Vehicle control methods, devices and vehicles

Abstract

This application provides a vehicle control method, apparatus, and vehicle. The vehicle has a pre-established physical connection with a charger. The vehicle includes a controller for controlling charging. The method includes: in response to a controller reset event, acquiring pre-recorded charging condition information of the vehicle before the controller reset; if the charging condition information is first 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; 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 the process information corresponding to the charging stage. Based on the solution of this application, the charging process can be avoided from being interrupted due to controller reset, effectively improving the stability of the charging process.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a vehicle control method, apparatus, and vehicle in the field of vehicle technology. Background Technology

[0002] Some vehicles can have their batteries charged via external chargers, and during the charging process, a controller within the vehicle manages the charging process. However, in practice, due to various reasons such as electromagnetic interference, software malfunctions, or hardware abnormalities, these controllers may reset, forcing the charging process to stop. Summary of the Invention

[0003] This application provides a vehicle control method, device, and vehicle. The method ensures that even if the controller is reset during the charging preparation or charging phase, the vehicle can still continue to execute the corresponding phase's process information, avoiding forced interruption 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 the vehicle has a pre-established physical connection with a charger, the vehicle including a controller for controlling charging, the method comprising:

[0005] In response to a controller reset event, obtain pre-recorded vehicle charging status information prior to controller reset;

[0006] 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 vehicle to execute the process information corresponding to the charging preparation stage.

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

[0008] The above scheme pre-records the vehicle's charging status information before the controller resets. When the controller resets, the vehicle responds to the reset event and retrieves the previously stored charging status information. If the charging status information corresponds to the first status condition of the charging preparation phase between the vehicle and the charger, the process information corresponding to the charging preparation phase is executed; if the charging status information corresponds to the second status condition of the charging phase between the vehicle and the charger, the process information corresponding to the charging phase is executed. This ensures that even if the controller resets during the charging preparation or charging phase, the vehicle can still continue executing the corresponding phase's process information, preventing forced interruption of the charging process and effectively improving the stability of the charging process.

[0009] In conjunction with the first aspect, in some possible implementations, controlling the vehicle to execute the process information corresponding to the charging preparation phase includes: configuring the relays in the charging circuit of the vehicle to the open state; restoring the first signal of the vehicle in the charging preparation phase; based on the first signal, controlling the vehicle to perform charging handshake message interaction with the charger; based on the first signal, controlling the vehicle to perform charging parameter configuration message interaction with the charger, and configuring the relays in the charging circuit of the vehicle to the closed state during the process of the vehicle and the charger performing charging parameter configuration message interaction.

[0010] The above scheme involves configuring the relay to the open state as needed and restoring the first signal required by the vehicle during the charging preparation phase. This first signal enables the interaction of charging handshake messages and charging parameter configuration messages between the vehicle and the charger. During the charging parameter configuration message interaction, the relay is configured to the closed state, ensuring the charger can subsequently charge the vehicle. Thus, even if a controller reset occurs during the charging preparation phase, the vehicle can continue to execute the corresponding process information to ensure charging readiness, effectively improving the stability of the charging process.

[0011] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, during the process of exchanging charging parameter configuration messages between the vehicle and the charger, configuring the relays of the charging circuit in the vehicle to a closed state includes: 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, configuring the relays 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 charging is not ready, and the second battery charging ready message is used to indicate that the vehicle's battery charging is ready.

[0012] By precisely controlling the timing of the relay closure between sending the first and second battery charging ready messages, the above scheme ensures the correct establishment of the charging circuit while avoiding message errors or safety risks caused by premature closure. This improves the stability and safety of the charging process.

[0013] In combination with the first aspect and the above implementation methods, in some possible implementation methods, controlling the vehicle to execute the 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 in the charging stage; and controlling the vehicle to interact with the charger through charging message based on the second signal.

[0014] The above scheme configures the relay to the closed state as needed and restores the second signal required by the vehicle during the charging phase. This second signal enables charging message exchange between the vehicle and the charger. Thus, even if a controller reset occurs during charging, 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 implementation methods, in some possible implementation methods, in response to the controller reset event and before obtaining the pre-recorded vehicle charging condition information before the controller reset, the method further includes: after determining the low-voltage auxiliary power supply power-on event of the charger and before determining that the charger starts charging the vehicle, recording the vehicle charging condition information as first condition information; or, after determining that the charger starts charging the vehicle and before determining that the charger stops charging the vehicle, recording the vehicle charging condition information as second condition information.

[0016] Through the above scheme, after the low-voltage auxiliary power supply of the charger is powered on, but before the formal start of charging, the vehicle's charging condition information is recorded as the first condition information. This first condition information reflects the stage the vehicle is in, providing a basis for subsequent charging control decisions. Furthermore, after the formal start of charging, but before the formal end of charging, the vehicle's charging condition information is recorded as the second condition information. This second condition information reflects the stage the vehicle is in, providing a basis for subsequent charging control decisions.

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

[0018] The above scheme utilizes a state machine to determine whether the vehicle is in its initial state and obtains charging status information before the controller resets. This 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, contributing to improved charging stability and reliability.

[0019] In combination with the first aspect and the above 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, then 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, then the state machine is controlled to jump from the initial state to the state corresponding to the charging preparation stage, and during 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] The above scheme utilizes a state machine to trigger state transitions and process control during 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, contributing to improved vehicle operation and maintenance efficiency and intelligence during charging.

[0021] In combination with the first aspect and the above 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, then 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 during 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] The above scheme utilizes a state machine to trigger state transitions and process control during the charging phase, ensuring smooth charging. The introduction of the state machine also makes the charging control process easier to monitor and manage, contributing to improved vehicle operation and maintenance efficiency and intelligence during charging.

[0023] Secondly, a vehicle control device is provided, wherein the vehicle is pre-established with a charger, the vehicle includes a controller for controlling charging, and the device includes:

[0024] The response unit is used to obtain pre-recorded vehicle charging status information before the controller reset in response to the controller reset event;

[0025] The first control unit is used to control the vehicle to execute the 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.

[0026] 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.

[0027] Thirdly, a vehicle is provided, characterized in that the vehicle comprises:

[0028] Memory, used to store executable program code;

[0029] A processor is configured to call and run executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0030] Fourthly, a computer program product is provided, comprising: computer program code, which, when run on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof.

[0031] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 This is a schematic diagram illustrating a scenario where a charger charges a vehicle, as provided in an embodiment of this application.

[0033] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0034] Figure 3 This is a schematic diagram illustrating the interaction between a vehicle and a charger, provided in an embodiment of this application.

[0035] Figure 4 This is a flowchart illustrating the process information corresponding to the charging preparation stage provided in an embodiment of this application;

[0036] Figure 5 This is a schematic diagram of a process for configuring a relay to a closed state according to an embodiment of this application;

[0037] Figure 6 This is a flowchart illustrating the process information corresponding to the charging stage provided in an embodiment of this application;

[0038] Figure 7 This is a schematic diagram of a process for recording first operating condition information provided in an embodiment of this application;

[0039] Figure 8 This is a schematic diagram of a process for recording second operating condition information provided in an embodiment of this application;

[0040] Figure 9 This is a schematic diagram of a process for implementing vehicle control using a state machine, provided in an embodiment of this application.

[0041] Figure 10 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0042] Figure 11 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0043] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0044] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting 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 that feature.

[0045] In related technologies, some vehicles integrate power batteries that store electrical energy to meet the vehicle's driving needs, achieving an efficient conversion from chemical energy to mechanical energy. When the vehicle needs additional power, an external charger can recharge it.

[0046] Please see Figure 1 , Figure 1 This is a schematic diagram illustrating a scenario where a charger charges a vehicle, according to an embodiment of this application. The charger 002's charging gun is connected 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 are performed 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, to ensure the safety and efficiency of the charging process. Further, the charger 002 delivers electrical energy to the vehicle 001's power battery according to a preset or negotiated charging strategy, thereby completing the charging process.

[0047] During the charging process, the relevant controllers in vehicle 001 play a role in controlling the charging. However, in practical applications, due to various reasons such as electromagnetic interference, software failure, or hardware malfunction, these controllers may reset, thereby forcing the charging process to stop.

[0048] To address the problems existing in related technologies, the main solution provided in this application includes: pre-recording the vehicle's charging condition information before the controller resets. When the controller resets, the vehicle responds to the controller reset event and retrieves the previously stored charging condition information. If the charging condition information corresponds to the first condition information of the charging preparation stage between the vehicle and the charger, then the process information corresponding to the charging preparation stage is executed; if the charging condition information corresponds to the second condition information of the charging stage between the vehicle and the charger, then the process information corresponding to the charging stage is executed. This ensures that even if the controller resets during the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, avoiding forced interruption of the charging process and effectively improving the stability of the charging process.

[0049] based on Figure 1 The scene shown below is an illustration; the following will combine... Figure 2 - Figure 9 This application provides a detailed description of the vehicle control method provided in its embodiments.

[0050] Please see Figure 2 , Figure 2 This is a flowchart illustrating a vehicle control method provided in an embodiment of this application. The vehicle and charger are pre-established with a physical connection, and the vehicle includes a controller for controlling the charging process. Figure 2 As shown, the method in this application embodiment may include the following steps S101-S103.

[0051] S101, in response to a controller reset event, obtains pre-recorded vehicle charging status information prior to controller reset.

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

[0053] In one possible scenario, the controller includes a Battery Management System (BMS) and / or a Vehicle Control Unit (VCU). The BMS is a crucial component in the vehicle specifically designed to monitor and manage the battery's state. During charging, the BMS monitors key parameters such as battery voltage, current, and temperature in real time, determining whether the battery is in a safe and rechargeable state. The VCU is the central control unit of the vehicle, responsible for coordinating and managing the operation of various vehicle components. During charging, the VCU works closely with the BMS, developing an appropriate charging strategy based on battery status information provided by the BMS, the vehicle's current power demand, and charging conditions. The VCU may also be responsible for communicating with the charger. Understandably, a reset of the BMS or VCU could potentially halt the charging process.

[0054] The following are some 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, thereby triggering a reset.

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

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

[0058] Power supply issues: An unstable or interrupted power supply to the controller may also cause the controller to reset. For example, voltage fluctuations, short circuits, or open circuits can all 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, but before the charger stops charging the vehicle.

[0060] Regardless of the reason mentioned above that causes the controller to reset, the charging process may be forced to stop. This is because after the controller is reset, it may be unable to continue normal message interaction with the charger, and it may be difficult to control the relays and other components inside the vehicle to maintain the state required for charging.

[0061] It should be noted that the relays mentioned here refer to the relays in the vehicle's charging circuit, and the state of these relays affects the charger's charging of the vehicle. In some cases, the relays include fast-charging relays and / or vehicle high-voltage relays; fast-charging relays are located in the first charging circuit between the vehicle's charging port and the vehicle's battery pack; vehicle high-voltage relays are located in the second charging circuit between the vehicle's battery pack and the vehicle's high-voltage load. It is understood that all of the above relays are normally open; 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 connected.

[0062] Based on the above explanation of the controller reset phenomenon, it can be understood that a 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). A controller reset event typically means that the controller will interrupt its current operation and will be unable to continue normal message interaction with the charger, thus forcibly stopping the charging process.

[0063] Accordingly, in response to the controller's reset event, the vehicle acquires pre-recorded charging status information prior to the controller reset. This charging status information is recorded by the vehicle at a preset period before the controller reset, for example, 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 phase of the vehicle and charger, while the second condition information corresponds to the charging phase of the vehicle and charger. In some cases, the charging condition information may also include a third condition information in addition to the first and second condition information; this third condition information corresponds to the charging completion phase of the vehicle and charger.

[0065] To further illustrate the interaction process between the vehicle and the charger at the different stages described above, please refer to [link / reference]. Figure 3 , Figure 3 This is a schematic diagram illustrating the interaction between a vehicle and a charger, provided in an embodiment of this application. During the vehicle charging process, the connection authentication stage, the charging preparation stage, the charging stage, and the charging completion stage are four key time periods, which together constitute a complete charging cycle.

[0066] Connection Authentication Phase: This is the initial stage of the charging process. The vehicle and charger first establish a physical connection. Then, the charger needs to determine whether the charging authentication is successful. There can be several ways to achieve charging authentication. For example, when the user chooses to authenticate by swiping a card, the charger will read the information on the user's charging card and verify its validity. If valid, the charging authentication is successful; otherwise, it fails. When the user chooses to authenticate by scanning a QR code with a mobile application, the charger will communicate with the payment system corresponding to the mobile application. Authentication is successful only after receiving a payment success signal from the payment system within a preset time. If no payment success signal is received within the preset time, the charging authentication fails. When the user chooses to authenticate by remote control, the charger will receive authentication instructions from a remote server and determine whether the charging authentication is successful or not based on the instructions. There are many other ways to implement charging authentication, which will not be listed here. After successful charging authentication, the charger will power on the vehicle's low-voltage auxiliary power supply, which is a low-voltage DC power supply used to provide the necessary power to the vehicle's battery management system and other related components.

[0067] Charging preparation phase: Following the connection authentication phase, the charging preparation phase begins. During this phase, the vehicle records initial operating condition information and exchanges charging handshake messages and charging parameter configuration messages with the charger.

[0068] Charging Phase: The charging phase is the actual energy transfer process and the most critical part of the charging cycle. During the charging phase, the vehicle records secondary operating condition information and exchanges charging messages with the charger.

[0069] Charging Completion Phase: When the battery is fully charged or the preset charging time is reached, the charging process enters the charging completion phase. During the charging completion phase, the vehicle can record third-condition information and exchange charging statistics data messages with the charger.

[0070] It should be noted that the above four stages are sequential in time. Specifically, if the controller resets during the connection authentication stage and the charging completion stage, it will not cause abnormal message exchange between the vehicle and the charger, nor will it force the charging process to stop. 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 condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then control the vehicle to execute the process information corresponding to the charging preparation stage.

[0072] Specifically, the process information corresponding to the charging preparation phase refers to a series of steps performed by the vehicle during the charging preparation phase, including component control, signal control, and message transmission and reception. If the charging condition information is the first condition information corresponding to the charging preparation phase of the vehicle and the charger, then the vehicle is controlled to execute the process information corresponding to the charging preparation phase.

[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 between the two parties is normal. In addition, the vehicle will also exchange charging parameter configuration messages with the charger to configure the corresponding parameters.

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

[0075] During the execution of the charging preparation phase, in addition to relays, the vehicle may control other components to coordinate with the charging process. For example, the vehicle controls the display to show the charging status, communication status, and any possible error messages. This allows the user to intuitively understand the current status of the charging process and take appropriate action when necessary.

[0076] S103, if the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then control the vehicle to execute the process information corresponding to the charging stage.

[0077] Specifically, the process information corresponding to the charging stage refers to a series of steps performed by the vehicle during the charging stage, including component control, signal control, and message transmission and reception. If the charging condition information is the second condition information corresponding to the charging stage between 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 exchange charging messages with the charger 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 corresponding process information in the charging phase, the vehicle controls the relay of the charging circuit to remain closed so that the electrical energy from the charger can be smoothly transferred to the vehicle's power battery.

[0080] During the execution of the charging process, in addition to relays, the vehicle may control other components to coordinate with the charging process. For example, the vehicle controls the display to show the charging status, communication status, and any possible error messages. This allows the user to intuitively understand the current status of the charging process and take appropriate action when necessary.

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

[0082] Specifically, the system restores the vehicle's signal at the end of the charging phase; based on this signal, it controls the vehicle to exchange charging statistics data messages with the charger. The purpose of this implementation is to ensure that the vehicle and charger can correctly and safely terminate the charging process at the end of the charging phase and perform necessary data exchange to record and manage charging information. By restoring the vehicle's signal at the end of the charging phase, it can be confirmed that the charging process is nearing or has reached completion. Subsequently, the system controls the vehicle to exchange charging statistics data messages with the charger to transmit charging statistics data between the vehicle and the charger. In some cases, charging statistics data include one or more of the following: energy consumption data, charging duration data, battery health status data, charging efficiency analysis data, and abnormal situation data. Thus, even if the controller resets at the end of the charging phase, the vehicle and charger can still transmit charging statistics data, completing the recording of the charging status and allowing users and charging operators to better understand the charging situation.

[0083] During the exchange of charging statistics data messages between the vehicle and the charger, the vehicle sends a vehicle statistics data message (message code BSD) to the charger, which informs the charger of information such as the minimum voltage and maximum voltage of the vehicle's power battery; the vehicle receives a charger statistics data message (message code CSD) sent by the charger, which informs the vehicle of information such as the charger's output power and cumulative charging time throughout the charging process.

[0084] In this embodiment, the vehicle's charging condition information before the controller resets is pre-recorded. When the controller resets, the vehicle responds to the reset event and retrieves the previously stored charging condition information. If the charging condition information corresponds to the first condition information of the charging preparation stage between the vehicle and the charger, then the process information corresponding to the charging preparation stage is executed; if the charging condition information corresponds to the second condition information of the charging stage between the vehicle and the charger, then the process information corresponding to the charging stage is executed. This ensures that even if the controller resets during the charging preparation stage or the charging stage, the vehicle can still continue to execute the process information of the corresponding stage, avoiding forced interruption of the charging process and effectively improving the stability of the charging process.

[0085] Please see Figure 4 This application provides a flowchart illustrating the process information corresponding to the charging preparation stage in its embodiments. Figure 4As shown, the method in this embodiment may include the following steps S201-S204, and steps S201-S204 may be used as a method for... Figure 2 The embodiment shown provides a more detailed explanation of the process information for "controlling the vehicle to perform the charging preparation phase" in step S102.

[0086] S201, configure the relay of the charging circuit in the vehicle to be in the off state;

[0087] S202, Restore the first signal of the vehicle during the charging preparation phase;

[0088] S203, based on the first signal, controls the vehicle to perform charging handshake message exchange with the charger;

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

[0090] Specifically, during the charging preparation phase, the relays in the charging circuit need to switch from an open state to a closed state to prepare for the next stage of charging. There may be one or more relays in the charging circuit, and any one of them may be in an open or closed state before the controller resets. Recording the state of all relays in the charging circuit would consume significant computing and storage resources of the vehicle. Therefore, this embodiment does not record the relay states. Instead, when the charging condition information is the first condition information, the relays in the vehicle's charging circuit are configured to be in an open state. In some possible implementations, the vehicle can generate a relay disconnection request signal to configure the relays to be in an open state.

[0091] In addition, it is necessary to restore the vehicle's first signal during the charging preparation phase. This first signal may include one or more signals such as relay status signal, charging gun connection status signal, low-voltage auxiliary power supply signal, charging current request signal, charging voltage request signal, and remaining charging time signal.

[0092] Furthermore, based on the first signal, the vehicle and charger interact via a charging handshake message. During this interaction, the vehicle receives a charger handshake message (CHM) from the charger, indicating that the charger is ready for charging communication. Notably, the data in the charger handshake message may include charger status information, partly derived from the relay status signal and charging gun connection status signal in the recovered first signal. Subsequently, the vehicle sends a vehicle handshake message (BHM) to the charger to confirm its readiness for communication. This message also contains vehicle status information, partly derived from the low-voltage auxiliary power signal, charging current request signal, and charging voltage request signal in the first signal. Additionally, the vehicle receives a charger identification message (CRM) from the charger, used to identify the charger's identity and status information. This message is primarily used for charger authentication and may contain information associated with certain signals in the first signal, such as the charger's unique identifier. The vehicle then sends a Vehicle Identification Message (BRM) to the charger so that the charger can identify the vehicle's identity and status. The data in the message may include the vehicle's unique identifier and status information, which correspond to the relevant signals in the first signal.

[0093] Furthermore, based on the first signal, the vehicle and charger exchange charging parameter configuration messages. During this exchange, the vehicle sends a power battery charging parameter message (message code BCP) to the charger, providing charging parameter information about the vehicle's power battery, such as charging voltage and charging current. The data in this message is determined based on the actual needs and state of the vehicle's power battery, and this information is associated with the charging current request signal and charging voltage request signal in the first signal. Simultaneously, the vehicle receives a time synchronization information message (message code CTS) from the charger to ensure time synchronization between the two devices. The data in this message is mainly used for time calibration to ensure accurate time information during charging. The vehicle also receives a charger maximum output capacity message (message code CML) from the charger to understand the charger's maximum output capacity, allowing for charging adjustments based on actual conditions. The data in this message reflects parameters such as the charger's maximum output power and current, helping the vehicle determine a suitable charging strategy. Subsequently, the vehicle sends a Battery Charging Ready message (BRO) to the charger, indicating that the vehicle's battery is ready to accept charging. This message signifies that the vehicle has completed its pre-charging preparations. Finally, the vehicle receives a Charger Output Ready message (CRO) from the charger, confirming that the charger is also ready to output power for charging. This message indicates that the charger has completed its pre-charging preparations and is ready to begin outputting power.

[0094] During the communication of charging parameter configuration messages, the relays in the vehicle's charging circuit are configured to be in a closed state. The closure of the relays allows the charging current to flow smoothly through the charging circuit, providing the necessary electrical energy to the vehicle's power battery.

[0095] In this embodiment, the relay is configured to be in an open state as needed, and the first signal required by the vehicle during the charging preparation phase is restored. Using this first signal, charging handshake message exchange and charging parameter configuration message exchange are realized between the vehicle and the charger. During the charging parameter configuration message exchange, the relay is configured to be in a closed state, ensuring that the charger can subsequently charge the vehicle. Thus, even if a controller reset occurs during the charging preparation phase, the vehicle can continue to execute the corresponding process information to ensure charging readiness, effectively improving the stability of the charging process.

[0096] Please see Figure 5 This application provides a schematic diagram of a process for configuring a relay to a closed state, as illustrated in the embodiments of this application. Figure 5 As shown, the method in this embodiment may include the following step S301, which can be used as a method for... Figure 4The embodiment shown is a refinement of step S204, which involves "configuring the relays in the charging circuit of the vehicle to a closed state during the process of exchanging charging parameter configuration messages between the vehicle and the charger".

[0097] S301, 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, the relays in the charging circuit in the vehicle are configured to be closed. The first battery charging ready message is used to indicate that the vehicle's battery charging is not ready, and the second battery charging ready message is used to indicate that the vehicle's battery charging is ready.

[0098] Specifically, Figure 4 As described in the embodiments, during the interaction of charging parameter configuration messages between the vehicle and the charger, the vehicle sends a battery charging ready message to the charger. This battery charging ready message includes a first battery charging ready message and a second battery charging ready message.

[0099] First, the vehicle sends a first battery charging ready 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 for charging, but is not yet fully ready to receive charging.

[0100] Following the transmission of the first battery charging ready message, the vehicle configures the relays in the charging circuit to a closed state. In some possible implementations, the vehicle may generate a relay closing request signal to configure the relays to a closed state.

[0101] Then, the vehicle is controlled to send a second battery charging ready message (the parameter may be configured as "0xAA") to the charger. This message indicates that the vehicle's battery is ready to charge, that is, the vehicle has completed the pre-charging preparations and the charging circuit has been closed and is ready to receive charging.

[0102] In this embodiment, the timing of relay closure is precisely controlled between sending the first battery charging ready message and the second battery charging ready message. This ensures the correct establishment of the charging circuit while avoiding message errors or safety risks caused by premature closure. This improves the stability and safety of the charging process.

[0103] Please see Figure 6 This application provides a flowchart illustrating the process information corresponding to the charging phase in its embodiments. Figure 6 As shown, the method in this embodiment may include the following steps S401-S403, and steps S401-S403 may be used as a method for... Figure 2The embodiment shown provides a more detailed explanation of step S103, which involves "controlling the vehicle to perform the charging phase process information".

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

[0105] S402, restore the vehicle's second signal during the charging phase;

[0106] S403, based on the second signal, controls the vehicle to exchange charging message messages with the charger.

[0107] Specifically, if the controller reset occurs during the charging phase, the charging circuit needs to be kept open to ensure the charger can continue charging the vehicle after the controller reset. This means the relays in the vehicle's charging circuit must first be configured to be closed. In some implementations, the vehicle can generate a relay closing request signal to configure the relays to be closed. The closing of the relays allows charging current to flow smoothly through the charging circuit, providing the necessary electrical energy to the vehicle's battery.

[0108] Furthermore, it is necessary to restore the second signals required by the vehicle during the charging phase. These second signals may include one or more of the following: relay status signals, charging gun connection status signals, low-voltage auxiliary power supply signals, charging current request signals, charging voltage request signals, and remaining charging time signals. It should be noted that these second signals may partially originate from the first signals received during the charging preparation phase, and be updated and expanded upon to adapt to the needs of the charging phase.

[0109] Furthermore, based on the second signal, the vehicle and charger interact via charging messages. During this interaction, the vehicle sends a battery charging request message (BCL) to the charger, informing it of the required charging current and voltage parameters. The vehicle also sends a battery charging status message (BCS) to the charger, providing overall status information about the charging process. The vehicle receives charger charging status messages (CCS) from the charger to obtain its current status. Additionally, the vehicle sends battery status information messages (BSM), battery voltage messages (BMV), and battery temperature messages (BMT) to the charger to provide real-time battery status information. If an abnormal situation occurs during charging, the vehicle may also send a vehicle charging stop message (BST) to the charger, while the charger may send a charger charging stop message (CST) to the vehicle to notify both to stop the charging process.

[0110] In this embodiment, the relay is configured to be closed in a timely manner, and the second signal required by the vehicle during the charging phase is restored. This second signal is used to achieve charging message interaction between the vehicle and the charger. Thus, even if a controller reset occurs during the charging phase, the vehicle can continue to execute the corresponding process information to ensure continuous charging, effectively improving the stability of the charging process.

[0111] Please see Figure 7 This application provides a flowchart illustrating the process of recording first operating condition information, as shown in the embodiment of the present application. Figure 7 As shown, the method in this embodiment may include the following step S501, which may be performed in... Figure 2 The procedure is performed before step S101 in the illustrated embodiment.

[0112] S501, after determining the low-voltage auxiliary power supply power-on event of the charger, and before determining the charger starts charging the vehicle, records the vehicle's charging condition information as the first condition information.

[0113] Specifically, after successful charging authentication, the charger will power on the vehicle's low-voltage auxiliary power supply. This low-voltage auxiliary power supply is a low-voltage DC power source used to provide necessary power to the vehicle's battery management system and other related components. Correspondingly, when the charger powers on the vehicle's low-voltage auxiliary power supply, the vehicle will detect the low-voltage auxiliary power supply signal, thus confirming the low-voltage auxiliary power supply power-on event.

[0114] Next, after the charger powers the vehicle with low-voltage auxiliary power, it will exchange a series of messages with the vehicle to confirm the communication status, charging parameters, and other information. Once this information is confirmed, the charger will begin supplying power to the vehicle's battery, marking the official start of the charging process. Correspondingly, when the charger begins charging the vehicle, the vehicle will detect that the charger has started supplying power to its battery, thus confirming the start of charging.

[0115] After confirming the low-voltage auxiliary power supply power-on event of the charger, and before confirming the charger begins charging the vehicle, the charging preparation phase begins. During the charging preparation phase, the vehicle records its charging status information at preset intervals as its first status information. For example, the first status information is recorded every 10 milliseconds; or, it is recorded every 1 second.

[0116] In this embodiment, after the low-voltage auxiliary power supply of the charger is powered on, but before the charging officially begins, 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 and provides a decision basis for subsequent charging control.

[0117] Please see Figure 8This application provides a flowchart illustrating the process of recording second operating condition information, as shown in the embodiment of the present application. Figure 8 As shown, the method in this application embodiment may include the following step S601, which may be performed in... Figure 2 The procedure is performed before step S101 in the illustrated embodiment.

[0118] S601, after determining that the charger has started charging the vehicle, and before determining that the charger has stopped charging the vehicle, the charging status information of the vehicle is recorded as the second status information.

[0119] Specifically, when the charger begins charging the vehicle, the vehicle detects that the charger is supplying electrical energy to the vehicle's battery, and at that moment, it determines that the charger has started charging the vehicle. When the charger stops charging the vehicle, the vehicle detects that the charger has stopped supplying electrical energy to the vehicle's battery, and at that moment, it determines that the charger has stopped charging the vehicle.

[0120] The period from when the charger starts charging the vehicle to when it stops charging corresponds to the charging phase. During the charging phase, the vehicle records second-condition information based on a preset cycle. For example, second-condition information is recorded every 10 milliseconds; or, every 1 second.

[0121] In this embodiment, after charging officially begins but before charging officially ends, the vehicle's charging status information is recorded as second status information. This second status information reflects the stage the vehicle is in, providing a basis for decision-making in subsequent charging control.

[0122] Please see Figure 9 This application provides a schematic diagram illustrating a process for vehicle control using a state machine. The vehicle includes a state machine, which includes the vehicle's current state. Figure 9 As shown, the method in this embodiment may include the following steps S701-S704, wherein steps S701-S702 may be used as a... Figure 2 The embodiment shown is a refinement of step S101, and step S703 can be used as a further refinement of step S703. Figure 2 The embodiment shown is a refinement of step S102, and step S704 can be used as a further refinement of step S102. Figure 2 A refinement of step S103 in the illustrated embodiment.

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

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

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

[0126] The states in the state machine include at least the initial state, the state corresponding to the charging preparation phase, and the state corresponding to the charging phase. The current state of the vehicle is one of the multiple states of the state machine, reflecting the current state of the vehicle.

[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 initiate the subsequent charging process.

[0128] State transition rules define how states transition between each other. The state machine transitions between different states according to these rules, determining which target state to jump from the current state to, and accordingly controlling the vehicle to execute the process information corresponding to that target state. During state transitions, the state machine is responsible not only for the transitions themselves but also for controlling the vehicle to execute the corresponding process information during those transitions.

[0129] When the vehicle's controller is reset, the state machine responds to the reset event and begins executing its control flow. At this point, the state machine first acquires the vehicle's current state, providing the initial decision-making basis for all subsequent operations.

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

[0131] After step S702 is completed, either step S703 or step S704 can be selectively executed based on 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, then the control state machine jumps from the initial state to the state corresponding to the charging preparation stage, and during the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage, the control vehicle executes 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, then the control state machine jumps from the initial state to the state corresponding to the charging stage, and during the process of the state machine jumping from the initial state to the state corresponding to the charging stage, the control vehicle executes the process information corresponding to the charging stage.

[0134] Specifically, if the charging status information indicates that the vehicle is in the charging preparation phase before the controller resets, the state machine will control the vehicle to transition from the initial state to the state corresponding to the charging preparation phase. During this transition, the state machine will also control the vehicle to execute the process information corresponding to the charging preparation phase. Regarding the process information corresponding to the charging preparation phase, in... Figure 4 The embodiments shown have been described in detail and will not be repeated here.

[0135] If the charging status information indicates that the vehicle is in the charging phase before the controller resets, the state machine will control the vehicle to transition from its initial state to the state corresponding to the charging phase. During this transition, the state machine will also control the vehicle to execute the process information corresponding to the charging phase. Regarding the process information corresponding to the charging phase, in Figure 6 The embodiments shown have been described in detail and will not be repeated here.

[0136] In this embodiment, a state machine is used to determine whether the vehicle is in its initial state and to obtain charging status information before the controller resets. This not only improves the accuracy and flexibility of charging control but also enhances the vehicle's adaptability to different charging scenarios. The state machine triggers state transitions and process control during the charging preparation and charging phases, ensuring smooth charging preparation and charging. The introduction of the state machine makes the charging control process clearer and more controllable, contributing to improved charging stability and reliability, and enhancing the vehicle's operational efficiency and intelligence during the charging process.

[0137] Based on the above Figure 1 The following is a scene illustration, which will be combined with... Figure 10 The vehicle control device provided in the embodiments of this application will be described in detail. It should be noted that... Figure 10 The vehicle control device in the present application is used to perform the functions described herein. Figure 2 - Figure 9 The methods shown in the embodiments are for illustrative purposes only, illustrating the parts relevant to the embodiments of this application. For specific technical details not disclosed, please refer to this application. Figure 2 - Figure 9 The illustrated embodiment. Specifically, the vehicle and the charger are pre-established with a physical connection, 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 detailed below:

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

[0139] The first control unit 802 is used to control the vehicle to execute the 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 may be used to: configure the relay of the charging circuit in the vehicle to an open state; restore the first signal of the vehicle in the charging preparation stage; control the vehicle to perform charging handshake message interaction with the charger based on the first signal; control the vehicle to perform charging parameter configuration message interaction with the charger based on the first signal, and configure the relay of the charging circuit in the vehicle to a closed state during the process of the vehicle and the charger performing charging parameter configuration message interaction.

[0142] Optionally, in some embodiments, the first control unit 802 may 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 charging is not ready, and the second battery charging ready message is used to indicate that the vehicle's battery charging is ready.

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

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

[0145] Optionally, in some embodiments, the vehicle control device 800 may be used to: after determining that the charger has started charging the vehicle, and before determining that the charger has stopped charging the vehicle, record the vehicle's charging status information as second status 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: in response to a controller reset event, obtain the current state of the vehicle in the state machine; if the current state of the vehicle is the initial state, obtain pre-recorded charging condition information of the vehicle before the controller reset.

[0147] Optionally, in some embodiments, the first control unit 802 may 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, control the state machine to jump from the initial state to the state corresponding to the charging preparation stage, and control the vehicle to execute the process information corresponding to the charging preparation stage during the process of the state machine jumping from the initial state to the state corresponding to the charging preparation stage.

[0148] Optionally, in some embodiments, the second control unit 803 may 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 control the vehicle to execute the process information corresponding to the charging stage during the process of the state machine jumping from the initial state to the state corresponding to the charging stage.

[0149] The beneficial effects achievable in this embodiment are detailed in the preceding embodiments and will not be repeated here.

[0150] Please see Figure 11 This provides a structural schematic diagram of a vehicle according to an embodiment of this application. Figure 11 As shown, the vehicle 900 includes a processor 901 and a memory 902. The processor 901 and the memory 902 are electrically connected.

[0151] The processor 901 is the control center of the vehicle 900 and may include one or more processing cores. The processor 901 connects to various parts of the vehicle 900 via various interfaces and lines. It executes various functions and processes data of the vehicle 900 by running or calling computer programs stored in the memory 902 and by calling data stored in the memory 902, thereby providing overall control of the vehicle 900. Optionally, the processor 901 may be implemented using at least one of the following hardware forms: Digital Signal Processing (DSP), Field Programmable Gate Array (FPGA), and Programmable Logic Array (PLA). The processor 901 may integrate one or more of the following: CPU, Graphics Processing Unit (GPU), and modem. The CPU primarily handles the operating system, user page, and applications; the GPU is responsible for rendering and drawing the displayed content; and the modem handles wireless communication. It is understood that the modem may also be implemented separately as a communication chip, without being integrated into the processor 901.

[0152] The memory 902 can be used to store software programs and modules. 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. The program storage area may store the operating system, computer programs required for at least one function, etc.; the data storage area may store data created based on the use of the vehicle 900, etc.

[0153] Furthermore, memory 902 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, memory 902 may also include a memory controller to provide processor 901 with access to 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 realize a vehicle control method provided in the above embodiment.

[0155] The beneficial effects achievable in this embodiment are detailed in the preceding embodiments and will not be repeated here.

[0156] It should be understood that the apparatus provided in this application embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0157] When using 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 can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing relevant program code.

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

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

[0160] This application also provides a computer-readable storage medium storing computer program code. When the computer program code is run on a computer, the computer executes the above-described related method steps to implement a vehicle control method provided in the above embodiments.

[0161] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiment.

[0162] In this embodiment, the device, computer-readable storage medium, computer program product, or chip are all used to execute the corresponding methods provided above. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0163] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above 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 this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another apparatus, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0165] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method, characterized in that, The vehicle and the charger are pre-established with a physical connection, the vehicle includes a controller for controlling charging, and the method includes: In response to a reset event of the controller, the vehicle's charging status information prior to the controller reset is obtained from pre-recorded data. 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 vehicle to execute the process information corresponding to the charging preparation stage. If the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then control the vehicle to execute the process information corresponding to the charging stage; The process information for controlling the vehicle to execute the charging preparation phase includes: Configure the relays in the charging circuit of the vehicle to be in the off state; Restore the vehicle's first signal during the charging preparation phase; Based on the first signal, control 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 charging parameter configuration messages between the vehicle and the charger, the relays in the charging circuit of the vehicle are configured to be in a closed state. The process information for controlling the vehicle to execute the charging phase includes: Configure the relays in the charging circuit of the vehicle to be in a closed state; Restore the vehicle's second signal during the charging phase; Based on the second signal, the vehicle is controlled to interact with the charger via charging messages, providing overall status information of the charging process. The messages include: power battery status information message, power battery voltage message, and power battery temperature message.

2. The method according to claim 1, characterized in that, During the process of exchanging charging parameter configuration messages between the vehicle and the charger, configuring the relays in the charging circuit of the vehicle to a closed state includes: 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, the relays in the charging circuit of the vehicle are configured to be closed. The first battery charging ready message is used to indicate that the vehicle's battery charging is not ready, and the second battery charging ready message is used to indicate that the vehicle's battery charging is ready.

3. The method according to claim 1, characterized in that, Before acquiring pre-recorded charging status information of the vehicle prior to the controller reset in response to the controller reset event, the method further includes: After determining the low-voltage auxiliary power supply power-on event of the charger, and before determining that the charger begins charging the vehicle, the charging condition information of the vehicle is recorded as the first condition information; or, After determining that the charger has started charging the vehicle, and before determining that the charger has stopped charging the vehicle, the charging status information of the vehicle is recorded as the second status information.

4. The method according to claim 1, characterized in that, The vehicle includes a state machine, which includes the current state of the vehicle; In response to a reset event of the controller, the method of acquiring pre-recorded charging status information of the vehicle prior to the controller reset includes: In response to a reset event of the controller, the current state of the vehicle in the state machine is obtained; If the current state of the vehicle is the initial state, then the pre-recorded charging status information of the vehicle before the controller is reset is obtained.

5. The method according to claim 4, characterized in that, 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, including: If the charging condition information is the first condition information corresponding to the charging preparation stage of the vehicle and the charger, then the state machine is controlled to jump from the initial state to the state corresponding to the charging preparation stage, and during 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.

6. The method according to claim 4, characterized in that, 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, including: If the charging condition information is the second condition information corresponding to the charging stage of the vehicle and the charger, then the state machine is controlled to jump from the initial state to the state corresponding to the charging stage, and during 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.

7. A vehicle control device, characterized in that, The vehicle and the charger are pre-established with a physical connection. The vehicle includes a controller for controlling charging. The device includes: A response unit is used to obtain pre-recorded charging status information of the vehicle before the controller is reset in response to a reset event of the controller; The first control unit is configured to control the vehicle to execute the 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. The second control unit is configured 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. The first control unit is specifically configured to: configure the relay of the charging circuit in the vehicle to be in an open state; restore the first signal of the vehicle in the charging preparation stage; control the vehicle to perform charging handshake message interaction with the charger based on the first signal; control the vehicle to perform charging parameter configuration message interaction with the charger based on the first signal, and configure the relay of the charging circuit in the vehicle to be in a closed state during the process of the vehicle performing charging parameter configuration message interaction with the charger. The second control unit is specifically configured to: configure the relay of the charging circuit in the vehicle to a closed state; restore the second signal of the vehicle during the charging phase; and, based on the second signal, control the vehicle to interact with the charger via charging messages, providing overall status information of the charging process, wherein the messages include: power battery status information messages, power battery voltage messages, and power battery temperature messages.

8. A vehicle, characterized in that, include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 6.

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