Vehicle battery replacement control method, electronic equipment and readable storage medium

Abstract

The invention provides a vehicle battery replacement control method, electronic equipment and a readable storage medium, and the method comprises the steps: sending a first instruction to a vehicle when it is confirmed that the vehicle is located at a battery replacement position in a battery replacement area, so as to enable the vehicle to stop a parking function; in response to the position adjustment instruction, controlling an execution mechanism to adjust the position of the vehicle to a centering state; and before battery replacement is started, a second instruction is sent to the vehicle, so that the parking function of the vehicle is started, and the vehicle is powered off. According to the technical scheme, the parking function is automatically controlled, so that the mobile vehicle can be conveniently replaced, and the safety during battery replacement is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a vehicle battery replacement control method, an electronic device and a readable storage medium. Background Art

[0002] The long charging time of electric vehicles today has brought inconvenience to people, but battery swapping technology can replace the battery pack in just a few minutes, which improves efficiency and has a very broad future prospect.

[0003] Most vehicles are currently equipped with EPB (electronic parking brake) and AUTO HOLD (automatic parking). When AUTO HOLD is activated, if the vehicle is stationary, it will automatically trigger the vehicle to park. After parking, the vehicle cannot move, affecting the centering of the vehicle and making battery replacement difficult.

[0004] Therefore, there is an urgent need for a vehicle battery replacement control method, an electronic device and a readable storage medium to solve the above problems. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a vehicle battery replacement control method, an electronic device and a readable storage medium, which facilitates battery replacement of mobile vehicles and improves safety during battery replacement by automatically controlling the parking function.

[0006] The present invention solves the technical problem by adopting the following technical solutions:

[0007] A vehicle battery swap control method, applied to a battery swap station controller, comprises: when confirming that the vehicle is in a battery swap position in a battery swap area, sending a first instruction to the vehicle to turn off a parking function of the vehicle; in response to a position adjustment instruction, controlling an actuator to adjust the position of the vehicle to a centered state; before starting the battery swap, sending a second instruction to the vehicle to turn on the parking function and power off the vehicle.

[0008] In a preferred embodiment of the present invention, before the above-mentioned step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when confirming that the vehicle is in a battery swapping position in a battery swapping area, the method also includes: establishing a near-field communication connection with the vehicle in response to a battery swapping request sent by the vehicle, the battery swapping request including a vehicle identification; when the battery swapping area and the vehicle meet preset conditions, sending the location information of the battery swapping area to the vehicle, and opening the gate of the battery swapping area.

[0009] In a preferred embodiment of the present invention, a gravity sensor and an image acquisition device are arranged in the above-mentioned battery swapping area, and before the step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when confirming that the vehicle is in the battery swapping position in the battery swapping area, it includes: acquiring gravity data of the gravity sensor, and / or image acquisition data of the image acquisition device; judging whether the vehicle has arrived at the battery swapping position in the battery swapping area based on the gravity data and / or image acquisition data.

[0010] In a preferred embodiment of the present invention, the above-mentioned step of judging whether the vehicle has arrived at the battery swapping position in the battery swapping area based on the gravity data and / or image acquisition data includes: after the gravity sensor acquires the gravity data, monitoring whether the gravity data has not changed for more than a preset time period; when the gravity data has not changed for more than a preset time period, acquiring the image acquisition data; acquiring the real-time position and speed of the vehicle based on the image acquisition data; when the vehicle speed is zero, judging whether the vehicle has arrived at the battery swapping position in the battery swapping area based on the real-time position.

[0011] A vehicle battery swap control method is applied to a vehicle, wherein the vehicle establishes a near-field communication connection with a battery swap station controller, and the method comprises: in response to a first instruction, turning off a parking function, wherein the first instruction is sent by the battery swap station controller when confirming that the vehicle is in a battery swap position in a battery swap area; in response to a second instruction, turning on the parking function and powering off the vehicle, wherein the second instruction is sent by the battery swap station controller when the position of the vehicle has been adjusted to a centered state and before accurately starting battery swapping.

[0012] In a preferred embodiment of the present invention, before the step of turning off the parking function in response to the first instruction, at least one of the following items is included: when it is detected that the vehicle driver is disengaged, starting the automatic driving mode to drive to the battery swap position in the battery swap area; when the vehicle is in the automatic driving mode, if the vehicle has not reached the battery swap position and the vehicle speed is zero, turning on the parking function.

[0013] In a preferred embodiment of the present invention, the above-mentioned parking function includes: an electronic handbrake function and an automatic parking function; the step of turning off the parking function in response to the first instruction includes: when receiving the first instruction, obtaining the electronic handbrake function status and the automatic parking function status; when the electronic handbrake function is in a clamping state, adjusting the electronic handbrake function to a released state, and turning off the automatic parking function; when the electronic handbrake function is in a released state, turning off the automatic parking function.

[0014] In a preferred embodiment of the present invention, after the step of turning on the parking function and powering off the vehicle in response to the second instruction, the method further includes: turning off the parking function in response to a third instruction, the third instruction being sent by the battery swap station controller after confirming that the vehicle has been powered on; starting the automatic driving mode to drive to a waiting area outside the battery swap station; and turning on the parking function after confirming that the vehicle has arrived at the waiting area.

[0015] An electronic device comprises: a memory and a processor, wherein a vehicle battery replacement control program is stored in the memory, and when the vehicle battery replacement control program is executed by the processor, the steps of the vehicle battery replacement control method as described in any one of the above are implemented.

[0016] A readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the vehicle battery replacement control method as described in any one of the above.

[0017] The technical effect achieved by the present invention using the above technical solution is: by detecting the position of the vehicle, different instructions are sent to the vehicle to enable / disable the parking function of the vehicle. In the above manner, the parking function can be turned off during the battery replacement preparation process to adjust the vehicle position for battery replacement preparation; during the battery replacement process, the parking function can be turned on to keep the vehicle stationary.

[0018] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following specifically cites a preferred embodiment and describes it in detail with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a vehicle battery replacement control method according to the present invention;

[0020] Figure 2 A parking function control strategy for a vehicle entering a battery swap station is shown in the present invention;

[0021] Figure 3 A vehicle battery replacement parking function control strategy shown in the present invention;

[0022] Figure 4 A flow chart of another vehicle battery replacement control method shown in the present invention. DETAILED DESCRIPTION

[0023] In order to further explain the technical means and effects taken by the present invention to achieve the predetermined invention purpose, the embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of the present invention. Through the description of the specific implementation methods, the technical means and effects taken by the present invention to achieve the predetermined purpose can be more deeply and specifically understood, and the attached drawings are only for reference and explanation purposes, and are not used to limit the present invention.

[0024] See also Figure 1 , Figure 1 A flowchart of the steps of a vehicle battery replacement control method shown in one embodiment of the present invention.

[0025] like Figure 1 As shown, a vehicle battery replacement control method provided by an embodiment of the present invention includes the following steps:

[0026] S11: When confirming that the vehicle is in a battery swapping position in a battery swapping area, sending a first instruction to the vehicle to cause the vehicle to turn off a parking function.

[0027] The battery swap area refers to: the operating area in the battery swap station used to replace the battery pack of the vehicle. The battery swap area contains various equipment and battery packs used to provide services for vehicle battery swap. There is at least one battery swap area in a battery swap station, and there can be multiple battery swap areas, which can be set according to actual needs. When there are multiple battery swap areas in a battery swap station, the battery swap station can swap multiple vehicles at the same time. If there are two battery swap areas, the battery pack replacement operation can be performed on two vehicles at the same time.

[0028] The battery swapping position refers to the location in the battery swapping area where the vehicle is parked and the battery pack is replaced.

[0029] The first instruction is mainly used to control the vehicle to turn off the parking function. The purpose of turning off the parking function of the vehicle is to prevent the front vehicle from parking and making it impossible to move the vehicle.

[0030] The parking function includes: Electronic Park Brake (EPB) and Automatic Park Brake (AVH). To turn off the parking function: the electronic park brake is in the released state, and the automatic parking function is turned off; to turn on the parking function: the electronic park brake is in the clamped state, and the automatic parking function is turned on.

[0031] The electronic parking brake is EPB (Electrical Park Brake). EPB controls the parking brake through electronic circuits and its function is the same as that of the mechanical pull-lever parking brake.

[0032] Automatic parking is an automatic braking function, also known as AUTOHOLD, which controls four-wheel braking through the extended function of the electronic parking brake (EPB) and automatically pulls the parking brake for the driver, avoiding the trouble of manually pulling the parking brake when encountering a red light or other short-term parking while driving.

[0033] S12: In response to the position adjustment instruction, controlling the actuator to adjust the position of the vehicle to a centered state.

[0034] The position adjustment instruction is triggered by the operator, for example, the operator generates the instruction by operating in the operation area of ​​the battery swap station, or the operator generates the instruction by operating at the operator terminal. After receiving the position adjustment instruction, the controller controls the actuator to perform the position adjustment operation. The actuator can move the vehicle in six directions: up, down, left, right, front and back, or in four directions: front, back, left and right, or in four directions: front, back, up and down.

[0035] The centering state means that after the vehicle is in the battery swapping position, the vehicle position is adjusted forward, backward, left or right to align the battery pack installation area on the vehicle chassis with the installation position of the battery pack in the battery swapping area. When in the centering state, the battery pack of the vehicle can be removed and / or installed quickly, accurately and safely.

[0036] S13: Before starting the battery replacement, a second instruction is sent to the vehicle to enable the vehicle to turn on the parking function and power off.

[0037] Battery swapping refers to replacing a vehicle's battery pack through a battery swap station.

[0038] The parking function of the vehicle is turned on before starting the battery swap to avoid the battery swap failure, damage to the vehicle and battery pack due to the movement of the vehicle during the battery swap. The vehicle is powered off to avoid the battery pack exploding and damaging the vehicle during the battery swap due to high voltage power supply.

[0039] Through the above method, the vehicle position can be detected, so that different instructions can be sent to the vehicle to turn on / off the parking function of the vehicle. Therefore, when the vehicle is preparing for battery replacement, the parking function is turned off to adjust the vehicle position for preparation for battery replacement; during the battery replacement process, the parking function is turned on to keep the vehicle stationary.

[0040] Optionally, before the step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when confirming that the vehicle is in a battery swapping position in a battery swapping area, the method also includes: establishing a near-field communication connection with the vehicle in response to a battery swapping request sent by the vehicle, the battery swapping request including a vehicle identification; when the battery swapping area and the vehicle meet preset conditions, sending the location information of the battery swapping area to the vehicle, and opening the gate of the battery swapping area.

[0041] Vehicle identification includes: vehicle brand, vehicle license plate and / or vehicle color, etc.

[0042] For example, users can use the battery swap station APP (which stores battery swap station information such as the location of each battery swap station, the number of vehicles in line, the estimated waiting time, etc.) and the navigation route information (including the real-time location of the vehicle) to obtain information such as the battery swap stations within the preset range of the area passed by the navigation route, the distance information between each battery swap station and the current location of the vehicle, and the estimated battery swap time / queue time at each battery swap station; then, based on the distance information between each battery swap station and the vehicle, the remaining power / range of the current vehicle, and the estimated battery swap time / queue time at each battery swap station, the user can recommend suitable battery swap stations on the navigation route (such as the vehicle When the remaining range of the vehicle is 50km, and there are three battery swap stations a, b, and c on the navigation route, and the distances from the vehicle are 10km, 25km, and 41km respectively, the battery swap station c on the navigation route, which is 41km away from the vehicle, is recommended to the owner. If the estimated battery swap time of the battery swap station c is too long (e.g., more than 1 hour), the battery swap station b is recommended; or when the remaining range of the vehicle is 50km, and the distance from a battery swap station a on the navigation route to the vehicle is 10km, but the navigation destination is more than 30km away from the vehicle, and there are no other battery swap stations within 20km of the destination, the vehicle is directly recommended to go to battery swap station a for battery swap). The battery swap station APP can be installed on the vehicle terminal or on the mobile terminal. After the vehicle arrives near the battery swap station (e.g., the distance from the battery swap station is less than 50 or 100 meters), the user sends a battery swap request to the battery swap station through the vehicle terminal or the mobile terminal bound to the vehicle. After receiving the battery swap request, the battery swap station establishes a communication connection with the vehicle terminal through the radio frequency module. Then open the gate of the battery swap area to allow the vehicle to enter the battery swap area; and after the vehicle enters the battery swap area, close the gate of the battery swap area to prevent other vehicles and personnel from entering the battery swap area during the battery swap process.

[0043] The preset conditions include: the battery swap area is idle, the vehicle's queue information is ranked first, the vehicle's remaining power is less than a threshold (such as 10%, 20%, etc.), the vehicle identification matches the vehicle identification of the vehicle to be entered, and the specifications of the battery replaced in the battery swap area are the same as the specifications of the battery installed in the vehicle.

[0044] When the preset conditions are not met (the battery swap area is not idle, the ranking is not first, and a queue is required), information such as the number of vehicles in the queue and the estimated waiting time will be sent to the vehicle, so that the owner can decide whether to continue waiting based on the received information such as the number of vehicles in the queue and the estimated waiting time, or when the number of vehicles in the queue or the estimated waiting time exceeds a threshold, other battery swap station information will be sent to the vehicle.

[0045] After the battery swap station establishes a connection with the vehicle, the vehicle's remaining power / range is obtained. If the remaining power or range exceeds the threshold, a recommendation message to postpone battery swapping is sent to the vehicle. The remaining power and the user's navigation route can also be combined to recommend other battery swap stations on the navigation route to the user, so as to avoid wasting battery pack resources in the battery swap station.

[0046] The gate of the battery swap area can be the entrance gate of the battery swap station or the individual gate of each battery swap area. For example, when there is only one battery swap area, it can be the entrance gate of the battery swap station; when the battery swap station includes multiple battery swap areas, it can also be the gate corresponding to each battery swap area.

[0047] When there are multiple battery swapping areas in a battery swapping station, in order to ensure that the vehicle can move to the corresponding battery swapping area, the location information of the idle battery swapping area needs to be sent to the vehicle. If the gate is a battery swapping station gate, when the vehicle is waiting in line outside the battery swapping station, the location information of the battery swapping area needs to be sent to the vehicle in order to ensure that the vehicle can enter the battery swapping station.

[0048] In order to ensure that the vehicles in the battery swap area are the ones that need to replace the battery pack, the vehicle identification needs to be verified before the vehicle enters. After the verification is passed, if the gate is an entry gate and there are multiple battery swap areas, the location of the battery swap area also needs to be sent to the vehicle.

[0049] Optionally, after opening the gate, the battery swap station will send the navigation route to the battery swap area (or the precise location of the battery swap area) entering the battery swap station to the vehicle, and send a battery swap reminder message to the vehicle, so that the battery swap reminder message "Do you choose automatic battery swap" is displayed on the vehicle display screen through a pop-up window. After the owner selects automatic battery swap, turn on the vehicle's valet parking battery swap function and AVH function. The vehicle identifies the surrounding environmental conditions through the on-board multi-function camera and radar, and drives according to the navigation route provided by the battery swap station. During the driving process of the vehicle, if it is detected that the vehicle has stopped, the parking function of the vehicle is turned on (the automatic parking function is turned on, and the electronic handbrake is in the clamped state) to ensure that the vehicle is stationary. When the vehicle starts driving again, the parking function of the vehicle is automatically turned off. Follow the above process until the vehicle reaches the battery swap position.

[0050] Optionally, a gravity sensor and an image acquisition device are arranged in the battery swap area, and before the step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when it is confirmed that the vehicle is in the battery swap position in the battery swap area, the step includes: acquiring gravity data of the gravity sensor, and / or image acquisition data of the image acquisition device; and judging whether the vehicle has arrived at the battery swap position in the battery swap area based on the gravity data and / or image acquisition data.

[0051] The gravity sensor can be set on the platform for parking vehicles in the battery swapping area (the vehicle is swapped on the platform) to collect gravity data. When the vehicle does not enter and stops moving after entering, the gravity data of the platform remains basically unchanged. When the vehicle enters the platform and moves on the platform, the gravity data of the platform will change accordingly. Different battery swapping vehicles have different vehicle gravity data collected. Therefore, after detecting that the increase in gravity data exceeds the threshold, it is confirmed that the vehicle has entered the platform without judging the specific data of the gravity data.

[0052] The image acquisition data is collected by the video surveillance equipment installed in the battery swap station / battery swap area. The video surveillance equipment is distributed in various areas of the battery swap station / battery swap area to collect image acquisition data of the battery swap station / battery swap area without blind spots.

[0053] Exemplarily, after detecting that the increase in gravity data exceeds a threshold, it is confirmed that the vehicle has entered the platform. Then, the gravity data is continuously monitored, and when the gravity data stops changing, the image acquisition data of the corresponding battery swap area is acquired. The image acquisition data is then analyzed and processed to determine whether the vehicle has reached the battery swap position on the platform. By combining the gravity sensor with the image acquisition device, the image acquisition device can be conditionally turned on or collect data to reduce the amount of processing.

[0054] In other embodiments, gravity data can also be used alone to determine whether the vehicle has arrived at the battery swapping position in the battery swapping area. For example, multiple gravity sensors are set on the platform to cover the entire platform. Then, gravity data collected by gravity sensors in each area is used to determine whether the vehicle has arrived at the battery swapping position (the gravity data collected by the gravity sensors at the battery swapping position is higher than that of other areas, and the gravity data of other areas is 0).

[0055] In other embodiments, the image acquisition data may also be used alone to determine whether the vehicle has arrived at the battery swapping position in the battery swapping area.

[0056] Optionally, the step of judging whether the vehicle has arrived at the battery swapping position in the battery swapping area according to the gravity data and / or image acquisition data includes: after the gravity sensor acquires the gravity data, monitoring whether the gravity data has not changed for more than a preset time period; when the gravity data has not changed for more than a preset time period, acquiring the image acquisition data; acquiring the real-time position and speed of the vehicle according to the image acquisition data; when the vehicle speed is zero, judging whether the vehicle has arrived at the battery swapping position in the battery swapping area according to the real-time position.

[0057] After confirming that the vehicle has entered the platform, if the gravity data of the platform has not changed for a preset period of time, the vehicle is confirmed to have stopped moving. At this time, the image acquisition data of the battery swapping area where the vehicle is located is obtained, and through image recognition and position matching processing, it is determined whether the vehicle has reached the battery swapping position in the battery swapping area. If the battery swapping position has not been reached, a vehicle moving instruction is sent to the vehicle to move the vehicle to the battery swapping position.

[0058] Optionally, the integrity of the battery pack of the vehicle is detected; when the battery pack is in a complete state, the vehicle battery replacement operation is performed; when the battery pack is in an incomplete state, battery pack abnormality information is output, and instructions are sent to the vehicle to make the vehicle leave the battery replacement area.

[0059] The integrity of the battery pack includes: complete state and incomplete state (damage, low battery life).

[0060] Check the integrity of the battery pack to avoid property damage caused by the battery pack catching fire and burning the battery swap station after the battery is replaced or the incomplete battery is charged. It can also prevent users from intentionally using incomplete batteries to replace batteries in the battery swap area.

[0061] When the vehicle's battery pack is in an incomplete state, the owner is informed through voice and display screen, and instructions are sent to the vehicle, so that the vehicle is powered on and started, and then leaves the battery swap area.

[0062] Optionally, after the step of sending a second instruction to the vehicle to enable the vehicle to turn on the parking function and power off, the method further includes: obtaining the battery replacement status of the vehicle at the battery replacement station; confirming the battery replacement progress of the vehicle based on the image acquisition data and the battery replacement status; and when confirming that the battery replacement of the vehicle is completed, sending a third instruction to the vehicle to enable the vehicle to power on and turn off the parking function. Afterwards, the vehicle can drive out of the battery replacement station.

[0063] The battery swap status is obtained through the battery swap process in the battery swap station. The battery swap progress includes: battery swap in progress and battery swap completed.

[0064] Optionally, before the step of controlling the actuator to adjust the position of the vehicle to a centered state in response to a position adjustment instruction, it includes: determining whether there are people in the battery swap area and the vehicle; if so, pausing the battery swap operation; if not, outputting a position adjustment instruction.

[0065] When there are people in the battery swapping area and vehicle of the battery swapping station, the battery swapping operation will be suspended. The on-site personnel (drivers, passengers, etc.) in the battery swapping area will be monitored to protect their safety. Drivers and passengers can wait for the battery swapping operation to be completed in the battery swapping waiting area.

[0066] Optionally, when the battery pack is in a complete state, after the step of performing a vehicle battery replacement operation, the method includes: recording the battery replacement process of the vehicle in real time and displaying an image of the battery replacement process; after completing the battery replacement operation, sending a vehicle power-on command to the vehicle to obtain battery information of the vehicle; when the battery information meets preset requirements, opening the gate of the battery replacement area, and sending a vehicle movement command to the vehicle to allow the vehicle to drive to the waiting area outside the battery replacement station.

[0067] After the battery swap is completed, send a command to the vehicle to power on the vehicle, and obtain the vehicle's battery information (such as battery power, expected mileage, and battery health status, etc.). When the battery information does not meet the preset requirements (battery power needs to be more than 95%, expected mileage needs to be more than 400km, battery health status needs to be greater than 80%, etc.), open the gate of the battery swap area, and then send a movement command to the vehicle so that the vehicle leaves the battery swap area and drives to the waiting area to wait for passengers and drivers to get on the bus, and after the vehicle stops driving at the waiting area, disconnect the communication connection with the vehicle. If the battery information does not meet the preset requirements, it is necessary to re-perform the battery swap operation, replace the qualified battery, and mark the battery as an unqualified battery. In other embodiments, before performing a battery swap operation for the vehicle, the battery swap station obtains the battery information of the battery pack that is to perform the battery swap operation. If the battery information meets the preset requirements, the battery pack is used for battery swap; if the battery information does not meet the preset requirements, the battery pack is replaced.

[0068] See also Figure 2 , Figure 2 The present invention shows a parking function control strategy for a vehicle entering a battery swap station.

[0069] For example, after the vehicle arrives at the battery swap station, the vehicle license plate is scanned by a camera installed at the station door. After confirming that the vehicle is a vehicle that has sent a battery swap request in advance, the battery swap station gate is opened and a near-field communication connection with the vehicle is established. After the connection is successful, the vehicle turns off the parking function, and the instrument displays a text prompt "Parking function turned off" to ensure that the vehicle can enter the battery swap station. Then the vehicle drives into the battery swap position in the battery swap area, such as a V-shaped groove, according to the instruction information sent by the battery swap station to swap batteries.

[0070] See also Figure 3 , Figure 3 A control strategy for completing the parking function by replacing the battery of a vehicle is shown in the present invention.

[0071] For example, after the battery swap is completed, the battery swap station sends a command to the vehicle and disconnects from the vehicle so that the vehicle can turn on the parking function. The instrument prompts that the battery swap is completed and the parking function is turned on, and then the vehicle is driven out of the battery swap area.

[0072] This implementation can be specifically implemented in the following manner:

[0073] Step 1: Through the battery swap station APP, you can obtain information such as vehicle queue status, battery pack status in the battery swap station, and the distance between the vehicle and the battery swap station.

[0074] Step 2: After the vehicle arrives at the area where the battery swap station is located, the vehicle establishes a connection with the battery swap station through a wireless radio frequency module.

[0075] Step 3: The battery swap station uses the image data collected by the camera to determine whether there is a vehicle in the station. If there is no vehicle, it scans the vehicle license plate at the gate. After confirming that the vehicle needs to be battery swapped, it opens the gate of the battery swap station to allow the vehicle to enter the station.

[0076] Step 4: The vehicle enters the battery swapping position in the battery swapping station / battery swapping area, and determines whether the vehicle has stopped in place through the gravity sensor and the camera installed in the battery swapping station / battery swapping area. The gravity sensor is connected to the battery swapping station controller through a wiring harness, and the gravity sensor converts it into an electrical signal and sends it to the battery swapping controller. The battery swapping station controller converts it into a CAN signal and transmits it to the ESC controller through the RF module and gateway. The camera is connected to the battery swapping station controller through a wiring harness, and the camera transmits the captured image to the battery swapping station controller. The battery swapping station determines that the vehicle has stopped by comparing the image, and the battery swapping station controller converts it into a CAN signal and transmits it to the ESC controller through the RF module and gateway.

[0077] Step 5: When ESC receives the signal that the vehicle has arrived, ESC obtains the vehicle speed signal (vehicle speed is 0), EPB status, and AVH function status. When EPB is in the clamped state, EPB is released first, and then the AVH function is turned off. When EPB is in the released state, the AVH function is directly turned off. The instrument receives the signal that the AVH function is turned off and the signal of the EPB status, and the text prompts the vehicle to change the battery, the AVH function is turned off, and the EPB is released.

[0078] Step 6: The battery swap station moves the vehicle to the center through the actuator, and determines whether the vehicle is successfully centered through the camera image; if successful, the vehicle is fed back with a signal of successful centering, so that the vehicle's AVH function is turned on (EPB is in the released state) to ensure that the vehicle will not move during the battery swap process. If unsuccessful, the vehicle is moved again to the center. During the battery swap process, the AVH function remains on to prevent the vehicle from moving.

[0079] Step 7: After the battery swap is completed, the battery swap station controller sends a battery swap completion signal, causing the vehicle to automatically power on, the AVH function to automatically shut down, and the vehicle to automatically drive out of the battery swap position.

[0080] The vehicle battery replacement control method of this embodiment automatically controls the parking function of the vehicle during the battery replacement process to facilitate the mobile vehicle to replace the battery.

[0081] See also Figure 4 , Figure 4 A flowchart of the steps of another vehicle battery replacement control method shown in an embodiment of the present invention.

[0082] The vehicle battery replacement control method provided in this embodiment is applied to a vehicle, and its specific implementation may include the contents described in the above embodiment.

[0083] like Figure 4 As shown, a vehicle battery replacement control method provided by an embodiment of the present invention includes the following steps:

[0084] S21: In response to a first instruction, turning off the parking function, wherein the first instruction is sent by the battery swap station controller when confirming that the vehicle is in a battery swap position in the battery swap area.

[0085] The battery swap area refers to: the operating area in the battery swap station used to replace the battery pack of the vehicle. The battery swap area contains various equipment and battery packs used to provide services for vehicle battery swap. There is at least one in a battery swap station, and there can be more than one, which can be set according to actual needs. When there are multiple battery swap areas in a battery swap station, the battery swap station can replace batteries for multiple vehicles at the same time. If there are two battery swap areas, the battery packs of two vehicles can be replaced at the same time.

[0086] The battery swapping position refers to the location in the battery swapping area where the vehicle is parked and the battery pack is replaced.

[0087] The first instruction is mainly used to control the vehicle to turn off the parking function. The purpose of turning off the parking function is to prevent the vehicle from being unable to move when the vehicle needs to be moved before battery replacement.

[0088] Turn off the parking function, that is, release the electronic parking brake, turn off automatic parking, or adjust the gear to D or neutral.

[0089] S22: In response to a second instruction, the parking function is turned on and the vehicle is powered off, wherein the second instruction is sent by the battery swap station controller after the position of the vehicle has been adjusted to a centered state and before battery swapping has started accurately.

[0090] Turn on the parking function, that is, pull up the electronic parking brake, turn on automatic parking, or adjust the gear to P.

[0091] Optionally, in response to the first instruction, before the step of turning off the parking function, at least one of the following is included: when it is detected that the vehicle driver has disengaged, starting the automatic driving mode to drive to the battery swap position in the battery swap area; when the vehicle is in the automatic driving mode, if the vehicle has not reached the battery swap position and the vehicle speed is zero, turning on the parking function.

[0092] The driver of the vehicle is disengaged, that is, before the vehicle is replaced, in order to ensure the driver's safety, the driver needs to leave the vehicle. At this time, in order to ensure that the vehicle enters the battery replacement position, the vehicle needs to start the automatic driving mode.

[0093] The vehicle has not reached the battery replacement position and the vehicle speed is zero, which means that the vehicle is in a waiting state. In order to prevent the vehicle from moving, the parking function needs to be turned on.

[0094] Optionally, the parking function includes: an electronic handbrake function and an automatic parking function; the step of turning off the parking function in response to the first instruction includes: when receiving the first instruction, obtaining the electronic handbrake function status and the automatic parking function status; when the electronic handbrake function is in a clamping state, adjusting the electronic handbrake function to a released state, and turning off the automatic parking function; when the electronic handbrake function is in a released state, turning off the automatic parking function.

[0095] Parking functions include: electronic parking brake and automatic parking.

[0096] The electronic parking brake is EPB (Electrical Park Brake). EPB controls the parking brake through electronic circuits and has the same function as the mechanical pull-lever parking brake.

[0097] Automatic parking is an automatic braking function, also called AUTOHOLD, which controls four-wheel braking through the extended function of the electronic parking brake (EPB) and automatically pulls the parking brake for the driver.

[0098] Optionally, after the step of turning on the parking function and powering off the vehicle in response to the second instruction, the method further includes: in response to a third instruction, the vehicle turns off the parking function, the third instruction being sent by the battery swap station controller after confirming that the vehicle has been powered on; starting the automatic driving mode to drive to a waiting area outside the battery swap station; and after arriving at the waiting area, turning on the parking function.

[0099] This implementation can be specifically implemented in the following manner:

[0100] Step 1: Drive to the designated location in the battery swap station, the driver gets off the vehicle, starts the vehicle's automatic driving mode, the vehicle automatically shifts into D gear, and the automatic driving module requests ESC to release EPB.

[0101] The second to fourth steps are the same as those in the above embodiment.

[0102] Step 5: The vehicle is shifted into N gear. When ESC receives the vehicle's arrival signal, it will shift the vehicle into N gear through the vehicle speed signal (vehicle speed is 0), EPB will remain released, AVH function will be turned off, a text message will be displayed to prompt the vehicle to change batteries, AVH function will be turned off, and EPB will be released.

[0103] Step 6: Move the vehicle to center it, and use the camera image to determine whether the vehicle centering is successful. If successful, the AVH function will automatically turn on (EPB is in the released state) after receiving the successful centering signal, ensuring that the vehicle will not move during the battery replacement process.

[0104] Step 7: After the battery replacement is completed, the vehicle is powered on, the vehicle automatically shifts into D gear, and the vehicle automatically drives to the designated location.

[0105] In the vehicle battery replacement control method of this embodiment, during the battery replacement process of the vehicle, the vehicle responds to the control command sent by the battery replacement station to automatically control the parking function, so as to facilitate the battery replacement of the mobile vehicle.

[0106] The present invention also provides an electronic device, comprising: a memory and a processor, wherein a vehicle battery replacement control program is stored in the memory, and when the vehicle battery replacement control program is executed by the processor, the steps of the vehicle battery replacement control method as described in any of the above embodiments are implemented.

[0107] The present invention also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle battery replacement control method as described in any of the above embodiments are implemented.

[0108] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a portion of the steps in the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the embodiments of the present invention can be implemented by hardware, or by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the embodiments of the present invention can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each implementation scenario of the embodiments of the present invention.

[0110] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the specific details in the above embodiments. The above embodiments and drawings are exemplary. The modules or processes in the drawings are not necessarily required to implement the embodiments of the present invention and cannot be understood as limitations on the present invention. Within the technical concept of the present invention, the technical scheme of the present invention can be subjected to a variety of simple modifications and combinations, and these simple modifications and combinations all belong to the protection scope of the present invention.

Claims

1. A vehicle battery swap control method, applied to a battery swap station controller, characterized in that: include: When confirming that the vehicle is in a battery swapping position in the battery swapping area, sending a first instruction to the vehicle to disable a parking function of the vehicle; In response to the position adjustment instruction, controlling the actuator to adjust the position of the vehicle to a centered state; Before starting to replace the battery, a second instruction is sent to the vehicle to enable the vehicle to turn on the parking function and power off.

2. The vehicle battery replacement control method according to claim 1, characterized in that: Before the step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when confirming that the vehicle is in the battery swapping position in the battery swapping area, the method further includes: In response to a battery replacement request sent by the vehicle, establishing a near field communication connection with the vehicle, wherein the battery replacement request includes a vehicle identification; When the battery swap area and the vehicle meet preset conditions, the location information of the battery swap area is sent to the vehicle, and the gate of the battery swap area is opened.

3. The vehicle battery replacement control method according to claim 1, characterized in that: A gravity sensor and an image acquisition device are provided in the battery swapping area. Before the step of sending a first instruction to the vehicle to turn off the parking function of the vehicle when confirming that the vehicle is in the battery swapping position in the battery swapping area, the method further includes: Acquiring gravity data from the gravity sensor and / or image acquisition data from the image acquisition device; Determine whether the vehicle has arrived at the battery swapping position in the battery swapping area based on the gravity data and / or image acquisition data.

4. The vehicle battery replacement control method according to claim 3, characterized in that: The step of judging whether the vehicle has arrived at the battery swapping position in the battery swapping area according to the gravity data and / or the image acquisition data comprises: After the gravity sensor acquires the gravity data, monitoring whether the gravity data remains unchanged for more than a preset time period; When the gravity data does not change for more than a preset time period, acquiring the image acquisition data; Acquiring the real-time position and speed of the vehicle according to the image acquisition data; When the vehicle speed is zero, determine whether the vehicle has arrived at the battery swapping position in the battery swapping area based on the real-time position.

5. A vehicle battery replacement control method, applied to a vehicle, characterized in that: The vehicle establishes a near field communication connection with a battery swap station controller, and the method comprises: In response to a first instruction, turning off the parking function, wherein the first instruction is sent by the battery swap station controller when confirming that the vehicle is in a battery swap position in the battery swap area; In response to a second instruction, the parking function is turned on and the vehicle is powered off. The second instruction is sent by the battery swap station controller before the position of the vehicle has been adjusted to a centered state and battery swapping has started accurately.

6. The vehicle battery replacement control method according to claim 5, characterized in that: Before the step of shutting down the parking function in response to the first instruction, the method further includes at least one of the following: When it is detected that the vehicle driver has left the vehicle, the automatic driving mode is activated to drive the vehicle to the battery swapping position in the battery swapping area; When the vehicle is in the automatic driving mode, if the vehicle has not reached the battery replacement position and the vehicle speed is zero, the parking function is turned on.

7. The vehicle battery replacement control method according to claim 5 or 6, characterized in that: The parking function includes: electronic handbrake function and automatic parking function; The step of disabling the parking function in response to the first instruction includes: Upon receiving the first instruction, obtaining the electronic handbrake function status and the automatic parking function status; When the electronic handbrake function is in a clamped state, adjusting the electronic handbrake function to a released state, and turning off the automatic parking function; When the electronic parking brake function is in a released state, the automatic parking function is turned off.

8. The vehicle battery replacement control method according to claim 5, characterized in that: After the step of turning on the parking function and powering off the vehicle in response to the second instruction, the method further includes: In response to a third instruction, turning off the parking function, the third instruction being sent by the battery swap station controller after confirming that the vehicle is powered on; Activate the autonomous driving mode to drive to the waiting area outside the battery swap station; After confirming that the vehicle has arrived at the waiting area, the parking function is turned on.

9. An electronic device, characterized in that: The electronic device includes: a memory and a processor, wherein a vehicle battery replacement control program is stored in the memory, and when the vehicle battery replacement control program is executed by the processor, the steps of the vehicle battery replacement control method as described in any one of claims 1 to 8 are implemented.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the vehicle battery replacement control method as described in any one of claims 1 to 8.

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