, and quickly restore to the gear state before resetting based on this information, thereby ensuring that the vehicle can continue to drive safely and stably.

[0110] In one embodiment, within each driving cycle, the underlying software (BSW) of the VCU is required to open up a dedicated storage space for storing key signals that enable active gear shifting when the VCU is reset (such as the current actual gear, target gear, vehicle speed, motor torque, feedback status of the EPB, etc.). The data in this storage space needs to be guaranteed not to be overwritten due to a VCU reset.

[0111] Therefore, the vehicle gear control method provided in the embodiment of the present invention can prevent the information from being overwritten due to the reset of the vehicle controller by storing the reset-related information in the storage space allocated by the underlying software of the vehicle controller, thereby facilitating rapid restoration to the gear state before the reset, thereby ensuring that the vehicle can continue to drive safely and stably.

[0112] Based on the first embodiment, a second embodiment of the vehicle control method provided by the embodiment of the present invention is proposed, such as Figure 4 As shown, Figure 4 The flowchart provided for the second embodiment of the present invention further includes step 201 and step 204:

[0113] Step 201: When the vehicle controller of the vehicle is reset, the message communication with the reset-related system is interrupted and the reset time is obtained.

[0114] In one embodiment, during the VCU reset, the VCU stops sending messages, that is, interrupts the message communication with the reset associated system, and the reset associated system cannot receive the message from the VCU.

[0115] Step 202: When the reset time does not reach a preset time threshold, receiving a work request sent by the reset associated system.

[0116] Among them, the reset-related system at least includes a vehicle body electronic stability system, a microcontroller unit and an intelligent driving system, a battery management system and an instrument system.

[0117] In one implementation, during the reset of the VCU, the reset associated systems (ESP, MCU, ADS, etc.) must ensure that the software can run normally and will not trigger related fault degradation actions such as communication anomalies.

[0118] In one embodiment, during the reset of the VCU, the communication between the VCU and the outside world is disconnected, and the reset-associated system cannot receive messages from the VCU. The reset-associated system can operate normally according to the state before the VCU is reset. The purpose is to ensure that when the VCU completes its own reset (reset time <500ms), it can automatically restore to the state before the reset.

[0119] In one implementation, when the reset time does not reach 500ms, the VCU reset is not completed, and the VCU can receive the work request of the reset associated system, but cannot send a response message to the reset associated system. The reset associated system can continue to perform its normal functions while waiting for the VCU reset to complete.

[0120] Step 203: When the reset time reaches a preset time threshold, determine whether to resume message communication with the reset associated system.

[0121] In one implementation, the diagnostic time for the reset-associated system to determine that the communication with the VCU is lost is a preset time threshold, which may be 500ms. During this period, the reset-associated system should maintain the transmission of normal signals, and the instrument display is displayed according to the effective value at the last moment. If the VCU reset time exceeds 500ms, the reset-associated system needs to trigger an abnormal degradation action of the communication with the VCU, and the instrument needs to remind the user that the power system has a fault.

[0122] In one embodiment, when the VCU completes its own reset, it will resume message communication with the reset associated system and send messages according to the work request, that is, whether the normal communication process is restored is determined based on whether the vehicle controller sends a message or whether the reset associated system receives a message.

[0123] Step 204: When the message communication with the reset associated system is not restored, it is determined that the reset associated system has lost communication, wherein the reset associated system will perform a degradation action when the communication is lost.

[0124] In one implementation, when the VCU reset time exceeds 500ms and the vehicle controller does not send a message or the reset associated system does not receive a message, it can be determined that the reset associated system communication is lost. When the reset associated system cannot receive the message from the VCU, a downgrade action is performed.

[0125] In one implementation, after the VCU communication is lost for 100ms, the MCU outputs 0Nm and the intelligent driving function exits.

[0126] In one embodiment, during VCU reset, VCU stops sending messages, and the reset associated system cannot receive messages from VCU. The downgrade action mainly refers to the downgrade action of the reset associated system. When the vehicle is operating normally, if the VCU message is not received, the downgrade action will be triggered. For example, BMS actively reduces high voltage (when charging, BMS stops mode requests to OBC / charging pile and ends charging), no longer responds to VCU instructions, MCU directly turns off IGBT to stop torque output, no longer responds to VCU instructions, and the instrument reports vehicle faults.

[0127] In one embodiment, during the reset of the VCU, the reset-associated system needs to ensure the normal operation of the software and avoid triggering related fault degradation actions such as communication anomalies. By reasonably setting the preset time threshold, such as 500ms, the reset-associated system can maintain the transmission of normal signals during this period to ensure that the instrument display is displayed according to the valid value at the last moment. At the same time, after the VCU communication is lost for a certain period of time, such as 100ms, the MCU can output 0Nm and the intelligent driving function will exit to further ensure the safety of the vehicle.

[0128] Therefore, the vehicle control method provided in the embodiment of the present invention can receive a work request sent by the reset-associated system when the reset time does not reach the preset time threshold, and perform a downgrade action on the reset-associated system when the reset time does not reach the preset time threshold, thereby effectively ensuring the stability and safety of vehicle control.

[0129] Based on the second embodiment, in the vehicle gear control method provided by the embodiment of the present invention, after step 203, it also includes: after completing the reset, responding to the work request of the reset associated system, and sending a work instruction to the reset associated system, so that the reset associated system responds to the work instruction.

[0130] In one embodiment, during the reset of the VCU, the communication between the VCU and the outside world is disconnected, the reset-related system cannot receive the message from the VCU, and the counterpart can operate normally according to the state before the VCU reset. The purpose is to ensure that when the VCU completes its own reset (reset time < 500ms), it can automatically restore to the state before the reset.

[0131] In one embodiment, during the reset period, when the vehicle is charging, when the battery management system (BMS) in the reset associated system cannot receive the VCU message, the battery management system (BMS) normally sends voltage and current to the VCU. When the VCU completes the reset, the battery management system (BMS) can directly respond to the VCU's instructions.

[0132] In one embodiment, during reset, when driving at high speed, when the microcontroller unit (MCU) in the reset associated system cannot receive the VCU message, the MCU normally sends the torque mode to the VCU. When the VCU completes the reset, the MCU can directly respond to the torque request of the VCU.

[0133] like Figure 5 As shown, Figure 5 The communication diagram of the reset associated system is shown in the figure. The application layer (ASW) communicates with the VCU through the key signals inside the vehicle software system (SWC). The battery management system (BMS), microcontroller unit (FMCU / RMCU), intelligent driving system (ADS), electronic stability system (ESP) and instrument system all communicate with the VUC. During the reset period, when the battery management system (BMS) cannot receive the VCU message, the battery management system (BMS) normally sends the interactive mode / voltage and current to the VCU. When the communication diagnosis between the battery management system (BMS) and the VCU is greater than 500ms, it is determined that the communication is lost. The high voltage state is maintained within 1000ms, and the CAN message is sent normally. During the reset period, when the microcontroller unit (FMCU / RMCU) cannot receive the VCU message, the microcontroller unit (FMCU / RMCU) normally sends the interactive mode / torque to the VCU. When the communication diagnosis between the microcontroller unit (FMCU / RMCU) and the VCU is greater than 500ms, it is determined that the communication is lost. After 100ms, if no VCU message is received, 0Nm is output, and the VCU request is responded to after the communication is restored. During reset, the intelligent driving system (ADS) sends interactive mode / torque / gear position, etc. to the VCU. If no VCU message is received after 100ms, the output is 0Nm, and the intelligent driving function exits. During reset, the electronic stability system (ESP) sends interactive mode / torque / gear position, etc. to the VCU. When the communication diagnosis with the VCU is greater than 500ms, it is determined that the communication is lost. During reset, the instrument system sends gear position / mileage / energy consumption, etc. to the VCU. When the communication diagnosis with the VCU is greater than 500ms, it is determined that the communication is lost. The effective value display at the last moment is maintained within 500ms.

[0134] Therefore, the vehicle control method provided by the embodiment of the present invention can respond to the work request of the reset-associated system after completing the reset, and send a work instruction to the reset-associated system, which can maintain the stability of vehicle driving and thus improve driving safety.

[0135] Based on the above embodiments, the present invention further provides a vehicle gear position control device 6, Figure 6 The structure diagram of the vehicle gear control device 6 provided in the embodiment of the present invention is as follows: Figure 6 As shown, the device may include:

[0136] The acquisition module 601 is used to acquire the actual gear position and the first target gear position of the vehicle before the vehicle controller is reset when the vehicle controller is reset.

[0137] The detection module 602 is used to detect whether there is a new second target gear position requirement during the reset period of the vehicle controller, wherein the duration of the reset period is less than the communication degradation tolerance duration of the vehicle controller reset associated system.

[0138] The gear shift module 603 is configured to perform a gear shift operation according to the actual gear position of the vehicle before resetting and the first target gear position if the second target gear position requirement is not detected.

[0139] In some embodiments, the acquisition module 601 is also used to obtain the actual gear state value of the vehicle and the execution state of the electronic parking unit stored before resetting; and determine the actual gear position of the vehicle before resetting based on the actual gear state value and the execution state of the electronic parking unit.

[0140] In some embodiments, the acquisition module 601 is also used to obtain the target gear state value of the vehicle, the identified gear shift source and the vehicle operating condition stored before resetting; based on the target gear state value, the identified gear shift source and the vehicle operating condition, determine the first target gear of the vehicle before resetting.

[0141] In some embodiments, the detection module 602 is also used to obtain a first gear shift source corresponding to the first target gear and a second gear source corresponding to the second target gear if the second target gear requirement is detected; when the priority of the first gear shift source is higher than the priority of the second gear source, the gear shift operation is performed according to the actual gear of the vehicle before resetting and the first target gear; when the priority of the second gear shift source is higher than the priority of the first gear source, the gear shift operation is performed according to the actual gear of the vehicle before resetting and the second target gear.

[0142] In some embodiments, the gear shift module 603 is also used to compare the actual gear position with the first target gear position; when the actual gear position is consistent with the first target gear position, maintain the actual gear position; when the actual gear position is inconsistent with the first target gear position, switch the actual gear position according to the first target gear position.

[0143] In some embodiments, the acquisition module 601 is also used to record the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition of the vehicle before the vehicle controller is reset; and store the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition in the storage space allocated by the underlying software of the vehicle controller.

[0144] In some embodiments, the vehicle gear control device 6 also includes: a communication module; the communication module is also used to interrupt the message communication with the reset associated system and obtain the reset time when the vehicle controller of the vehicle is reset; when the reset time does not reach the preset time threshold, receive the work request sent by the reset associated system, wherein the reset associated system includes at least a vehicle electronic stability system, a micro control unit and an intelligent driving system, a battery management system and an instrument system; when the reset time reaches the preset time threshold, determine whether to restore the message communication with the reset associated system; when the message communication with the reset associated system is not restored, determine that the reset associated system communication is lost, wherein the reset associated system will perform a downgrade action when the communication is lost.

[0145] In some embodiments, the communication module is further used to respond to a work request of the reset-associated system after completing the reset, and send a work instruction to the reset-associated system so that the reset-associated system responds to the work instruction.

[0146] From the above, it can be seen that the vehicle gear control device 6 provided in the embodiment of the present invention can quickly and accurately actively restore the gear by quickly and accurately performing a gear shifting operation according to the actual gear of the vehicle before the vehicle controller is reset and no new second target gear demand is detected during the reset period, thereby effectively improving driving safety.

[0147] Figure 7 This is a schematic diagram of the structure of an embodiment of a vehicle gear control device provided in an embodiment of the present invention. The specific embodiment of the present invention does not limit the specific implementation of the vehicle gear control device.

[0148] like Figure 7As shown, the vehicle gear control device may include: a processor (processor) 702, a communication interface (Communications Interface) 704, a memory (memory) 707, and a communication bus 708.

[0149] The processor 702, the communication interface 704, and the memory 707 communicate with each other via the communication bus 708. The communication interface 704 is used to communicate with other devices such as a client or other server network elements. The processor 702 is used to execute the program 710, which can specifically execute the relevant steps in the above-mentioned embodiment of the vehicle gear control method.

[0150] Specifically, the program 710 may include program code including computer executable instructions.

[0151] The processor 702 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle gear control device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0152] The memory 707 is used to store the program 710. The memory 707 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0153] The program 710 can be specifically called by the processor 702 to enable the vehicle gear control device to perform the following operations:

[0154] When a vehicle controller of a vehicle is reset, obtaining an actual gear position and a first target gear position of the vehicle before the vehicle controller is reset;

[0155] Detecting whether there is a new second target gear requirement during the resetting period of the vehicle controller, wherein the duration of the resetting period is less than the communication degradation tolerance duration of the vehicle controller resetting associated system;

[0156] If the second target gear position requirement is not detected, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the first target gear position.

[0157] Therefore, in an embodiment of the present invention, when the vehicle controller is reset and no new second target gear demand is detected during the reset, the gear shifting operation is quickly and accurately performed according to the actual gear position of the vehicle before the vehicle controller is reset and the first target gear position, so the gear position can be actively restored quickly and accurately, thereby effectively improving driving safety.

[0158] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on a vehicle gear control device / apparatus, the vehicle gear control device / apparatus executes the vehicle gear control method in any of the above method embodiments.

[0159] Therefore, in an embodiment of the present invention, when the vehicle controller is reset and no new second target gear demand is detected during the reset, the gear shifting operation is quickly and accurately performed according to the actual gear position of the vehicle before the vehicle controller is reset and the first target gear position, so the gear position can be actively restored quickly and accurately, thereby effectively improving driving safety.

[0160] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0161] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0162] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0163] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A vehicle gear control method, characterized in that: The method comprises: When a vehicle controller of a vehicle is reset, obtaining an actual gear position and a first target gear position of the vehicle before the vehicle controller is reset; Detecting whether there is a new second target gear requirement during the resetting period of the vehicle controller, wherein the duration of the resetting period is less than the communication degradation tolerance duration of the vehicle controller resetting associated system; If the second target gear position requirement is not detected, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the first target gear position.

2. The method according to claim 1, characterized in that: The obtaining of the actual gear position of the vehicle before the vehicle controller is reset specifically includes: Acquiring the actual gear state value of the vehicle and the execution state of the electronic parking unit stored before resetting; The actual gear position of the vehicle before resetting is determined according to the actual gear position state value and the execution state of the electronic parking unit.

3. The method according to claim 1, characterized in that The obtaining of the first target gear position of the vehicle before the vehicle controller is reset specifically includes: Obtaining the target gear state value of the vehicle, the identified gear shift source, and the vehicle operating condition stored before resetting; A first target gear position of the vehicle before resetting is determined based on the target gear position state value, the identified gear shift source, and the vehicle operating condition.

4. The method according to claim 1, characterized in that After detecting whether there is a new second target gear position requirement during the resetting of the vehicle controller, the method further includes: If the second target gear requirement is detected, obtaining a first gear shift source corresponding to the first target gear and a second gear source corresponding to the second target gear; When the priority of the first gear shift source is higher than the priority of the second gear source, performing a gear shift operation according to the actual gear position of the vehicle before resetting and the first target gear position; When the priority of the second gear shift source is higher than the priority of the first gear source, a gear shift operation is performed according to the actual gear position of the vehicle before resetting and the second target gear position.

5. The method according to claim 1, characterized in that The performing of the gear shifting operation according to the actual gear position of the vehicle before resetting and the first target gear position includes: comparing the actual gear position with the first target gear position; When the actual gear position is consistent with the first target gear position, maintaining the actual gear position; When the actual gear position is inconsistent with the first target gear position, the actual gear position is switched according to the first target gear position.

6. The method according to any one of claims 1 to 5, characterized in that Before obtaining the actual gear position and the first target gear position of the vehicle before resetting the vehicle controller, the method further includes: Before resetting the vehicle controller, recording the actual gear state value, target gear state value, execution state of the electronic parking unit, identified gear shift source and vehicle operating condition of the vehicle; The actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shift source and the vehicle operating condition are stored in the storage space allocated by the underlying software of the vehicle controller.

7. The method according to any one of claims 1 to 5, characterized in that The vehicle gear control method further includes: When the vehicle controller of the vehicle is reset, the message communication with the reset-related system is interrupted and the reset time is obtained; When the reset time does not reach a preset time threshold, receiving a work request sent by the reset-associated system, wherein the reset-associated system at least includes a vehicle body electronic stability system, a microcontroller unit and an intelligent driving system, a battery management system and an instrument system; When the reset time reaches a preset time threshold, determining whether to resume message communication with the reset associated system; When the message communication with the reset associated system is not restored, it is determined that the reset associated system has lost communication, wherein the reset associated system performs a degradation action when the communication is lost.

8. The method according to claim 7, characterized in that After receiving the work request sent by the reset association system, the method further includes: After completing the reset, respond to the work request of the reset-related system, and send a work instruction to the reset-related system, so that the reset-related system responds to the work instruction.

9. A vehicle gear control device, characterized in that: The device comprises: An acquisition module, used for acquiring the actual gear position and the first target gear position of the vehicle before the vehicle controller is reset when the vehicle controller is reset; A detection module, used to detect whether there is a new second target gear requirement during the reset period of the vehicle controller, wherein the duration of the reset period is less than the communication degradation tolerance duration of the vehicle controller reset associated system; The gear shift module is used to perform a gear shift operation according to the actual gear position of the vehicle before resetting and the first target gear position if the second target gear position requirement is not detected.

10. A vehicle gear control device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the vehicle gear control method as described in any one of claims 1-8.

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