Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle, physical connection is pre-established between the vehicle and a charger, the vehicle comprises a controller used for controlling charging, and the method comprises the steps that in response to a reset event of the controller, pre-recorded charging condition information of the vehicle before the controller is reset is obtained; if the charging working condition information is first working condition information corresponding to the charging preparation stage of the vehicle and the charger, the vehicle is controlled to execute flow information corresponding to the charging preparation stage; and if the charging condition information is second condition information corresponding to the charging stage of the vehicle and the charger, controlling the vehicle to execute flow information corresponding to the charging stage. Based on the scheme of the invention, the charging process can be prevented from being stopped due to reset of the controller, and the stability of the charging process is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and more specifically, to a vehicle control method, device and vehicle in the field of vehicle technology. Background Art

[0002] Some vehicles can use external chargers to recharge their power batteries. During the charging process, the relevant controllers in the vehicle will control the charging. However, in actual applications, due to electromagnetic interference, software failure or hardware abnormality, these controllers may reset, resulting in the charging process being forced to terminate. Summary of the invention

[0003] The present application provides a vehicle control method, device and vehicle, which can ensure that when the controller is reset during the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, thereby avoiding the forced termination of the charging process and effectively improving the stability of the charging process.

[0004] In a first aspect, a vehicle control method is provided, wherein a physical connection is established between the vehicle and a charger in advance, and the vehicle includes a controller for controlling charging, the method comprising:

[0005] In response to a reset event of the controller, obtaining pre-recorded charging condition information of the vehicle before the controller is reset;

[0006] If the charging operating condition information is the first operating condition information corresponding to the charging preparation stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging preparation stage;

[0007] If the charging operating condition information is the second operating condition information corresponding to the charging stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging stage.

[0008] Through the above scheme, the charging condition information of the vehicle before the controller is reset is recorded in advance. When the controller is reset, the vehicle will respond to the reset event of the controller and obtain the previously stored charging condition information. If the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then the process information corresponding to the charging preparation stage is executed; if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then the process information corresponding to the charging stage is executed. In this way, it can be ensured that when the controller is reset in the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, avoiding the forced termination of the charging process, and effectively improving the stability of the charging process.

[0009] In combination with the first aspect, in some possible implementations, controlling the vehicle to execute process information corresponding to the charging preparation stage includes: configuring the relay of the charging circuit in the vehicle to be in a disconnected state; restoring the first signal of the vehicle in the charging preparation stage; based on the first signal, controlling the vehicle to interact with the charger to perform charging handshake message interaction; based on the first signal, controlling the vehicle to interact with the charger to perform charging parameter configuration message interaction, and in the process of the vehicle and the charger interacting with each other to perform charging parameter configuration message interaction, configuring the relay of the charging circuit in the vehicle to be in a closed state.

[0010] Through the above scheme, the relay is configured to be disconnected in a timely manner, and the first signal required by the vehicle in the charging preparation stage is restored. The first signal is used to realize the charging handshake message interaction and charging parameter configuration message interaction between the vehicle and the charger, and the relay is configured to be closed during the charging parameter configuration message interaction, which provides a guarantee for the charger to charge the vehicle later. In this way, even if the controller is reset during the charging preparation stage, the vehicle can continue to execute the corresponding process information to ensure that charging is ready, effectively improving the stability of the charging process.

[0011] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, during the process of the vehicle and the charger exchanging charging parameter configuration messages, the relay of the charging circuit in the vehicle is configured to be in a closed state, including: after controlling the vehicle to send a first battery charging readiness message to the charger, and before controlling the vehicle to send a second battery charging readiness message to the charger, the relay of the charging circuit in the vehicle is configured to be in a closed state, wherein the first battery charging readiness message is used to indicate that the battery of the vehicle is not ready for charging, and the second battery charging readiness message is used to indicate that the battery of the vehicle is ready for charging.

[0012] Through the above solution, the closing timing of the relay is accurately controlled between sending the first battery charging ready message and the second battery charging ready message, which not only ensures the correct establishment of the charging circuit, but also avoids message errors or safety risks caused by premature closure. In this way, the stability and safety of the charging process can be improved.

[0013] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, controlling the vehicle to execute process information corresponding to the charging stage includes: configuring the relay of the charging circuit in the vehicle to a closed state; restoring the second signal of the vehicle during the charging stage; and based on the second signal, controlling the vehicle to interact with the charger through charging messages.

[0014] Through the above solution, the relay is configured to be closed at the right time, and the second signal required by the vehicle during the charging stage is restored. The second signal is used to realize the charging message interaction between the vehicle and the charger. In this way, even if the controller is reset during the charging stage, the vehicle can continue to execute the corresponding process information to ensure continuous charging, effectively improving the stability of the charging process.

[0015] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, in response to a reset event of the controller, before obtaining the pre-recorded charging condition information of the vehicle before the controller is reset, it also includes: after determining that the low-voltage auxiliary power supply of the charger is powered on, before determining that the charger starts charging the vehicle, recording the charging condition information of the vehicle as the first condition information; or, after determining that the charger starts charging the vehicle, before determining that the charger stops charging the vehicle, recording the charging condition information of the vehicle as the second condition information.

[0016] Through the above scheme, after the low-voltage auxiliary power supply of the charger is powered on, but before charging officially starts, the charging condition information of the vehicle is recorded as the first condition information, and the first condition information is used to reflect the stage of the vehicle, providing a decision basis for subsequent charging control. In addition, after charging officially starts, but before charging is officially ended, the charging condition information of the vehicle is recorded as the second condition information, and the second condition information is used to reflect the stage of the vehicle, providing a decision basis for subsequent charging control.

[0017] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, the vehicle includes a state machine, the state machine includes the current state of the vehicle; in response to a reset event of the controller, obtaining pre-recorded charging condition information of the vehicle before the controller is reset, including: in response to a reset event of the controller, obtaining the current state of the vehicle in the state machine; if the current state of the vehicle is an initial state, obtaining pre-recorded charging condition information of the vehicle before the controller is reset.

[0018] Through the above solution, the state machine is used to determine whether the vehicle is in the initial state, and the charging condition information before the controller is reset is obtained accordingly, which not only improves the accuracy and flexibility of charging control, but also enhances the vehicle's adaptability to different charging scenarios. The introduction of the state machine makes the charging control process clearer and more controllable, which helps to improve charging stability and reliability.

[0019] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging preparation stage, including: if the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging preparation stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage, the vehicle is controlled to execute the process information corresponding to the charging preparation stage.

[0020] Through the above solution, the state machine is used to trigger the state jump and process control in the charging preparation phase, ensuring the smooth progress of charging preparation. The introduction of the state machine also makes the charging control process easier to monitor and manage, which helps to improve the operation and maintenance efficiency and intelligence level of the vehicle during the charging process.

[0021] In combination with the first aspect and the above-mentioned implementation methods, in some possible implementation methods, if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging stage, including: if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging stage, the vehicle is controlled to execute the process information corresponding to the charging stage.

[0022] Through the above solution, the state machine is used to trigger the state jump and process control of the charging stage, ensuring the smooth progress of charging. The introduction of the state machine also makes the charging control process easier to monitor and manage, which helps to improve the operation and maintenance efficiency and intelligence level of the vehicle during the charging process.

[0023] In a second aspect, a vehicle control device is provided, wherein the vehicle is physically connected to a charger in advance, and the vehicle includes a controller for controlling charging, and the device includes:

[0024] A response unit, configured to obtain pre-recorded charging condition information of the vehicle before the controller is reset in response to a reset event of the controller;

[0025] a first control unit, configured to control the vehicle to execute process information corresponding to the charging preparation stage if the charging condition information is first condition information corresponding to the charging preparation stage of the vehicle and the charger;

[0026] The second control unit is used to control the vehicle to execute process information corresponding to the charging stage if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger.

[0027] In a third aspect, a vehicle is provided, wherein the vehicle comprises:

[0028] A memory for storing executable program codes;

[0029] A processor is used to call and run the executable program code from the memory so that the vehicle executes the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0030] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the method in the first aspect or any possible implementation of the first aspect.

[0031] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation manner of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 This is a schematic diagram of a scenario in which a charger provides charging of a vehicle according to an embodiment of the present application;

[0033] Figure 2 is a flow chart of a vehicle control method provided in an embodiment of the present application;

[0034] Figure 3 is a schematic diagram of interaction between a vehicle and a charger provided in an embodiment of the present application;

[0035] Figure 4 This is a flow chart of a process information corresponding to a charging preparation phase provided by an embodiment of the present application;

[0036] Figure 5 It is a schematic diagram of a flow chart of configuring a relay to a closed state provided by an embodiment of the present application;

[0037] Figure 6 This is a flow chart of a process information corresponding to a charging stage provided by an embodiment of the present application;

[0038] Figure 7 is a schematic diagram of a process for recording first operating condition information provided by an embodiment of the present application;

[0039] Figure 8 is a schematic diagram of a process for recording second operating condition information provided by an embodiment of the present application;

[0040] Fig. 9 It is a flow chart of a method of realizing vehicle control by using a state machine provided in an embodiment of the present application;

[0041] Fig.10 is a structural schematic diagram of a vehicle control device provided in an embodiment of the present application;

[0042] Fig.11 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0044] In the following, the terms "first" and "second" are used for descriptive purposes only and should not be understood as suggesting or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features.

[0045] In the related art, some vehicles are integrated with power batteries, and the electric energy stored in the power batteries can be used to meet the driving needs of the vehicle, realizing the efficient conversion from chemical energy to mechanical energy. When the vehicle needs to replenish electric energy, an external charger can charge the vehicle.

[0046] See also Figure 1 , Figure 1 It is a schematic diagram of a scenario in which a charger charges a vehicle provided in an embodiment of the present application. Among them, the charging gun of the charger 002 is docked to the charging interface of the vehicle 001 to establish a physical connection between the charger 002 and the vehicle 001. Then, a series of condition verification procedures will be carried out between the vehicle 001 and the charger 002, including but not limited to electrical safety checks, communication protocol matching, battery status assessment and charging parameter negotiation, etc., to ensure the safety and efficiency of the charging process. Furthermore, the charger 002 will deliver electrical energy to the power battery of the vehicle 001 according to the preset or negotiated charging strategy, thereby completing the charging process.

[0047] During the charging process, the relevant controllers in the vehicle 001 will control the charging. However, in actual applications, due to various reasons such as electromagnetic interference, software failure or hardware abnormality, these controllers may be reset, resulting in the charging process being forced to be terminated.

[0048] In response to the problems existing in the related technologies, the solutions mainly provided by the embodiments of the present application include: pre-recording the charging condition information of the vehicle before the controller is reset. When the controller is reset, the vehicle will respond to the reset event of the controller and obtain the previously stored charging condition information. If the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then the process information corresponding to the charging preparation stage is executed; if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then the process information corresponding to the charging stage is executed. In this way, it can be ensured that when the controller is reset in the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, avoiding the forced termination of the charging process, and effectively improving the stability of the charging process.

[0049] based on Figure 1 The scene shown is shown below. Figure 2 - Fig. 9 , the vehicle control method provided in the embodiment of the present application is introduced in detail.

[0050] See also Figure 2 , Figure 2 A flow chart of a vehicle control method provided in an embodiment of the present application. The vehicle is physically connected to the charger in advance, and the vehicle includes a controller for controlling charging. Figure 2 As shown, the method of the embodiment of the present application may include the following steps S101-S103.

[0051] S101, in response to a reset event of a controller, obtaining pre-recorded charging condition information of a vehicle before the controller is reset.

[0052] Specifically, the controller involved in this embodiment refers to a component installed on the vehicle and can be used to control and manage the vehicle charging process. The number of controllers can be one or more, and the controller has a reset function.

[0053] In one possible case, the controller includes a battery management system (BMS) and / or a vehicle control unit (VCU). Among them, the battery management system is an important component on the vehicle that is specifically used to monitor and manage the battery status. During the charging process, the battery management system is responsible for real-time monitoring of key parameters such as battery voltage, current, temperature, etc., and determines whether the battery is in a safe and rechargeable state based on these parameters. The vehicle controller is the central control unit on the vehicle, responsible for coordinating and managing the work of various components of the vehicle. During the charging process, the vehicle controller works closely with the battery management system to formulate a suitable charging strategy based on the battery status information provided by the battery management system, as well as the current power demand and charging conditions of the vehicle. At the same time, the vehicle controller may also be responsible for communicating with the charger. It is understandable that a reset of the battery management system and / or the vehicle controller may cause the charging process to be terminated.

[0054] The following are several situations that may cause the controller to reset:

[0055] Electromagnetic interference: During the charging process, if the electromagnetic environment around the vehicle is complex and there is strong electromagnetic interference, it may cause abnormalities in the controller circuit and trigger a reset.

[0056] Software failure: There may be defects or vulnerabilities in the controller's software system, which, when triggered, may cause the controller to crash and reset.

[0057] Hardware abnormality: If the hardware part of the controller, such as chips, circuit boards, etc., is abnormal due to manufacturing defects, aging or damage, it may also cause the controller to reset.

[0058] Power supply problem: The unstable or interrupted power supply to the controller may also cause the controller to reset. For example, voltage fluctuations, power short circuits or circuit breaks may affect the normal operation of the controller.

[0059] It should be noted that the charging process involved in this embodiment refers to a complete process after the vehicle establishes a physical connection and the charger passes the charging authentication, and before the charger stops charging the vehicle.

[0060] If the controller is reset due to any of the above reasons, the charging process may be forced to terminate, because the controller may not be able to continue to exchange messages with the charger normally after the reset, and it is difficult to control components such as relays inside the vehicle to maintain the required state for charging.

[0061] It should be noted that the relay here refers to the relay of the charging circuit in the vehicle, and the state of the relay will affect the charging of the vehicle by the charger. In some possible cases, the relay includes a fast charging relay and / or a vehicle high-voltage relay; the fast charging relay is arranged in the first charging circuit between the charging port of the vehicle and the battery pack of the vehicle; the vehicle high-voltage relay is arranged in the second charging circuit between the battery pack of the vehicle and the high-voltage load of the vehicle. It can be understood that the above relays are all normally open relays. When the relay is in the open state, the corresponding circuit is cut off, and when the relay is in the closed state, the corresponding circuit is turned on.

[0062] Based on the above explanation of the controller reset phenomenon, it can be known that the controller reset event refers to an event in which the controller's internal state is reset or restarted during normal operation due to some reason (such as electromagnetic interference, software failure, hardware abnormality or power supply problem, etc.). The controller reset event usually means that the controller will interrupt the current operation and cannot continue to interact with the charger normally, resulting in the charging process being forced to terminate.

[0063] Accordingly, the vehicle responds to the reset event of the controller and obtains the pre-recorded charging condition information of the vehicle before the controller is reset. The charging condition information is recorded by the vehicle based on a preset period before the controller is reset, for example, the charging condition information is recorded every 10 milliseconds.

[0064] The charging condition information includes at least first condition information and second condition information. The first condition information corresponds to the charging preparation stage of the vehicle and the charger, while the second condition information corresponds to the charging stage of the vehicle and the charger. In some cases, the charging condition information may also include third condition information in addition to the first condition information and the second condition information, and the third condition information corresponds to the charging end stage of the vehicle and the charger.

[0065] To further illustrate the interaction between the vehicle and the charger at the above different stages, see Figure 3 , Figure 3 This is a schematic diagram of the interaction between a vehicle and a charger provided in an embodiment of the present application. During the vehicle charging process, the connection authentication phase, the charging preparation phase, the charging phase and the charging end phase are four key time periods, which together constitute a complete charging cycle.

[0066] Connection authentication stage: This is the initial stage of the charging process. The vehicle and the charger first establish a physical connection, and then the charger needs to determine whether the charging authentication is passed. There may be multiple ways to implement charging authentication. For example, when the user chooses to authenticate the charge by swiping a card, the charger will read the information on the user's charging card and verify its validity. If it is valid, the charging authentication is determined to be passed, and if it is invalid, the charging authentication is determined to be failed; when the user chooses to scan the code to pay for charging authentication with a mobile phone application, the charger will communicate with the payment system corresponding to the mobile phone application, and will determine that the charging authentication is passed only after receiving the payment success signal sent by the payment system within the preset time. If the payment success signal sent by the payment system is not received within the preset time, the charging authentication is determined to be failed; and when the user chooses to authenticate the charge by remote control, the charger will receive the authentication instruction from the remote server and determine whether the charging authentication is passed or not according to the instruction. There are many other ways to implement charging authentication, which will not be listed here one by one. After the charging authentication is passed, the charger will power on the vehicle with a low-voltage auxiliary power supply. The low-voltage auxiliary power supply is a lower voltage DC power supply used to provide the necessary power for the vehicle's battery management system and other related components.

[0067] Charging preparation phase: Immediately after the connection authentication phase, the charging preparation phase begins. In the charging preparation phase, the vehicle will record the first operating condition information and interact with the charger for charging handshake messages and charging parameter configuration messages.

[0068] Charging stage: The charging stage is the actual power transmission process and the most critical part of the charging cycle. During the charging stage, the vehicle will record the second working condition information and exchange charging messages with the charger.

[0069] Charging end stage: When the battery is fully charged or reaches the preset charging time, the charging process enters the charging end stage. In the charging end stage, the vehicle can record the third working condition information and exchange charging statistical data messages with the charger.

[0070] It should be noted that the above four stages are continuous in timing. If the controller is reset during the connection authentication stage and the charging end stage, it will not cause abnormal message interaction between the vehicle and the charger, and the charging process will not be forced to terminate. Therefore, this embodiment focuses on recording the first operating condition information corresponding to the charging preparation stage and the second operating condition information corresponding to the charging stage.

[0071] S102: If the charging operating condition information is the first operating condition information corresponding to the charging preparation stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging preparation stage.

[0072] Specifically, the process information corresponding to the charging preparation stage refers to a collection of a series of steps such as component control, signal control, and message sending and receiving performed by the vehicle in the charging preparation stage. If the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then the vehicle is controlled to execute the process information corresponding to the charging preparation stage.

[0073] Specifically, during the execution of the process information corresponding to the charging preparation phase, the vehicle will exchange charging handshake messages with the charger to confirm whether the communication status of both parties is normal. In addition, the vehicle will also exchange charging parameter configuration messages with the charger to perform corresponding parameter configuration.

[0074] During the execution of the process information corresponding to the charging preparation stage, the vehicle will control the relay of the charging circuit to switch from the open state to the closed state to prepare for entering the next stage of charging.

[0075] During the execution of the process information corresponding to the charging preparation stage, in addition to the relay, the vehicle may also control other components to cooperate with the charging process. For example, the vehicle controls the display component to display the charging status, communication status, and any possible error prompts. In this way, the user can intuitively understand the current status of the charging process and take corresponding measures when necessary.

[0076] S103: If the charging operating condition information is the second operating condition information corresponding to the charging stage of the vehicle and the charger, the vehicle is controlled to execute the process information corresponding to the charging stage.

[0077] Specifically, the process information corresponding to the charging stage refers to a collection of a series of steps such as component control, signal control, and message sending and receiving performed by the vehicle during the charging stage. If the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then the vehicle is controlled to execute the process information corresponding to the charging stage.

[0078] Specifically, during the execution of the process information corresponding to the charging stage, the vehicle will interact with the charger through charging messages to exchange the data required by both parties during the charging stage and maintain the charger's charging of the vehicle.

[0079] During the execution of the process information corresponding to the charging stage, the vehicle will control the relay of the charging circuit to maintain a closed state so that the electrical energy from the charger can be smoothly transmitted to the vehicle's power battery.

[0080] During the execution of the process information corresponding to the charging stage, in addition to the relay, the vehicle may also control other components to cooperate with the charging process. For example, the vehicle controls the display component to display the charging status, communication status, and any possible error prompts. In this way, the user can intuitively understand the current status of the charging process and take corresponding measures when necessary.

[0081] In a possible implementation, if the charging operating condition information is third operating condition information corresponding to the charging end stage of the vehicle and the charger, the vehicle is controlled to execute process information corresponding to the charging end stage.

[0082] Specifically, the signal of the vehicle at the end of charging is restored; based on the signal of the vehicle at the end of charging, the vehicle and the charger are controlled to exchange charging statistical data messages. The purpose of this implementation method is to ensure that the vehicle and the charger can correctly and safely complete the termination of the charging process at the end of charging, and perform necessary data interaction to record and manage charging information. By restoring the signal of the vehicle at the end of charging, it can be confirmed that the charging process is close to or has reached the completion state, and then the vehicle and the charger are controlled to exchange charging statistical data messages to transmit charging statistical data between the vehicle and the charger. In some cases, the charging statistical data includes one or more of power consumption data, charging time data, battery health data, charging efficiency analysis data, and abnormal situation data. In this way, even if the controller is reset at the end of charging, the charging statistical data can be transmitted between the vehicle and the charger to complete the recording of this charging situation, so that users and charging operators of the charger can better understand the charging situation.

[0083] During the process of charging statistical data message interaction between the vehicle and the charger, the vehicle sends a vehicle statistical data message (message code BSD) to the charger, which is used to inform the charger of information such as the vehicle's power battery minimum voltage and power battery maximum voltage; the vehicle receives a charger statistical data message (message code CSD) sent by the charger, which is used to inform the vehicle of information such as the charger's output power and cumulative charging time during the entire charging process.

[0084] In this embodiment, the charging condition information of the vehicle before the controller is reset is recorded in advance. When the controller is reset, the vehicle will respond to the reset event of the controller and obtain the previously stored charging condition information. If the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then the process information corresponding to the charging preparation stage is executed; if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then the process information corresponding to the charging stage is executed. In this way, it can be ensured that when the controller is reset in the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, avoiding the forced termination of the charging process, and effectively improving the stability of the charging process.

[0085] See also Figure 4 , provides a flow chart of executing the process information corresponding to the charging preparation stage for the embodiment of the present application, such as Figure 4As shown, the method of the embodiment of the present application may include the following steps S201-S204, and steps S201-S204 may be used as Figure 2 The illustrated embodiment shows a refinement of "controlling the vehicle to execute process information corresponding to the charging preparation phase" in step S102.

[0086] S201, configuring a relay of a charging circuit in the vehicle to be in a disconnected state;

[0087] S202, restoring the first signal of the vehicle in the charging preparation stage;

[0088] S203, based on the first signal, controlling the vehicle and the charger to perform charging handshake message interaction;

[0089] S204, based on the first signal, controlling the vehicle to exchange charging parameter configuration messages with the charger, and in the process of the vehicle and the charger exchanging charging parameter configuration messages, configuring the relay of the charging circuit in the vehicle to be in a closed state.

[0090] Specifically, in the charging preparation stage, the relay of the charging circuit needs to be switched from the open state to the closed state to prepare for the next stage of charging. The number of relays in the charging circuit may be one or more, and any relay may be in the open state or the closed state before the controller is reset. Recording the status of all relays in the charging circuit will consume more computing resources and storage resources of the vehicle. Therefore, this embodiment does not record the status of the relay, but configures the relay of the charging circuit in the vehicle to the open state when the charging condition information is the first condition information. In some possible implementations, the vehicle can generate a relay disconnect request signal, and configure the relay to the open state through the relay disconnect request signal.

[0091] In addition, it is also necessary to restore the first signal of the vehicle in the charging preparation stage. The first signal may include one or more signals such as a relay status signal, a charging gun connection status signal, a low-voltage auxiliary power supply signal, a charging current request signal, a charging voltage request signal, and a charging remaining time signal.

[0092] Further, based on the first signal, the vehicle and the charger are controlled to interact with each other through charging handshake messages. During the interaction of charging handshake messages between the vehicle and the charger, the vehicle will receive a charger handshake message (message code CHM) sent by the charger, which indicates that the charger is ready for charging communication. It is worth noting that the data in the charger handshake message may include status information of the charger, which is partly derived from the relay status signal and the charging gun connection status signal in the restored first signal. Subsequently, the vehicle will send a vehicle handshake message (message code BHM) to the charger to confirm that the vehicle is ready for communication. The message also contains the status information of the vehicle, which is partly derived from the low-voltage auxiliary power signal and the charging current request signal and the charging voltage request signal in the first signal. In addition, the vehicle will also receive a charger identification message (message code CRM) sent by the charger to identify the identity and status information of the charger. The data in the message is mainly used for identity authentication of the charger, which may contain information associated with certain signals in the first signal, such as the unique identifier of the charger. The vehicle will then send a vehicle identification message (message code BRM) to the charger so that the charger can identify the identity and status of the vehicle. The data in the message may include the vehicle's unique identifier and status information, which corresponds to the relevant signal in the first signal.

[0093] Furthermore, based on the first signal, the vehicle and the charger are controlled to interact with each other through charging parameter configuration messages. During the interaction of charging parameter configuration messages, the vehicle will send a power battery charging parameter message (message code BCP) to the charger to provide charging parameter information about the vehicle's power battery, such as charging voltage, charging current, etc. The data in the message is determined based on the actual needs and status of the vehicle's power battery. This information is associated with the charging current request signal and the charging voltage request signal in the first signal. At the same time, the vehicle will receive a time synchronization information message (message code CTS) sent by the charger to ensure time synchronization between the two devices. The data in the message is mainly used for time calibration to ensure that the time information during the charging process is accurate. The vehicle will also receive a charger maximum output capacity message (message code CML) sent by the charger to understand the maximum output capacity of the charger so that charging can be adjusted according to actual conditions. The data in the message reflects the maximum output power and current of the charger and other parameters, which helps the vehicle determine a suitable charging strategy. Subsequently, the vehicle will send a battery charging readiness message (message code BRO) to the charger, indicating that the vehicle's power battery is ready to be charged. This message indicates that the vehicle has completed the pre-charging preparations. Finally, the vehicle will receive a charger output readiness message (message code CRO) sent by the charger, confirming that the charger is also ready to output power for charging. This message indicates that the charger has completed the pre-charging preparations and is ready to start outputting power.

[0094] During the interaction of charging parameter configuration messages, the relay of the charging circuit in the vehicle will be configured to be in a closed state. The closing of the relay allows the charging current to flow smoothly through the charging circuit, providing the required electrical energy for the vehicle's power battery.

[0095] In this embodiment, the relay is configured to be disconnected at an appropriate time, and the first signal required by the vehicle in the charging preparation stage is restored. The first signal is used to implement the charging handshake message interaction and the charging parameter configuration message interaction between the vehicle and the charger, and the relay is configured to be closed during the charging parameter configuration message interaction, which provides a guarantee for the charger to charge the vehicle later. In this way, even if the controller is reset during the charging preparation stage, the vehicle can continue to execute the corresponding process information to ensure that charging is ready, effectively improving the stability of the charging process.

[0096] See also Figure 5 , a schematic diagram of a process for configuring a relay to a closed state is provided for an embodiment of the present application, such as Figure 5 As shown, the method of the embodiment of the present application may include the following steps S301, and step S301 may be used as Figure 4The illustrated embodiment shows a refinement of step S204 of "configuring the relay of the charging circuit in the vehicle to be in a closed state during the process of the vehicle and the charger exchanging charging parameter configuration messages."

[0097] S301, after controlling the vehicle to send a first battery charging readiness message to the charger and before controlling the vehicle to send a second battery charging readiness message to the charger, configuring the relay of the charging circuit in the vehicle to be in a closed state, wherein the first battery charging readiness message is used to indicate that the battery of the vehicle is not ready to charge, and the second battery charging readiness message is used to indicate that the battery of the vehicle is ready to charge.

[0098] Specifically, Figure 4 The embodiment has introduced that during the process of the vehicle and the charger exchanging charging parameter configuration messages, the vehicle will send a battery charging readiness message to the charger, wherein the battery charging readiness message includes a first battery charging readiness message and a second battery charging readiness message.

[0099] First, the vehicle is controlled to send a first battery charging readiness message (whose parameters may be configured as "0x00") to the charger to indicate that the vehicle's battery charging is not yet ready. This message is sent when the vehicle has completed a series of preparatory work before charging but is not yet fully ready to accept charging.

[0100] Then, after sending the first battery charging ready message, the vehicle will configure the relay of the charging circuit to a closed state. In some possible implementations, the vehicle can generate a relay closing request signal, and configure the relay to a closed state through the relay closing request signal.

[0101] Then, the vehicle is controlled to send a second battery charging ready message (whose parameters may be configured as "0xAA") to the charger, which is used to indicate that the vehicle's battery charging is ready, that is, the vehicle has completed the pre-charging preparations, and the charging circuit has been closed and is ready to accept charging.

[0102] In this embodiment, the closing timing of the relay is accurately controlled between sending the first battery charging ready message and the second battery charging ready message, which not only ensures the correct establishment of the charging circuit, but also avoids message errors or safety risks caused by premature closing. In this way, the stability and safety of the charging process can be improved.

[0103] See also Figure 6 , provides a flow chart of the process information corresponding to the charging stage for the embodiment of the present application, such as Figure 6 As shown, the method of the embodiment of the present application may include the following steps S401-S403, and steps S401-S403 may be used as Figure 2The illustrated embodiment shows a refinement of "controlling the vehicle to execute process information corresponding to the charging phase" in step S103.

[0104] S401, configuring a relay of a charging circuit in the vehicle to be in a closed state;

[0105] S402, restoring the second signal of the vehicle in the charging stage;

[0106] S403: Based on the second signal, control the vehicle and the charger to exchange charging messages.

[0107] Specifically, if the controller is reset during the charging phase, in order for the charger to continue charging the vehicle after the controller is reset, it is necessary to ensure that the charging circuit is turned on. In other words, the relay of the charging circuit in the vehicle needs to be configured to a closed state first. In some possible implementations, the vehicle can generate a relay closure request signal, and configure the relay to a closed state through the relay closure request signal. The closure of the relay allows the charging current to flow smoothly through the charging circuit, providing the required electrical energy to the vehicle's power battery.

[0108] Furthermore, it is necessary to restore the second signal required by the vehicle during the charging stage. The second signal may include one or more signals such as a relay status signal, a charging gun connection status signal, a low-voltage auxiliary power signal, a charging current request signal, a charging voltage request signal, and a charging remaining time signal. It should be noted that these second signals may be partially derived from the first signal in the charging preparation stage, and are updated and expanded on this basis to meet the needs of the charging stage.

[0109] Further, based on the second signal, the vehicle and the charger are controlled to interact with each other through charging messages. During the interaction of charging messages between the vehicle and the charger, the vehicle will send a battery charging demand message (message code BCL) to the charger to inform the charger of the required charging current and voltage and other parameters; the vehicle will send a battery charging total status message (message code BCS) to the charger to provide overall status information about the charging process; the vehicle will receive the charger charging status message (message code CCS) sent by the charger to learn the current status of the charger; the vehicle will send a power battery status information message (message code BSM), a power battery voltage message (message code BMV), a power battery temperature message (message code BMT), etc. to the charger to provide real-time status information about the power battery. During the charging process, if an abnormal situation occurs, the vehicle may also send a vehicle charging suspension message (message code BST) to the charger, and the charger may send a charger charging suspension message (message code CST) to the vehicle to notify the other party to terminate the charging process.

[0110] In this embodiment, the relay is configured to be closed at an appropriate time, and the second signal required by the vehicle during the charging stage is restored. The second signal is used to implement charging message interaction between the vehicle and the charger. In this way, even if the controller is reset during the charging stage, the vehicle can continue to execute the corresponding process information to ensure continuous charging, effectively improving the stability of the charging process.

[0111] See also Figure 7 , provides a schematic diagram of a process for recording first working condition information in an embodiment of the present application, such as Figure 7 As shown, the method of the embodiment of the present application may include the following steps S501. Step S501 may be Figure 2 In the illustrated embodiment, step S101 is performed before the above step.

[0112] S501, after determining that a low-voltage auxiliary power supply of a charger is powered on and before determining that the charger starts to charge a vehicle, recording charging operating condition information of the vehicle as first operating condition information.

[0113] Specifically, after the charging authentication is passed, the charger will power on the vehicle with a low-voltage auxiliary power supply. The low-voltage auxiliary power supply is a relatively low-voltage DC power supply used to provide the necessary power for the vehicle's battery management system and other related components. Accordingly, when the charger powers on the vehicle with a low-voltage auxiliary power supply, the vehicle will detect the low-voltage auxiliary power supply signal and then determine the low-voltage auxiliary power supply power-on event of the charger.

[0114] Next, after the charger powers up the vehicle with a low-voltage auxiliary power supply, the charger will exchange a series of messages with the vehicle to confirm the communication status, charging parameters and other information of both parties. Once this information is confirmed to be correct, the charger will start to deliver power to the vehicle's power battery, marking the official start of the charging process. Correspondingly, when the charger starts to charge the vehicle, the vehicle will detect that the charger starts to deliver power to the vehicle's power battery, and at this moment it is determined that the charger starts to charge the vehicle.

[0115] After the low-voltage auxiliary power supply of the charger is powered on, and before the charger starts charging the vehicle, the charging preparation stage corresponds to the charging preparation stage. In the charging preparation stage, the vehicle records the charging condition information of the vehicle based on a preset period as the first condition information. For example, the first condition information is recorded every 10 milliseconds; or, the first condition information is recorded every 1 second.

[0116] In this embodiment, after the low-voltage auxiliary power supply of the charger is powered on, but before charging officially starts, the charging condition information of the vehicle is recorded as the first condition information. The first condition information is used to reflect the stage of the vehicle, providing a decision-making basis for subsequent charging control.

[0117] See also Figure 8, provides a schematic diagram of a process for recording the second working condition information in an embodiment of the present application, such as Figure 8 As shown, the method of the embodiment of the present application may include the following steps S601. Step S601 may be Figure 2 In the illustrated embodiment, step S101 is performed before the above step.

[0118] S601, after determining that the charger starts to charge the vehicle and before determining that the charger stops charging the vehicle, recording the charging operating condition information of the vehicle as second operating condition information.

[0119] Specifically, when the charger starts to charge the vehicle, the vehicle detects that the charger transmits electric energy to the vehicle's power battery, and at this moment it is determined that the charger starts to charge the vehicle. When the charger stops charging the vehicle, the vehicle detects that the charger stops transmitting electric energy to the vehicle's power battery, and at this moment it is determined that the charger stops charging the vehicle.

[0120] After determining that the charger starts charging the vehicle and before determining that the charger stops charging the vehicle, it corresponds to the charging stage. During the charging stage, the vehicle records the second operating condition information based on a preset period. For example, the second operating condition information is recorded every 10 milliseconds; or, the second operating condition information is recorded every 1 second.

[0121] In this embodiment, after charging officially starts but before charging officially ends, the charging condition information of the vehicle is recorded as the second condition information. The second condition information is used to reflect the stage of the vehicle, providing a decision basis for subsequent charging control.

[0122] See also Fig. 9 , which is a flow chart of a vehicle control process using a state machine according to an embodiment of the present application. The vehicle includes a state machine, and the state machine includes the current state of the vehicle. Fig. 9 As shown, the method of the embodiment of the present application may include the following steps S701-S704, wherein steps S701-S702 may be used as Figure 2 The refinement of step S101 in the embodiment shown in the figure, step S703 can be used as Figure 2 The refinement of step S102 in the embodiment shown in the figure, step S704 can be used as Figure 2 The illustrated embodiment is a refinement of step S103.

[0123] S701, in response to a reset event of the controller, obtaining a current state of the vehicle in the state machine;

[0124] S702: If the current state of the vehicle is an initial state, obtain the pre-recorded charging condition information of the vehicle before the controller is reset.

[0125] Specifically, this embodiment introduces a state machine to realize vehicle control. The state machine is an abstract description of all possible states of the system and the conversion relationship between these states. In this embodiment, the state machine consists of a set of states (including the current state of the vehicle) and state conversion rules (i.e., conversion functions) that define how to convert between states.

[0126] Among them, the states in the state machine include at least the initial state, the state corresponding to the charging preparation stage, the state corresponding to the charging stage, etc., and the current state of the vehicle is one of the states of the vehicle at the current moment among the multiple states of the state machine.

[0127] The initial state is the starting point of all possible states of the state machine and is also the default state of the vehicle when the controller is reset. In the initial state, the state machine waits for a specific trigger event (such as a controller reset event) to start the subsequent charging process.

[0128] Among them, the state transition rules are used to define how to transition between states. The state machine transitions between different states according to the state transition rules, decides which target state to jump to from the current state, and controls the vehicle to execute the process information corresponding to the target state accordingly. During the state transition process, the state machine is not only responsible for the state jump, but also responsible for controlling the vehicle to execute the corresponding process information during the jump process.

[0129] When the vehicle controller is reset, the state machine immediately responds to the controller reset event and starts to execute its control process. At this time, the state machine first obtains the current state of the vehicle to provide the initial decision basis for all subsequent operations.

[0130] Furthermore, after confirming that the current state of the vehicle is the initial state, the state machine further obtains the charging condition information recorded by the vehicle before the controller is reset. The definition of the charging condition information is detailed in the previous embodiment and will not be repeated here.

[0131] After step S702 is completed, any one of step S703 and step S704 may be selectively executed according to the charging condition information.

[0132] S703, if the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging preparation stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage, the vehicle is controlled to execute the process information corresponding to the charging preparation stage.

[0133] S704, if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging stage, the vehicle is controlled to execute the process information corresponding to the charging stage.

[0134] Specifically, if the charging condition information indicates that the vehicle is in the charging preparation stage before the controller is reset, the state machine will control the vehicle to jump from the initial state to the state corresponding to the charging preparation stage. During this jump process, the state machine will also control the vehicle to execute the process information corresponding to the charging preparation stage. Figure 4 The illustrated embodiment has been described in detail and will not be described again here.

[0135] If the charging condition information indicates that the vehicle is in the charging stage before the controller is reset, the state machine will control the vehicle to jump from the initial state to the state corresponding to the charging stage. During this jump process, the state machine will also control the vehicle to execute the process information corresponding to the charging stage. Figure 6 The illustrated embodiment has been described in detail and will not be described again here.

[0136] In this embodiment, the state machine is used to determine whether the vehicle is in the initial state, and the charging condition information before the controller is reset is obtained accordingly, which not only improves the accuracy and flexibility of charging control, but also enhances the vehicle's adaptability to different charging scenarios. The state machine is used to trigger the state jump and process control of the charging preparation stage and the charging stage to ensure the smooth progress of charging preparation and charging. The introduction of the state machine makes the charging control process clearer and more controllable, which helps to improve the charging stability and reliability, and improve the operation and maintenance efficiency and intelligence level of the vehicle during the charging process.

[0137] Based on the above Figure 1 The following will combine Fig.10 The vehicle control device provided in the embodiment of the present application is introduced in detail. It should be noted that: Fig.10 The vehicle control device is used to execute the present application Figure 2 - Fig. 9 For the convenience of explanation, only the part related to the embodiment of the present application is shown. For the specific technical details not disclosed, please refer to the present application. Figure 2 - Fig. 9 Specifically, the vehicle is physically connected to the charger in advance, and the vehicle includes a controller for controlling charging; the vehicle control device 800 may include a response unit 801, a first control unit 802, and a second control unit 803, as follows:

[0138] A response unit 801 is used to obtain pre-recorded charging condition information of the vehicle before the controller is reset in response to a reset event of the controller;

[0139] The first control unit 802 is configured to control the vehicle to execute process information corresponding to the charging preparation stage if the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger;

[0140] The second control unit 803 is used to control the vehicle to execute the process information corresponding to the charging stage if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger.

[0141] Optionally, in some embodiments, the first control unit 802 can be used to: configure the relay of the charging circuit in the vehicle to be in a disconnected state; restore the first signal of the vehicle in the charging preparation stage; based on the first signal, control the vehicle and the charger to exchange charging handshake messages; based on the first signal, control the vehicle and the charger to exchange charging parameter configuration messages, and in the process of the vehicle and the charger exchanging charging parameter configuration messages, configure the relay of the charging circuit in the vehicle to be in a closed state.

[0142] Optionally, in some embodiments, the first control unit 802 can be used to: after controlling the vehicle to send a first battery charging ready message to the charger and before controlling the vehicle to send a second battery charging ready message to the charger, configure the relay of the charging circuit in the vehicle to a closed state, wherein the first battery charging ready message is used to indicate that the vehicle's battery is not ready to charge, and the second battery charging ready message is used to indicate that the vehicle's battery is ready to charge.

[0143] Optionally, in some embodiments, the second control unit 803 can be used to: configure the relay of the charging circuit in the vehicle to a closed state; restore the second signal of the vehicle in the charging stage; and control the vehicle to interact with the charger with charging messages based on the second signal.

[0144] Optionally, in some embodiments, the vehicle control device 800 may be used to: after determining that a low-voltage auxiliary power supply of the charger is powered on and before determining that the charger starts charging the vehicle, record the charging operating condition information of the vehicle as the first operating condition information.

[0145] Optionally, in some embodiments, the vehicle control device 800 may be used to: after determining that the charger starts charging the vehicle and before determining that the charger stops charging the vehicle, record the charging operating condition information of the vehicle as the second operating condition information.

[0146] Optionally, in some embodiments, the vehicle includes a state machine, which includes the current state of the vehicle; the response unit 801 can be used to: obtain the current state of the vehicle in the state machine in response to a reset event of the controller; if the current state of the vehicle is an initial state, obtain the pre-recorded charging condition information of the vehicle before the controller is reset.

[0147] Optionally, in some embodiments, the first control unit 802 can be used to: if the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then control the state machine to jump from the initial state to the state corresponding to the charging preparation stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage, control the vehicle to execute the process information corresponding to the charging preparation stage.

[0148] Optionally, in some embodiments, the second control unit 803 can be used to: if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, control the state machine to jump from the initial state to the state corresponding to the charging stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging stage, control the vehicle to execute the process information corresponding to the charging stage.

[0149] The beneficial effects that can be achieved by this embodiment are detailed in the previous embodiments and will not be described again here.

[0150] See also Fig.11 , which is a schematic diagram of the structure of a vehicle provided in the embodiment of the present application. Fig.11 As shown, the vehicle 900 includes a processor 901 and a memory 902. The processor 901 is electrically connected to the memory 902.

[0151] The processor 901 is the control center of the vehicle 900 and may include one or more processing cores. The processor 901 uses various interfaces and lines to connect various parts of the vehicle 900, and executes various functions and processes data of the vehicle 900 by running or calling computer programs stored in the memory 902, and calling data stored in the memory 902, so as to control the vehicle 900 as a whole. Optionally, the processor 901 may be implemented in at least one hardware form of digital signal processing (DSP), field programmable gate array (FPGA), and programmable logic array (PLA). The processor 901 may integrate one or a combination of a CPU, a graphics processing unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, user pages, and applications; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It is understandable that the above-mentioned modem may not be integrated into the processor 901, but may be implemented separately through a communication chip.

[0152] The memory 902 may be used to store software programs and modules, and the processor 901 executes various functional applications and data processing by running the computer programs and modules stored in the memory 902. The memory 902 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, a computer program required for at least one function, etc.; the data storage area may store data created according to the use of the vehicle 900, etc.

[0153] In addition, the memory 902 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other volatile solid-state storage devices. Accordingly, the memory 902 may also include a memory controller to provide the processor 901 with access to the memory 902.

[0154] In this embodiment, the memory 902 in the vehicle 900 is also used to store executable program code, and the processor 901 is also used to call and run the executable program code from the memory 902, so that the vehicle 900 executes the above-mentioned related method steps to implement a vehicle control method provided in the above-mentioned embodiment.

[0155] The beneficial effects that can be achieved by this embodiment are detailed in the previous embodiments and will not be described again here.

[0156] It should be understood that the device provided in the embodiment of the present application is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0157] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes, etc.

[0158] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0159] In addition, the device provided in the embodiment of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0160] An embodiment of the present application also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0161] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is caused to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0162] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0163] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0164] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0165] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The vehicle is physically connected to the charger in advance, the vehicle includes a controller for controlling charging, and the method includes: In response to a reset event of the controller, obtaining pre-recorded charging condition information of the vehicle before the controller is reset; If the charging operating condition information is first operating condition information corresponding to the charging preparation stage of the vehicle and the charger, controlling the vehicle to execute process information corresponding to the charging preparation stage; If the charging operating condition information is second operating condition information corresponding to the charging stage of the vehicle and the charger, the vehicle is controlled to execute process information corresponding to the charging stage.

2. The method according to claim 1, characterized in that The process information corresponding to controlling the vehicle to execute the charging preparation phase includes: configuring a relay of a charging circuit in the vehicle to be in an off state; Restoring the first signal of the vehicle in the charging preparation stage; Based on the first signal, controlling the vehicle to perform charging handshake message interaction with the charger; Based on the first signal, the vehicle is controlled to interact with the charger via charging parameter configuration messages, and during the interaction of the charging parameter configuration messages between the vehicle and the charger, a relay of a charging circuit in the vehicle is configured to be in a closed state.

3. The method according to claim 2, characterized in that The step of configuring the relay of the charging circuit in the vehicle to be in a closed state during the process of the vehicle and the charger exchanging charging parameter configuration messages comprises: After controlling the vehicle to send a first battery charging readiness message to the charger and before controlling the vehicle to send a second battery charging readiness message to the charger, a relay of a charging circuit in the vehicle is configured to be in a closed state, wherein the first battery charging readiness message is used to indicate that the battery of the vehicle is not ready for charging, and the second battery charging readiness message is used to indicate that the battery of the vehicle is ready for charging.

4. The method according to claim 1, characterized in that: The process information corresponding to controlling the vehicle to execute the charging stage includes: configuring a relay of a charging circuit in the vehicle to be in a closed state; Recovering a second signal of the vehicle at the charging stage; Based on the second signal, the vehicle is controlled to exchange charging messages with the charger.

5. The method according to claim 1, characterized in that Before obtaining the pre-recorded charging condition information of the vehicle before the controller is reset in response to the reset event of the controller, the method further includes: After determining that the low-voltage auxiliary power supply of the charger is powered on and before determining that the charger starts to charge the vehicle, recording the charging operating condition information of the vehicle as the first operating condition information; or, After determining that the charger starts to charge the vehicle and before determining that the charger stops charging the vehicle, the charging operating condition information of the vehicle is recorded as the second operating condition information.

6. The method according to claim 1, characterized in that The vehicle includes a state machine, the state machine including a current state of the vehicle; The step of obtaining, in response to a reset event of the controller, pre-recorded charging condition information of the vehicle before the controller is reset includes: In response to a reset event of the controller, obtaining a current state of the vehicle in the state machine; If the current state of the vehicle is an initial state, the pre-recorded charging condition information of the vehicle before the controller is reset is obtained.

7. The method according to claim 6, characterized in that If the charging operating condition information is the first operating condition information corresponding to the charging preparation stage of the vehicle and the charger, controlling the vehicle to execute the process information corresponding to the charging preparation stage includes: If the charging operating condition information is the first operating condition information corresponding to the charging preparation stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging preparation stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage, the vehicle is controlled to execute the process information corresponding to the charging preparation stage.

8. The method according to claim 6, characterized in that If the charging operating condition information is the second operating condition information corresponding to the charging stage of the vehicle and the charger, controlling the vehicle to execute the process information corresponding to the charging stage includes: If the charging operating condition information is the second operating condition information corresponding to the charging stage of the vehicle and the charger, the state machine is controlled to jump from the initial state to the state corresponding to the charging stage, and in the process of the state machine jumping from the initial state to the state corresponding to the charging stage, the vehicle is controlled to execute the process information corresponding to the charging stage.

9. A vehicle control device, characterized in that: The vehicle is physically connected to the charger in advance, the vehicle includes a controller for controlling charging, and the device includes: a response unit, configured to, in response to a reset event of the controller, obtain pre-recorded charging condition information of the vehicle before the controller is reset; a first control unit, configured to control the vehicle to execute process information corresponding to the charging preparation stage if the charging condition information is first condition information corresponding to the charging preparation stage of the vehicle and the charger; The second control unit is used to control the vehicle to execute the process information corresponding to the charging stage if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger.

10. A vehicle, characterized in that: include: A memory for storing executable program codes; A processor is used to call and run the executable program code from the memory so that the vehicle executes the method as claimed in any one of claims 1 to 8.

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