Vehicle gear control method, device and equipment

Abstract

An embodiment of the present invention relates to the technical field of vehicle control, and discloses a vehicle gear control method, device and equipment. The method includes: when a vehicle's vehicle control unit (VCU) is reset, obtaining the actual gear and the first target gear of the vehicle before the VCU is reset; detecting whether there is a new second target gear demand during the reset of the VCU, where the duration of the reset period is less than the communication degradation tolerance duration of the VCU reset-related system; if the second target gear demand is not detected, performing a gear shift operation according to the actual gear and the first target gear of the vehicle before the reset. The vehicle gear control method provided by the embodiment of the present invention can solve the technical problem of low driving safety when the VCU is short-term reset in the related art.

Description

Technical Field

[0001] Embodiments of the present invention relate to the technical field of vehicle control, and particularly to a vehicle gear control method, device and equipment. Background Art

[0002] In the related art, the driving safety is low when the vehicle's whole vehicle controller is reset short - term. Summary of the Invention

[0003] In view of the above problems, 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 whole vehicle controller is reset short - term in the prior art.

[0004] According to one aspect of the embodiments of the present invention, a vehicle gear control method is provided, and the method includes:

[0005] When the whole vehicle controller of the vehicle resets, obtain the actual gear and the first target gear of the vehicle before the reset of the whole vehicle controller;

[0006] Detect whether there is a new second target gear demand during the reset of the whole vehicle controller, wherein the duration of the reset period is less than the communication degradation tolerance duration of the whole vehicle controller reset - related system;

[0007] If the second target gear demand is not detected, perform a gear - shifting operation according to the actual gear and the first target gear of the vehicle before the reset.

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

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

[0010] Determine the actual gear of the vehicle before the reset according to the actual gear state value and the execution state of the electronic parking unit.

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

[0012] Obtain the target gear state value of the vehicle stored before the reset, the identified gear - shifting source and the vehicle working condition;

[0013] Determine the first target gear of the vehicle before the reset according to the target gear state value, the identified gear - shifting source and the vehicle working condition.

[0014] In an optional manner, after detecting whether there is a new second target gear demand during the reset of the whole vehicle controller, it further includes:

[0015] If the second target gear demand is detected, obtain the first gear shifting source corresponding to the first target gear and the second gear source corresponding to the second target gear;

[0016] When the priority of the first gear shifting source is higher than that of the second gear source, perform a gear shifting operation according to the actual gear of the vehicle and the first target gear before reset;

[0017] When the priority of the second gear shifting source is higher than that of the first gear source, perform a gear shifting operation according to the actual gear of the vehicle and the second target gear before reset.

[0018] In an alternative manner, the performing a gear shifting operation according to the actual gear of the vehicle and the first target gear before reset includes:

[0019] Compare the actual gear with the first target gear;

[0020] When the actual gear is the same as the first target gear, keep the actual gear;

[0021] When the actual gear is different from the first target gear, perform a gear shift on the actual gear according to the first target gear.

[0022] In an alternative manner, before obtaining the actual gear of the vehicle and the first target gear before the vehicle controller is reset, further include:

[0023] Before the vehicle controller is reset, record the actual gear state value, target gear state value, execution state of the electronic parking unit, identified gear shifting source, and vehicle working condition of the vehicle;

[0024] Store the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shifting source, and the vehicle working condition into the storage space divided by the underlying software of the vehicle controller.

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

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

[0027] When the reset time does not reach the preset time threshold, receive the work request sent by the reset-related system, where the reset-related system at least includes a body electronic stability system, a micro control unit, an intelligent driving system, a battery management system, and an instrument system;

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

[0029] When message communication with the reset-related system is not resumed, determine that communication of the reset-related system is lost, where the reset-related system performs a degradation action when communication is lost.

[0030] In an alternative manner, after receiving the work request sent by the reset-related system, it further includes:

[0031] After the reset is completed, 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 the embodiments of the present invention, a vehicle gear control device is provided, including:

[0033] An acquisition module, configured to acquire the actual gear and the first target gear of the vehicle before the vehicle's vehicle controller is reset when the vehicle controller is reset;

[0034] A detection module, configured to detect whether there is a new second target gear demand during the reset of the vehicle controller, where the duration during the reset is less than the communication degradation tolerance duration of the vehicle controller reset-related system;

[0035] A gear shifting module, configured to perform a gear shifting operation according to the actual gear and the first target gear of the vehicle before the reset if the second target gear demand is not detected.

[0036] According to another aspect of the embodiments of the present invention, a vehicle gear control device is provided, including:

[0037] A processor, a memory, a communication interface, and a communication bus, where the processor, the memory, and the communication interface complete communication with each other through the communication bus;

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

[0039] According to yet another aspect of the embodiments of the present invention, a computer-readable storage medium is provided, where at least one executable instruction is stored in the storage medium, and the executable instruction causes the vehicle gear control device / device to perform the operations of the vehicle gear control method as described above.

[0040] Therefore, in the vehicle gear control method provided by the embodiments of the present invention, when the vehicle's vehicle control unit (VCU) is reset and no new second target gear demand is detected during the reset process, a gear shifting operation is quickly and accurately executed based on the actual gear and the first target gear of the vehicle before the VCU reset, enabling a quick and accurate active restoration of the gear, thereby effectively improving driving safety.

[0041] The above description is only an overview of the technical solutions of the embodiments of the present invention. In order to be able to understand the technical means of the embodiments of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features, and advantages of the embodiments of the present invention more obvious and understandable, the following specifically describes the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings are only used to illustrate the embodiments and are not considered to limit the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0043] Figure 1 is a schematic flowchart of the first embodiment of the vehicle gear control method provided by the embodiments of the present invention;

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

[0045] Figure 3 is an overall flowchart of the VCU reset provided by the embodiments of the present invention;

[0046] Figure 4 is a schematic flowchart of the second embodiment of the vehicle gear control method provided by the embodiments of the present invention;

[0047] Figure 5 is a communication schematic diagram of the reset-related system provided by the embodiments of the present invention;

[0048] Figure 6 is a schematic structural diagram of the vehicle gear control device provided by the embodiments of the present invention;

[0049] Figure 7 is a schematic structural diagram of the embodiment of the vehicle gear control device provided by the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0050] Hereinafter, the exemplary embodiments of the present invention will be described in more detail with reference to the drawings. Although the 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 by the embodiments described herein.

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

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

[0053] It should be noted that the above vehicle gear control method can be implemented by the vehicle controller of the in-vehicle terminal. The above 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 The flowchart of the first embodiment of the vehicle gear control method of the present invention is shown. This method is executed by the in-vehicle terminal. As Figure 1 shown, the process may include steps 101 to 103:

[0055] Step 101: When the vehicle controller of the vehicle resets, obtain the actual gear and the first target gear of the vehicle before the vehicle controller resets.

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

[0057] In one embodiment, the bottom layer software (BSW) of the vehicle control unit (VCU) can monitor the operating state of the vehicle control unit (VCU). When it identifies that the software has a reset, the bottom layer 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 shifting to ensure that the vehicle can operate safely when a reset occurs.

[0058] In one embodiment, the first target gear is the target gear when the vehicle is about to perform a gear shifting operation before the vehicle control unit is reset. In each driving cycle, through the bottom layer software (BSW) of the VCU, a dedicated storage space is opened to store the key signals that can achieve active gear shifting when the VCU has a reset. The key signals carry at least information such as 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 make specific limitations on this.

[0059] In one embodiment, when the vehicle control unit has a reset, the bottom layer software (BSW) should be able to complete the relevant software initialization within the first preset duration. The first preset duration can be 200 ms. The software initialization can include controller self-check, MCAL initialization, OS startup, protocol stack initialization, application layer (ASW) task scheduling, etc. This embodiment does not make specific limitations on this.

[0060] In one embodiment, after the BSW completes the initialization, according to the stored key signals, the application layer (ASW) function recovery is completed, and the gear shifting needs to be completed within the second preset duration, and finally the active recovery of the gear is realized. The second preset duration can be 300 ms.

[0061] As Figure 2 shown, Figure 2 is an interaction schematic diagram of the VCU reset. When the vehicle control unit (VCU) has a self-reset, the reset flag of the bottom layer software (BSW) is set, the message sending is stopped, and software initialization (including MCAL initialization, OS startup, etc.) is performed. The software initialization should be able to be completed within 200 ms. After the self-reset occurs, the communication of the vehicle control unit (VCU) is restored, the CAN transceiver initialization and the bottom layer software (BSW) resume message sending are completed, and the application layer (ASW) function recovery is completed within 300 ms, including the initialization of the actual gear, the judgment of the target gear, and the gear shifting.

[0062] In one embodiment, when the BSW completes the software initialization after the reset, the ASW needs to synchronously resume the gear shifting to achieve the active recovery of the VCU gear. If the running state before the reset cannot be restored in time after the reset, or the driver needs to perform manual operations, dangerous conditions such as unexpected deceleration and vehicle power loss may occur, affecting driving safety.

[0063] Step 102: Detect whether there is a new second target gear demand during the reset of the vehicle control unit, where the duration of the reset period is less than the communication degradation tolerance duration of the vehicle control unit's reset-related system.

[0064] In one implementation, the reset-related system, which is the counterpart of the vehicle control unit, refers to other vehicle control units that still need to maintain communication with the vehicle control unit during the reset. For example, the body electronic stability system, the micro control unit, the intelligent driving system, the battery management system, and the instrument system, etc. This embodiment does not make specific limitations on this. The communication degradation tolerance duration refers to the longest time during which these counterpart components can still maintain basic communication functions during the reset of the vehicle control unit. During this period, the reset-related system can operate normally, and the signals interacting with the VCU can be sent normally without triggering related fault degradation actions such as communication anomalies. The communication degradation tolerance duration can be 500 ms or other values. This embodiment does not make specific limitations on this.

[0065] In one implementation, the on-vehicle terminal continuously monitors the driver's gear operation request during the reset of the vehicle control unit. If the driver proposes a new gear demand through the gear selection device (such as the gear lever or touch screen) during the reset, the on-vehicle terminal will identify and record this new second target gear demand.

[0066] In one implementation, the on-vehicle terminal monitors the driver's gear operation in real time and transmits the operation information to the vehicle control unit. The vehicle control unit will judge whether it is necessary to switch to a new second target gear according to the driver's gear operation request and the current running state of the vehicle. If the priority of the new gear demand is higher and it does not pose a threat to vehicle safety, the gear shifting operation will be performed according to the second target gear.

[0067] Step 103: If the second target gear demand is not detected, perform the gear shifting operation according to the actual gear and the first target gear of the vehicle before the reset.

[0068] In one implementation, if no new second target gear demand is detected during the reset of the vehicle control unit, performing the gear shifting operation according to the actual gear and the target gear before the reset ensures that the vehicle can quickly resume its running state before the reset after the reset, thus avoiding the situation where the driver needs to intervene manually and improving the safety and comfort of driving.

[0069] In one implementation, the on-vehicle terminal monitors in real time whether the gear shifting has been completed (i.e., the actual gear becomes the target gear) or the actual gear shifting fails. After the actual gear completes the target gear shifting, it maintains the current gear running state and reports it to the instrument for 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 the same as the first target gear position, maintaining the actual gear position; when the actual gear position is different from the first target gear position, performing a gear shift on the actual gear position according to the first target gear position.

[0071] It should be noted that when the actual gear position is the same as the first target gear position, it indicates that the vehicle is already in the desired gear state. Therefore, no gear shift operation is required and the vehicle can continue to run in the actual gear position. However, if the actual gear position is different from the first target gear position, the vehicle control unit needs to immediately perform a gear shift operation to ensure that the vehicle can quickly switch to the desired gear state.

[0072] In one embodiment, the vehicle gear shift operation also comprehensively considers various factors, such as vehicle speed, engine state, braking system state, etc., to ensure the smoothness and safety of gear shifting. At the same time, the gear shift process is also monitored and adjusted to ensure that the vehicle can achieve the best driving performance and safety under different working conditions.

[0073] As Figure 3 shown, Figure 3 For the overall process intention of VCU reset, an initialization reset judgment is performed. When the VCU is reset, the actual gear position is initialized - reset (including resetting the stored gear position and EPB state), a target gear position request is generated (judged according to the stored target gear position, driver / intelligent driving / special mode request, and current working condition), the application layer (ASW) runs the actual gear position (after executing the target gear position), and the gear position is sent to the instrument display. When the VCU is not reset, the actual gear position is initialized - not reset (including the stored gear position and EPB state), a target gear position request is generated (judged according to the stored target gear position, driver / intelligent driving / special mode request, and current working condition), the application layer (ASW) runs the actual gear position (after executing the target gear position), and the gear position is sent to the instrument display.

[0074] Therefore, the vehicle gear control method provided by the embodiments of the present invention can quickly and accurately perform a gear shift operation according to the actual gear position and the first target gear position of the vehicle before the vehicle control unit is reset when the vehicle control unit of the vehicle is reset and no new second target gear position requirement is detected during the reset process, and can quickly and accurately actively restore the gear position, thereby effectively improving driving safety.

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

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

[0077] In one embodiment, the actual gear position state value of the vehicle stored before reset and the execution state of the electronic parking unit (EPB) can be directly read through the vehicle's storage system. These information are usually stored in the non-volatile memory of the vehicle to ensure that the information will not be lost in case of power-off or reset. By reading these stored values, the on-vehicle system can quickly understand the gear position state and the electronic parking state before reset.

[0078] Step A2: Determine the actual gear position of the vehicle before reset 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 where the vehicle is before reset, 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 active state, that is, whether the vehicle is in a parked state.

[0080] In one embodiment, by comprehensively analyzing the gear position state value stored before reset and the execution state of the electronic parking unit, the actual gear position of the vehicle before the vehicle control unit (VCU) resets can be accurately determined.

[0081] In one embodiment, after the VCU resets, the actual gear position of the vehicle is initialized. The initial state of the actual gear position is executed according to the gear position state stored during the last power-off and the execution state of the EPB. After the initialization is completed, according to the requested state of the target gear position, the corresponding gear shift is executed.

[0082] Therefore, the vehicle gear position control method provided by the embodiments of the present invention can quickly and accurately determine the actual gear position of the vehicle before the vehicle control unit resets by according to the actual gear position state value and the execution state of the electronic parking unit, and then quickly restore to a suitable gear position, effectively improving the gear shifting efficiency.

[0083] Based on the first embodiment, in the vehicle gear position control method provided by the embodiments of the present invention, obtaining the first target gear position of the vehicle before the vehicle control unit resets can be achieved through Step B1 and Step B2:

[0084] Step B1: Obtain the target gear position state value of the vehicle stored before reset, the identified gear shift source, and the vehicle working condition.

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

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

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

[0088] Step B2: Determine the first target gear of the vehicle before reset according to the target gear state value, the identified shift source, and the vehicle operating condition.

[0089] In one embodiment, by comprehensively analyzing the target gear state value stored before 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 the gear lever or button and the vehicle operating condition allows the shift, then this request will be determined as the first target gear before reset.

[0090] In one embodiment, if the gear corresponding to the target gear state value and the identified shift source is inconsistent, then according to the principle of vehicle operating condition and safety priority, a most suitable gear is selected as the first target gear. For example, when the vehicle is driving at a high speed, if the driver's misoperation causes a shift request, the system will give priority to the safety gear and will not immediately execute the driver's shift request.

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

[0092] In one embodiment, the VCU gear control function classifies the shift request sources into several categories, specifically including the driver operating the shift lever, the intelligent driving system's gear request when intelligent driving is enabled, special mode requests (such as car wash mode, towing mode, activating logistics mode, etc.), and safety gear requests based on vehicle conditions and operating conditions. The special mode request refers to the shift request originating from the vehicle being in a special mode. Exemplarily, in the car wash mode / towing mode, it is desired to maintain the N gear, and in the case of OTA upgrade, it is desired to maintain the P gear. The safety gear request based on vehicle conditions and operating conditions refers to the shift request originating from the safety gear request corresponding to the vehicle operating conditions. The safety gears include automatically entering the P gear when leaving the vehicle and automatically returning to the P gear when the vehicle is powered off. This embodiment does not make specific limitations on this.

[0093] In one embodiment, the vehicle operating conditions include the EPB state, vehicle speed, motor torque, vehicle charging state, etc. Among them, the vehicle charging state indicates whether the vehicle is charging. It is determined whether the vehicle is charging based on whether the DC gun / AC gun is plugged in. If not plugged in, it indicates that the vehicle is not in the charging state. If plugged in, it indicates that the vehicle is in the charging state. The vehicle charging state is combined with the vehicle's overall shift source and comprehensively judged to determine the target shift source. For example, if the DC gun or AC gun is plugged in, the in-vehicle terminal may restrict or prohibit certain gear shift operations to avoid interfering with or affecting the charging process.

[0094] In one embodiment, when the vehicle is in the charging state, to ensure charging efficiency and vehicle stability, the shift source pays more attention to factors such as the current operating conditions, such as vehicle speed, vehicle braking state, and motor torque. At this time, the shift source may include the driver operating the shift lever, the intelligent driving system's gear request when intelligent driving is enabled, special mode requests (such as car wash mode, towing mode, activating logistics mode, etc.), and safety gear requests based on vehicle conditions and operating conditions. Exemplarily, when the self-reset flag of the underlying software (BSW) is 1, the EPB state is clamped, the vehicle speed < 3 kph and the vehicle speed is valid, and the motor torque < 5 Nm, then the shift source is parsed as P (driver request, gear request for exiting the towing mode, intelligent driving request for P, and gear request for sudden loss of ready and vehicle speed < 3 before reset), and then the priority is sorted to determine that the gear corresponding to the target shift source is the intelligent driving request for the 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 state and driving requirements. In this case, the vehicle braking state becomes a key factor in determining the shift source. For example, in scenarios of emergency braking or frequent braking, the vehicle may automatically select a safer shift source to ensure driving safety and stability. Exemplarily, when the self-reset flag of the underlying software (BSW) is 1, the EPB state is non-clamped, and the DC gun / AC gun signal is not plugged in, the shift sources include driver requests, gear requests for activating the car wash mode or the trailer mode, intelligent driving request N, gear requests for sudden loss of ready before reset and vehicle speed > 3, and gear requests for maintaining N from the vehicle fault degradation action. Then, a priority ranking is performed to determine that the gear corresponding to the target shift source is the intelligent driving request N 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 vehicle has entered the ready state (at this time, the ready reset has been completed), the shift sources include driver requests, gear requests for activating the logistics mode, and gear requests for intelligent driving request D. Then, a priority ranking is performed to determine that the gear corresponding to the target 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 vehicle has entered the ready state (at this time, the ready reset has been completed), the waiting gear sources include driver requests, gear requests for activating the logistics mode, and gear requests for intelligent driving request R. Then, a priority ranking is performed to determine that the gear corresponding to the target shift source is the intelligent driving request P gear.

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

[0097] In one embodiment, when the target gear and the actual gear during normal power-on initialization are both P, after receiving the BSW reset signal, the judgment of the target gear and the actual gear for reset initialization is entered. After the active switching of the reset gear is completed, a new shift request is then responded to.

[0098] Therefore, the vehicle gear control method provided by the embodiments of the present invention can quickly and accurately determine the first target gear of the vehicle before the vehicle controller is reset by according to the target gear state value, the identified shift source, and the vehicle working conditions, effectively improving the shift efficiency.

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

[0100] Step C1: If the second target gear demand is detected, obtain the first gear shift source corresponding to the first target gear and the second gear shift source corresponding to the second target gear.

[0101] In one implementation, if the second target gear demand is detected, obtain the first gear shift source corresponding to the first target gear and the second gear shift source corresponding to the second target gear. Prioritize the gear shift sources to ensure that the most suitable gear can be selected when multiple gear shift requests exist simultaneously.

[0102] Step C2: When the priority of the first gear shift source is higher than the priority of the second gear shift source, perform a gear shift operation based on the actual gear of the vehicle before reset and the first target gear.

[0103] In one implementation, if the priority of the first gear shift source is higher than the priority of the second gear shift source, the system will perform a gear shift operation based on the actual gear of the vehicle before reset and the first target gear. For example, if the priority of the driver's operation of the shift lever is higher than the special mode request, then the system will perform a 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 shift source, perform a gear shift operation based on the actual gear of the vehicle before reset and the second target gear.

[0105] In one implementation, when the priority of the second gear shift source is higher than the priority of the first gear shift source, the system will perform a gear shift operation according to the second target gear demand. 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 operation of the shift lever request, then the system will give priority to meeting the gear shift requirements 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 by the embodiments of the present invention determines the target gear finally used for gear shifting according to the priorities of the gear shift sources corresponding to different target gears, ensuring the rationality and safety of vehicle gear control under complex working conditions.

[0107] Based on the first embodiment, in the vehicle gear control method provided by the embodiments of the present invention, before step 101, it further includes: Before the vehicle controller is reset, 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 working condition, 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 working condition into the storage space divided by the underlying software of the vehicle controller.

[0108] In one embodiment, before the vehicle control unit (VCU) is reset, the actual gear state value, target gear state value, execution state of the electronic parking brake unit, identified gear shift source, and vehicle working condition of the vehicle are recorded and stored in the storage space divided by the underlying software of the VCU, ensuring that the current state and historical state information of the vehicle will not be lost during the reset process, so that the correct gear state can be quickly restored after the reset.

[0109] In one embodiment, before the VCU is reset, it will automatically detect and record the current gear state value, target gear state value, execution state of the electronic parking brake unit, identified gear shift source, and vehicle working condition. These information are stored in the dedicated storage space divided by the underlying software, so that it can quickly restore to the state before the reset after the reset, ensuring that the gear control of the vehicle will not be chaotic or incorrect due to the reset operation. For example, during the vehicle driving, if an emergency occurs and the VCU needs to be reset, the system will immediately record the current gear state value, target gear state value, execution state of the electronic parking brake unit, identified gear shift source, and vehicle working 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 the reset according to this information, so as to ensure 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 needs to allocate a dedicated storage space to store the key signals (such as the current actual gear, target gear, vehicle speed, motor torque, feedback state of the EPB, etc.) that can enable active gear shifting when the VCU is reset. The data in this storage space needs to be ensured not to be overwritten due to the reset of the VCU.

[0111] Therefore, the vehicle gear control method provided by the embodiments of the present invention can prevent information from being overwritten due to the reset of the VCU by storing the reset-related information in the storage space divided by the underlying software of the VCU, facilitating a quick 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 embodiments of the present invention is proposed, as Figure 4 shown, Figure 4 is a schematic flow chart provided by the second embodiment of the present invention. The method further includes step 201 and step 204:

[0113] Step 201: When the vehicle control unit of the vehicle is reset, interrupt the message communication with the reset-related system and obtain the reset time.

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

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

[0116] Among them, the systems associated with the reset at least include the Electronic Stability Program (ESP), the microcontroller unit, the intelligent driving system, the battery management system, and the instrument system.

[0117] In one embodiment, during the VCU reset, the systems associated with the reset (such as ESP, MCU, ADS, etc.) should 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 VCU reset, the communication between the VCU and the outside world is disconnected, and the systems associated with the reset cannot receive the messages from the VCU. The systems associated with the reset 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 < 500 ms), it can automatically return to the state before the reset.

[0119] In one embodiment, when the reset time does not reach 500 ms, at this time the VCU reset is not completed. The VCU can receive the work request from the system associated with the reset, but cannot send a response message to the system associated with the reset. During the process of waiting for the VCU reset to complete, the systems associated with the reset can continue to execute their normal functions.

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

[0121] In one embodiment, the diagnostic time for the system associated with the reset to determine the loss of communication with the VCU is the preset time threshold, which can be 500 ms. During this period, the systems associated with the reset should maintain the sending of normal signals, and the instrument display shows according to the effective value of the previous moment. If the VCU reset time exceeds 500 ms, the systems associated with the reset need to trigger the communication anomaly degradation action with the VCU, and the instrument needs to remind the user that there is a fault in the power system.

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

[0123] Step 204: When the message communication with the reset-related system is not restored, it is determined that the communication of the reset-related system is lost. When the communication of the reset-related system is lost, a downgrade action will be performed.

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

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

[0126] In one implementation, during the VCU reset, the VCU stops sending messages. Since the reset-related system cannot receive the messages from the VCU, the downgrade action mainly refers to the downgrade action of the reset-related system. When the vehicle is running normally, if the messages from the VCU cannot be received, the downgrade action will be triggered. For example, the BMS actively cuts off the high voltage (when charging, the BMS stops the mode request for the OBC / charging pile and ends the charging), no longer responds to the instructions of the VCU, the MCU directly shuts down the IGBT to stop torque output and no longer responds to the instructions of the VCU, and the instrument reports vehicle faults, etc.

[0127] In one implementation, during the VCU reset, the reset-related system needs to ensure the normal operation of the software and avoid triggering relevant fault downgrade actions such as communication anomalies. By reasonably setting a preset time threshold, such as 500 ms, the reset-related system can maintain the sending of normal signals during this period to ensure that the instrument display shows according to the effective value of the previous moment. At the same time, after the VCU communication is lost for a certain period of time, such as 100 ms, the MCU can output 0 Nm and the intelligent driving function exits to further ensure the safety of the vehicle.

[0128] Therefore, the vehicle control method provided by the embodiments of the present invention can receive the work request sent by the reset-related system when the reset time does not reach the preset time threshold, and perform the downgrade action of the reset-related system when the reset time does not reach the preset time threshold, which can effectively ensure the stability and safety of vehicle control.

[0129] Based on the second embodiment, in the vehicle gear control method provided by the embodiments of the present invention, after step 203, it further includes: after the reset is completed, responding to the work request of the reset-related system and sending a work instruction to the reset-related system to make the reset-related system respond 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, and the reset-related system cannot receive the VCU message. The counterparty can operate normally according to the state before the VCU reset, aiming to ensure that when the VCU completes its own reset (reset time < 500 ms), it can automatically return to the state before the reset.

[0131] In one embodiment, during the reset, when the vehicle is charging, when the battery management system (BMS) in the reset-related 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 the reset, when driving at high speed, when the micro-control unit (MCU) in the reset-related 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 VCU's torque request.

[0133] As Figure 5 shown, Figure 5 is the communication schematic diagram of the reset-related system. The application layer (ASW) communicates with the VCU through the internal key signals of the in-vehicle software system (SWC). The battery management system (BMS), the micro-control unit (FMCU / RMCU), the intelligent driving system (ADS), the electronic stability program (ESP), and the instrument system all communicate with the VUC. During the reset, when the battery management system (BMS) cannot receive the VCU message, the battery management system (BMS) normally sends the interaction mode / voltage and current, etc. to the VCU. When the communication diagnosis between the battery management system (BMS) and the VCU is > 500 ms, it is determined that the communication is lost, and the high-voltage state is maintained within 1000 ms, and the CAN message is normally sent. During the reset, when the micro-control unit (FMCU / RMCU) cannot receive the VCU message, the micro-control unit (FMCU / RMCU) normally sends the interaction mode / torque, etc. to the VCU. When the communication diagnosis between the micro-control unit (FMCU / RMCU) and the VCU is > 500 ms, it is determined that the communication is lost. After 100 ms, when the VCU message is not received, 0 Nm is output, and the VCU request is responded to after the communication is restored. During the reset, the intelligent driving system (ADS) sends the interaction mode / torque / gear, etc. to the VCU. After 100 ms, when the VCU message is not received, 0 Nm is output, and the intelligent driving function exits. During the reset, the electronic stability program (ESP) sends the interaction mode / torque / gear, etc. to the VCU, and when the communication diagnosis with the VCU is > 500 ms, it is determined that the communication is lost. During the reset, the instrument system sends the gear / mileage / energy consumption, etc. to the VCU, and when the communication diagnosis with the VCU is > 500 ms, it is determined that the communication is lost, and the effective value display of the previous moment is maintained within 500 ms.

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

[0135] Based on the foregoing embodiments, the embodiments of the present invention further provide a vehicle gear control device 6. Figure 6 As shown in the structural schematic diagram of the vehicle gear control device 6 provided by the embodiments of the present invention, Figure 6 as shown, the device may include:

[0136] An acquisition module 601, configured to acquire the actual gear and the first target gear of the vehicle before the vehicle's vehicle controller is reset when the vehicle controller is reset.

[0137] A detection module 602, configured to detect whether there is a new second target gear requirement during the reset of the vehicle controller, where the duration of the reset period is less than the communication degradation tolerance duration of the vehicle controller reset-related system.

[0138] A shifting module 603, configured to perform a shifting operation according to the actual gear and the first target gear of the vehicle before the reset if the second target gear requirement is not detected.

[0139] In some embodiments, the acquisition module 601 is further configured to acquire the actual gear state value of the vehicle stored before the reset and the execution state of the electronic parking unit; and determine the actual gear of the vehicle before the reset according to the actual gear state value and the execution state of the electronic parking unit.

[0140] In some embodiments, the acquisition module 601 is further configured to acquire the target gear state value of the vehicle stored before the reset, the identified shifting source, and the vehicle working condition; and determine the first target gear of the vehicle before the reset according to the target gear state value, the identified shifting source, and the vehicle working condition.

[0141] In some embodiments, the detection module 602 is further configured to, if the second target gear requirement is detected, acquire the first shifting source corresponding to the first target gear and the second gear source corresponding to the second target gear; when the priority of the first shifting source is higher than the priority of the second gear source, perform a shifting operation according to the actual gear and the first target gear of the vehicle before the reset; when the priority of the second shifting source is higher than the priority of the first gear source, perform a shifting operation according to the actual gear and the second target gear of the vehicle before the reset.

[0142] In some embodiments, the gear shifting module 603 is further configured to compare the actual gear with the first target gear; when the actual gear is the same as the first target gear, maintain the actual gear; when the actual gear is different from the first target gear, perform gear shifting on the actual gear according to the first target gear.

[0143] In some embodiments, the acquisition module 601 is further configured to record the actual gear state value, target gear state value, execution state of the electronic parking unit, identified gear shifting source, and vehicle working condition of the vehicle before the vehicle controller is reset; store the actual gear state value, the target gear state value, the execution state of the electronic parking unit, the identified gear shifting source, and the vehicle working condition in a storage space divided by the underlying software of the vehicle controller.

[0144] In some embodiments, the vehicle gear control device 6 further includes: a communication module; the communication module is further configured to, when the vehicle controller of the vehicle is reset, interrupt the message communication with the reset-related systems, and obtain the reset time; when the reset time does not reach a preset time threshold, receive a work request sent by the reset-related systems, where the reset-related systems at least include a body electronic stability system, a micro control unit, an intelligent driving system, a battery management system, and an instrument system; when the reset time reaches the preset time threshold, determine whether to resume the message communication with the reset-related systems; when the message communication with the reset-related systems is not resumed, determine that the reset-related systems communication is lost, where the reset-related systems will perform a degradation action when the communication is lost.

[0145] In some embodiments, the communication module is further configured to, after the reset is completed, respond to the work request of the reset-related systems, and send a work instruction to the reset-related systems, so that the reset-related systems respond to the work instruction.

[0146] As can be seen from the above, the vehicle gear control device 6 provided by the embodiments of the present invention can quickly and accurately perform gear shifting operations according to the actual gear and the first target gear of the vehicle before the vehicle controller is reset when the vehicle controller of the vehicle is reset and no new second target gear requirements are detected during the reset period, can quickly and accurately actively restore the gear, thereby effectively improving driving safety.

[0147] Figure 7 FIG. is a schematic structural diagram of an embodiment of a vehicle gear control device provided by an embodiment of the present invention. The specific implementation of the vehicle gear control device is not limited in the specific embodiments of the present invention.

[0148] As Figure 7As shown in the figure, the vehicle gear control device may include: a processor 702, a communications interface 704, a memory 707, and a communication bus 708.

[0149] Among them: The processor 702, the communications interface 704, and the memory 707 communicate with each other through the communication bus 708. The communications interface 704 is used to communicate with network elements of other devices such as clients or other servers. The processor 702 is used to execute the program 710, and specifically can execute the relevant steps in the above embodiments of the vehicle gear control method.

[0150] Specifically, the program 710 may include program code, and the program code includes computer-executable instructions.

[0151] The processor 702 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention. One or more processors included in the vehicle gear control device may be of the same type of processor, such as one or more CPUs; or may be of different types of processors, 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 high-speed RAM memory, and may also include non-volatile memory, such as at least one disk memory.

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

[0154] When the vehicle's vehicle control unit is reset, obtain the actual gear and the first target gear of the vehicle before the vehicle control unit is reset;

[0155] Detect whether there is a new second target gear demand during the reset of the vehicle control unit, where the duration during the reset is less than the communication degradation tolerance duration of the vehicle control unit reset-related system;

[0156] If the second target gear demand is not detected, perform a gear shift operation based on the actual gear and the first target gear of the vehicle before the reset.

[0157] Therefore, in the embodiments of the present invention, when the vehicle's vehicle control unit (VCU) is reset and no new second target gear demand is detected during the reset process, a gear shifting operation is quickly and accurately performed based on the actual gear of the vehicle before the VCU reset and the first target gear, enabling a quick and accurate active restoration of the gear, thereby effectively improving driving safety.

[0158] Embodiments of the present invention provide a computer-readable storage medium storing at least one executable instruction. When the executable instruction runs on a vehicle gear control device / apparatus, the vehicle gear control device / apparatus is caused to execute the vehicle gear control method in any of the above method embodiments.

[0159] Therefore, in the embodiments of the present invention, when the vehicle's vehicle control unit (VCU) is reset and no new second target gear demand is detected during the reset process, a gear shifting operation is quickly and accurately performed based on the actual gear of the vehicle before the VCU reset and the first target gear, enabling a quick and accurate active restoration of the gear, 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. Additionally, embodiments of the present invention are not directed to any particular programming language.

[0161] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that embodiments of the present invention may be practiced without these specific details. Similarly, in order to streamline the present invention and assist in understanding one or more of the various inventive aspects, in the above description of the 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. Among them, the claims following the specific implementation manners are hereby expressly incorporated into the specific implementation manners, where each claim itself serves as a separate embodiment of the present invention.

[0162] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and disposed in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into a module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. 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 the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in the claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting 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, performing 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 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 source is higher than the priority of the first gear shift source, a gear shift operation is performed according to the actual gear of the vehicle before resetting and the second target gear.

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: 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.

5. The method according to any one of claims 1 to 4, 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.

6. The method according to any one of claims 1 to 4, 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.

7. The method according to claim 6, 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.

8. 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; a gear shifting module, configured to perform a gear shifting 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; The shifting module is also used to obtain a first shifting 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 shifting source is higher than the priority of the second gear source, perform a shifting operation based on the actual gear of the vehicle before resetting and the first target gear; when the priority of the second gear source is higher than the priority of the first shifting source, perform a shifting operation based on the actual gear of the vehicle before resetting and the second target gear.

9. 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 1-7.

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