Safety control methods, devices, vehicles and storage media for hydrogen emission systems

Abstract

This application relates to the field of vehicle technology, and in particular to a safety control method, device, vehicle, and storage medium for a hydrogen emission system. The method includes: determining the vehicle's current hydrogen emission operating condition; if a hydrogen emission request signal corresponding to the current operating condition is received; acquiring an identification result of the vehicle's surrounding environment based on the hydrogen emission request signal; generating a safety control strategy for the current hydrogen emission operating condition based on the identification result; and controlling the vehicle to safely emit hydrogen based on the safety control strategy. This solves the problem that the lack of intelligent safety detection and control mechanisms can easily lead to hydrogen accumulation or even explosions during hydrogen emission, making it difficult to ensure the safety of hydrogen emission in complex environments. By identifying the hydrogen emission environment and generating a corresponding safety control strategy when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a safety control method, device, vehicle, and storage medium for a hydrogen emission system. Background Technology

[0002] Hydrogen fuel cell vehicles use high-pressure gaseous hydrogen storage as an energy supply method. In order to ensure vehicle safety, hydrogen is usually discharged in three ways when it is necessary: ​​(1) after the vehicle stops, hydrogen is discharged from the exhaust pipe by purging the hydrogen fuel cell; (2) in case of emergency, the TPRD (Thermal Protection Release Device) of the hydrogen cylinder valve is activated to discharge hydrogen from the high-pressure venting pipe; (3) before the hydrogen supply system is repaired or replaced, hydrogen is discharged from the low-pressure venting pipe by activating the low-pressure venting valve.

[0003] In related technologies, hydrogen discharge is usually controlled by simple mechanical valves when one of the three conditions mentioned above is present.

[0004] However, due to the flammable and explosive nature of hydrogen, a safe hydrogen release environment and control methods are required. However, the above methods lack intelligent safety detection and control mechanisms. Improper operation during the hydrogen release process can easily lead to hydrogen accumulation, which in turn can cause fires or explosions. It is difficult to ensure the safety of the hydrogen release process in complex environments, and this needs to be addressed urgently. Summary of the Invention

[0005] This application provides a safety control method, device, vehicle, and storage medium for a hydrogen emission system to address the problems that, due to the lack of intelligent safety detection and control mechanisms, improper operation during the hydrogen emission process can easily lead to hydrogen accumulation or even explosions, making it difficult to ensure the safety of the hydrogen emission process in complex environments.

[0006] The first aspect of this application provides a safety control method for a hydrogen emission system, including the following steps:

[0007] Determine the vehicle's current hydrogen emission status;

[0008] If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the vehicle's surrounding environment recognition result is obtained based on the hydrogen emission request signal corresponding to the current hydrogen emission condition.

[0009] Based on the identification results of the vehicle's surrounding environment, a safety control strategy for the current hydrogen emission condition is generated, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy.

[0010] According to one embodiment of this application, the hydrogen emission conditions of the vehicle include purging hydrogen emission conditions, TPRD-activated hydrogen emission conditions, and low-pressure vent valve-activated hydrogen emission conditions.

[0011] According to one embodiment of this application, the current hydrogen emission condition is the purging hydrogen emission condition. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification result, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes:

[0012] Based on the vehicle's surrounding environment recognition results, it is determined whether there are any target obstacles around the vehicle;

[0013] If there is no target obstacle around the vehicle, the first solenoid valve of the hydrogen exhaust system is opened and a purging action is performed to exhaust hydrogen from the vehicle; otherwise, the first distance between the target obstacle and the vehicle is obtained. The first solenoid valve is connected to the fuel cell controller, the fuel cell, and the first temperature sensor of the hydrogen exhaust system.

[0014] If the first distance meets the first hydrogen discharge distance threshold, the first solenoid valve is controlled to open and a purging action is performed to discharge hydrogen from the vehicle; otherwise, the temperature data around the vehicle is acquired and it is determined whether the temperature data is greater than the first preset temperature threshold.

[0015] If the temperature data is less than or equal to the first preset temperature threshold, the first solenoid valve is controlled to open and a purging action is performed to remove hydrogen from the vehicle; otherwise, it is determined whether the vehicle meets the conditions for active start-up.

[0016] If the vehicle meets the active start-up conditions, the vehicle is controlled to start actively, and the environmental recognition results of the vehicle's surroundings are reacquired; otherwise, a first hydrogen rejection signal is generated, and a first reminder signal is sent to the user.

[0017] According to one embodiment of this application, the current hydrogen emission condition is the TPRD activated hydrogen emission condition. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification result, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes:

[0018] A second reminder signal is generated based on the hydrogen emission request signal corresponding to the TPRD activation hydrogen emission condition, and the second reminder signal is sent to the user. At the same time, based on the vehicle surrounding environment recognition results, it is determined whether there are target obstacles around the vehicle.

[0019] If there is no target obstacle around the vehicle, the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve of the hydrogen exhaust system are all in the open state to exhaust hydrogen from the vehicle; otherwise, the second distance between the target obstacle and the vehicle is obtained, wherein the second solenoid valve is connected to the safety valve, the second temperature sensor and the hydrogen exhaust system controller of the hydrogen exhaust system respectively.

[0020] If the second distance meets the second hydrogen discharge distance threshold, then the hydrogen cylinder valve, the pressure reducing valve, the safety valve and the second solenoid valve are all controlled to be in the open state to discharge hydrogen from the vehicle; otherwise, it is determined whether the vehicle meets the active acceleration conditions.

[0021] If the vehicle meets the active acceleration condition, the vehicle is controlled to actively accelerate, and the hydrogen cylinder valve, the pressure reducing valve, the safety valve, and the second solenoid valve are all controlled to be in the open state to discharge hydrogen from the vehicle; otherwise, the second distance between the target obstacle and the vehicle is reacquired.

[0022] According to one embodiment of this application, the current hydrogen emission condition is the hydrogen emission condition activated by the low-pressure vent valve. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification result, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes:

[0023] Based on the vehicle's surrounding environment recognition results, it is determined whether there are any target obstacles around the vehicle;

[0024] If there is no target obstacle around the vehicle, the second solenoid valve of the hydrogen exhaust system is opened to exhaust hydrogen from the vehicle; otherwise, the third distance between the target obstacle and the vehicle is obtained.

[0025] If the third distance meets the third hydrogen emission distance threshold, the second solenoid valve of the hydrogen emission system is opened to emit hydrogen from the vehicle; otherwise, the temperature data around the vehicle is acquired and it is determined whether the temperature data is greater than the second preset temperature threshold.

[0026] If the temperature data is less than or equal to the second preset temperature threshold, the second solenoid valve is controlled to open and hydrogen is discharged from the vehicle; otherwise, it is determined whether the vehicle meets the conditions for active start-up.

[0027] If the vehicle meets the active start conditions, the vehicle is controlled to start actively, and the identification results of the vehicle's surrounding environment are reacquired; otherwise, a second hydrogen rejection signal is generated, and a third reminder signal is sent to the user.

[0028] According to the safety control method of the hydrogen emission system in this application embodiment, the current hydrogen emission condition of the vehicle is determined. If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the vehicle's surrounding environment identification result is obtained based on the hydrogen emission request signal. A safety control strategy for the current hydrogen emission condition is generated based on the vehicle's surrounding environment identification result, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. This solves the problem that the lack of intelligent safety detection and control mechanisms can easily lead to hydrogen accumulation or even explosions during the hydrogen emission process due to improper operation, making it difficult to ensure the safety of the hydrogen emission process in complex environments. By identifying the hydrogen emission environment and generating corresponding safety control strategies when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

[0029] A second aspect of this application provides a safety control device for a hydrogen emission system, comprising:

[0030] The determination module is used to determine the vehicle's current hydrogen emission conditions;

[0031] The acquisition module is used to acquire the vehicle's surrounding environment recognition result based on the hydrogen emission request signal corresponding to the current hydrogen emission condition if a hydrogen emission request signal corresponding to the current hydrogen emission condition is received.

[0032] The control module is used to generate a safety control strategy for the current hydrogen emission condition based on the identification results of the vehicle's surrounding environment, and to control the vehicle to safely emit hydrogen based on the safety control strategy.

[0033] According to one embodiment of this application, the hydrogen emission conditions of the vehicle include purging hydrogen emission conditions, TPRD-activated hydrogen emission conditions, and low-pressure vent valve-activated hydrogen emission conditions.

[0034] According to one embodiment of this application, the control module includes:

[0035] The first judgment unit is used to determine whether there is a target obstacle around the vehicle based on the recognition result of the vehicle's surrounding environment.

[0036] The first control unit is configured to control the first solenoid valve of the hydrogen exhaust system to open and perform a purging action to exhaust hydrogen from the vehicle if there is no target obstacle around the vehicle; otherwise, it is configured to obtain the first distance between the target obstacle and the vehicle. The first solenoid valve is connected to the fuel cell controller, the fuel cell, and the first temperature sensor of the hydrogen exhaust system.

[0037] The second judgment unit is used to control the first solenoid valve to open and perform a purging action to discharge hydrogen from the vehicle if the first distance meets the first hydrogen discharge distance threshold; otherwise, it acquires the temperature data around the vehicle and determines whether the temperature data is greater than the first preset temperature threshold.

[0038] The third judgment unit is used to control the first solenoid valve to open and perform a purging action to remove hydrogen from the vehicle if the temperature data is less than or equal to the first preset temperature threshold; otherwise, it determines whether the vehicle meets the active start-up conditions.

[0039] The second control unit is configured to control the vehicle to start actively if the vehicle meets the active start conditions, and to reacquire the identification results of the vehicle's surrounding environment; otherwise, it generates a first hydrogen emission rejection signal and sends a first reminder signal to the user.

[0040] According to one embodiment of this application, the control module includes:

[0041] The fourth judgment unit is used to generate a second reminder signal based on the hydrogen emission request signal corresponding to the TPRD activation hydrogen emission condition, and send the second reminder signal to the user. At the same time, based on the vehicle surrounding environment recognition result, it determines whether there is a target obstacle around the vehicle.

[0042] The first acquisition unit is configured to, if there is no target obstacle around the vehicle, control the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve of the hydrogen exhaust system to be in the open state to exhaust hydrogen from the vehicle; otherwise, acquire the second distance between the target obstacle and the vehicle, wherein the second solenoid valve is connected to the safety valve, the second temperature sensor and the hydrogen exhaust system controller of the hydrogen exhaust system respectively.

[0043] The fifth judgment unit is used to control the hydrogen cylinder valve, the pressure reducing valve, the safety valve and the second solenoid valve to be in the open state to discharge hydrogen from the vehicle if the second distance meets the second hydrogen discharge distance threshold; otherwise, it determines whether the vehicle meets the active acceleration conditions.

[0044] The third control unit is configured to, if the vehicle meets the active acceleration conditions, control the vehicle to actively accelerate and control the hydrogen cylinder valve, the pressure reducing valve, the safety valve and the second solenoid valve to be in the open state to discharge hydrogen from the vehicle; otherwise, re-acquire the second distance between the target obstacle and the vehicle.

[0045] According to one embodiment of this application, the control module includes:

[0046] The sixth judgment unit is used to determine whether there are target obstacles around the vehicle based on the recognition results of the vehicle's surrounding environment.

[0047] The fourth control unit is used to control the second solenoid valve of the hydrogen exhaust system to open to exhaust hydrogen from the vehicle if there is no target obstacle around the vehicle; otherwise, it obtains the third distance between the target obstacle and the vehicle.

[0048] The seventh judgment unit is used to control the second solenoid valve of the hydrogen emission system to open and emit hydrogen from the vehicle if the third distance meets the third hydrogen emission distance threshold; otherwise, it acquires the temperature data around the vehicle and determines whether the temperature data is greater than the second preset temperature threshold.

[0049] The eighth judgment unit is used to control the second solenoid valve to open and discharge hydrogen from the vehicle if the temperature data is less than or equal to the second preset temperature threshold; otherwise, it determines whether the vehicle meets the active start-up conditions.

[0050] The second acquisition unit is used to control the vehicle to start actively if the vehicle meets the active start conditions, and to reacquire the identification results of the vehicle's surrounding environment; otherwise, it generates a second hydrogen rejection signal and sends a third reminder signal to the user.

[0051] According to the safety control device of the hydrogen emission system in this application embodiment, the current hydrogen emission condition of the vehicle is determined. If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the device acquires the identification result of the vehicle's surrounding environment based on the hydrogen emission request signal, generates a safety control strategy for the current hydrogen emission condition based on the identification result, and controls the vehicle to safely emit hydrogen based on the safety control strategy. This solves the problem that the lack of intelligent safety detection and control mechanisms can easily lead to hydrogen accumulation or even explosions during hydrogen emission, making it difficult to ensure the safety of hydrogen emission in complex environments. By identifying the hydrogen emission environment and generating corresponding safety control strategies when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

[0052] A third aspect of this application provides a vehicle comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement a safety control method for a hydrogen emission system as described in the above embodiments.

[0053] A fourth aspect of this application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the safety control method for a hydrogen emission system as described in the above embodiments.

[0054] A fifth aspect of this application provides a computer program product, including a computer program that is executed to implement the safety control method for the hydrogen emission system described in the above embodiments.

[0055] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0056] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0057] Figure 1 This is a flowchart of a safety control method for a hydrogen emission system provided according to an embodiment of this application;

[0058] Figure 2 This is a schematic diagram of the hydrogen system layout of a hydrogen fuel cell vehicle according to an embodiment of this application;

[0059] Figure 3 This is a schematic diagram of the purging hydrogen emission control logic according to an embodiment of this application;

[0060] Figure 4 This is a schematic diagram of the TPRD activation hydrogen emission control logic according to an embodiment of this application;

[0061] Figure 5 This is a schematic diagram of the hydrogen discharge control logic for activating a low-pressure vent valve according to one embodiment of this application;

[0062] Figure 6 This is an example diagram of a safety control device for a hydrogen emission system according to an embodiment of this application;

[0063] Figure 7 This is a structural schematic diagram of a vehicle according to an embodiment of this application. Detailed Implementation

[0064] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0065] The following description, with reference to the accompanying drawings, outlines a safety control method, apparatus, vehicle, and storage medium for a hydrogen emission system according to embodiments of this application. Addressing the issue mentioned in the background art, where improper operation during hydrogen emission can easily lead to hydrogen accumulation or even explosions due to the lack of intelligent safety detection and control mechanisms, making it difficult to ensure the safety of hydrogen emission in complex environments, this application provides a safety control method for a hydrogen emission system. In this method, the current hydrogen emission operating condition of the vehicle is determined. If a hydrogen emission request signal corresponding to the current operating condition is received, the surrounding environment identification result is obtained based on the hydrogen emission request signal. A safety control strategy for the current hydrogen emission operating condition is generated based on the surrounding environment identification result, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. This solves the problem that improper operation during hydrogen emission can easily lead to hydrogen accumulation or even explosions due to the lack of intelligent safety detection and control mechanisms, making it difficult to ensure the safety of hydrogen emission in complex environments. By identifying the hydrogen emission environment and generating corresponding safety control strategies when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

[0066] Specifically, Figure 1 This is a schematic flowchart illustrating a safety control method for a hydrogen emission system provided in an embodiment of this application.

[0067] like Figure 1 As shown, the safety control method for this hydrogen emission system includes the following steps:

[0068] In step S101, the current hydrogen emission condition of the vehicle is determined.

[0069] According to one embodiment of this application, the hydrogen emission conditions of the vehicle include purging hydrogen emission conditions, TPRD-activated hydrogen emission conditions, and low-pressure vent valve-activated hydrogen emission conditions.

[0070] Specifically, such as Figure 2 As shown, under the condition of hydrogen emission from hydrogen fuel cell vehicles, firstly, before emission, the vehicle's surrounding information needs to be actively identified and collected through a 360-degree panoramic camera and temperature sensors. Based on the collected information, the hydrogen emission environment at the rear of the vehicle is checked. If there is a risk of hydrogen emission, multiple actuators such as the exhaust gas emission pipeline solenoid valve, the low-pressure vent pipeline solenoid valve, and vehicle start-up are activated to trigger safety measures. The user is then alerted through the instrument panel and vehicle voice prompts, thereby minimizing the possibility of safety accidents involving hydrogen fuel cell vehicles.

[0071] There are three situations in which hydrogen fuel cell vehicles release hydrogen: after parking, hydrogen is released from the exhaust pipe during hydrogen purging, i.e., the vehicle is in the purging hydrogen release condition; in case of an emergency, the TPRD of the hydrogen cylinder valve is activated, and hydrogen is released from the high-pressure vent pipe, i.e., the vehicle is in the TPRD activated hydrogen release condition; before maintenance, replacement or other work is carried out on the hydrogen supply system, hydrogen is released from the low-pressure vent pipe by activating the low-pressure vent valve, i.e., the vehicle is in the low-pressure vent valve activated hydrogen release condition.

[0072] In step S102, if a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the vehicle's surrounding environment identification result is obtained based on the hydrogen emission request signal corresponding to the current hydrogen emission condition.

[0073] Specifically, if the vehicle is in any of the three hydrogen emission conditions mentioned above, a corresponding hydrogen emission request signal will be sent based on the current hydrogen emission condition of the vehicle, so as to obtain the identification result of the vehicle's surrounding environment based on the hydrogen emission request signal corresponding to the current hydrogen emission condition.

[0074] In step S103, a safety control strategy for the current hydrogen emission condition is generated based on the identification results of the vehicle's surrounding environment, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy.

[0075] According to one embodiment of this application, the current hydrogen emission condition is a purging hydrogen emission condition. A safety control strategy for the current hydrogen emission condition is generated based on the vehicle's surrounding environment identification results, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. This includes: determining whether there is a target obstacle around the vehicle based on the vehicle's surrounding environment identification results; if there is no target obstacle around the vehicle, controlling the first solenoid valve of the hydrogen emission system to open and performing a purging action to emit hydrogen from the vehicle; otherwise, obtaining the first distance between the target obstacle and the vehicle. The first solenoid valve is connected to the fuel cell controller of the hydrogen emission system, the fuel cell, and the first temperature sensor of the hydrogen emission system. The device is connected; if the first distance meets the first hydrogen emission distance threshold, the first solenoid valve is opened and a purging action is performed to purge hydrogen from the vehicle; otherwise, the temperature data around the vehicle is acquired and it is determined whether the temperature data is greater than the first preset temperature threshold; if the temperature data is less than or equal to the first preset temperature threshold, the first solenoid valve is opened and a purging action is performed to purge hydrogen from the vehicle; otherwise, it is determined whether the vehicle meets the active start conditions; if the vehicle meets the active start conditions, the vehicle is controlled to start actively and the environmental recognition results around the vehicle are acquired again; otherwise, a first hydrogen emission rejection signal is generated and a first reminder signal is sent to the user.

[0076] The first hydrogen emission distance threshold and the first preset temperature threshold can be set by those skilled in the art according to actual testing needs, or they can be preset through vehicle CAE (Computer-Aided Engineering) analysis and test simulation, and no specific limitations are made here.

[0077] Specifically, if the current hydrogen emission condition is the purging hydrogen emission condition, a safety control strategy for the purging hydrogen emission condition is generated based on the identification results of the vehicle's surrounding environment, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy for the purging hydrogen emission condition.

[0078] Specifically, such as Figure 3 As shown, if the current hydrogen emission condition is purging, the fuel cell control unit (FCCU) issues a purging request signal based on this condition. It also collects information about the vehicle's surroundings using a 360-degree panoramic camera to obtain environmental recognition results. Simultaneously, this information is sent to the electronic control unit (ECU) to determine if there are any obstacles at the rear of the vehicle, such as other vehicles, pedestrians, or other objects that might obstruct hydrogen emission. If no obstacles are found, the first solenoid valve of the hydrogen emission system is controlled. Figure 2 If the solenoid valve 2 is opened, the ECU agrees to perform a purging action to remove hydrogen from the vehicle. Otherwise, it acquires the first distance between the target obstacle and the vehicle. If the first distance meets the first hydrogen removal distance threshold, i.e., the first distance meets the safe hydrogen removal distance requirement, the ECU controls the first solenoid valve to open and agrees to perform a purging action to remove hydrogen from the vehicle. Otherwise, it acquires the distance from the first temperature sensor (…). Figure 2 The temperature sensor 2) collects the temperature data around the vehicle and sends it to the ECU to determine whether the temperature data is greater than a first preset temperature threshold. If the temperature data is less than or equal to the first preset temperature threshold, the first solenoid valve is opened and the ECU agrees to perform a purging action to remove hydrogen from the vehicle. Otherwise, the ECU further determines whether the vehicle meets the active start conditions. If the vehicle meets the active start conditions, the ECU controls the vehicle to start actively and reacquires the recognition results of the vehicle's surrounding environment. Otherwise, the ECU refuses to perform the purging action, generates a first hydrogen removal rejection signal, and sends a first reminder signal to the user. For example, it sends a signal to the user to make the instrument panel light flash and the vehicle alarm to remind the user to drive the vehicle away.

[0079] The first solenoid valve is connected to the fuel cell controller of the hydrogen exhaust system, the fuel cell, and the first temperature sensor of the hydrogen exhaust system. Figure 2 The temperature sensor 2) is connected.

[0080] According to one embodiment of this application, the current hydrogen emission condition is the TPRD activated hydrogen emission condition. A safety control strategy for the current hydrogen emission condition is generated based on the vehicle's surrounding environment identification results. The vehicle is then controlled to safely emit hydrogen based on this safety control strategy. This includes: generating a second reminder signal based on the hydrogen emission request signal corresponding to the TPRD activated hydrogen emission condition and sending the second reminder signal to the user; simultaneously, based on the vehicle's surrounding environment identification results, determining whether there are any target obstacles around the vehicle; if there are no target obstacles around the vehicle, then controlling the hydrogen cylinder valve, pressure reducing valve, safety valve, and second solenoid valve of the hydrogen emission system to all be in the open state to emit hydrogen from the vehicle. Otherwise, the second distance between the target obstacle and the vehicle is obtained. The second solenoid valve is connected to the safety valve, the second temperature sensor, and the hydrogen exhaust system controller of the hydrogen exhaust system. If the second distance meets the second hydrogen exhaust distance threshold, the hydrogen cylinder valve, the pressure reducing valve, the safety valve, and the second solenoid valve are all kept open to exhaust hydrogen from the vehicle. Otherwise, it is determined whether the vehicle meets the active acceleration conditions. If the vehicle meets the active acceleration conditions, the vehicle is controlled to accelerate actively, and the hydrogen cylinder valve, the pressure reducing valve, the safety valve, and the second solenoid valve are all kept open to exhaust hydrogen from the vehicle. Otherwise, the second distance between the target obstacle and the vehicle is obtained again.

[0081] The second hydrogen emission distance threshold is set by those skilled in the art based on actual testing needs, and is not specifically limited here.

[0082] Specifically, if the current hydrogen emission condition is the TPRD activated hydrogen emission condition, a safety control strategy for the TPRD activated hydrogen emission condition is generated based on the vehicle's surrounding environment identification results, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy for the TPRD activated hydrogen emission condition.

[0083] Specifically, such as Figure 4 As shown, when TPRD is activated, a hydrogen emission request signal is issued. The ECU generates a second reminder signal based on the TPRD activation hydrogen emission request signal and sends it to trigger the instrument panel indicator and vehicle alarm, reminding the user to leave the cabin. Simultaneously, the 360-degree panoramic camera collects information about the vehicle's surroundings, obtaining environmental recognition results. This information is sent to the vehicle control unit (ECU) to determine if there are any obstacles at the rear of the vehicle, such as other vehicles, pedestrians, or other objects that might obstruct hydrogen emission. If no obstacles are found, the TPRD activation emergency response is executed, controlling the hydrogen cylinder valve, pressure reducing valve, safety valve, and second solenoid valve (i.e.,...) of the hydrogen emission system. Figure 2All solenoid valves 1) are in the open state to discharge hydrogen from the vehicle. Otherwise, the second distance between the target obstacle and the vehicle is obtained. If the second distance meets the second hydrogen discharge distance threshold, the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve are all controlled to be in the open state to discharge hydrogen from the vehicle. Otherwise, the ECU determines whether the vehicle meets the active acceleration conditions. If the vehicle meets the active acceleration conditions, the vehicle is controlled to actively accelerate, and the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve are all controlled to be in the open state to discharge hydrogen from the vehicle. Otherwise, the ECU determines again whether the distance meets the safe hydrogen discharge distance requirement, that is, it re-obtains the second distance between the target obstacle and the vehicle.

[0084] Among them, the second solenoid valve is connected to the safety valve of the hydrogen exhaust system and the second temperature sensor. Figure 2 The temperature sensor 1) is connected to the hydrogen exhaust system controller.

[0085] It should be noted that emergency procedures during TPRD activation should include opening the hydrogen cylinder valve, pressure reducing valve, safety valve, and solenoid valve 1 to ensure that hydrogen in the hydrogen supply system can be quickly released outside the vehicle. At the same time, the vehicle should be able to actively unlock all four doors, and if conditions permit, open the front hood and trunk lid to prevent hydrogen leakage and accumulation in the fuel cell in the front compartment and near the hydrogen supply system in the trunk after a collision. Open the sunroof to prevent hydrogen leakage and accumulation in the passenger compartment after a collision.

[0086] According to one embodiment of this application, the current hydrogen emission condition is a low-pressure vent valve activated hydrogen emission condition. A safety control strategy for the current hydrogen emission condition is generated based on the vehicle's surrounding environment identification results, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. This includes: determining whether there is a target obstacle around the vehicle based on the vehicle's surrounding environment identification results; if there is no target obstacle around the vehicle, controlling the second solenoid valve of the hydrogen emission system to open to emit hydrogen from the vehicle; otherwise, obtaining a third distance between the target obstacle and the vehicle; if the third distance meets a third hydrogen emission distance threshold, controlling the second solenoid valve of the hydrogen emission system to open and emitting hydrogen from the vehicle; otherwise, obtaining temperature data around the vehicle and determining whether the temperature data is greater than a second preset temperature threshold; if the temperature data is less than or equal to the second preset temperature threshold, controlling the second solenoid valve to open and emitting hydrogen from the vehicle; otherwise, determining whether the vehicle meets the active start conditions; if the vehicle meets the active start conditions, controlling the vehicle to start actively and re-acquiring the vehicle's surrounding environment identification results; otherwise, generating a second hydrogen emission rejection signal and sending a third reminder signal to the user.

[0087] The third hydrogen emission distance threshold and the second preset temperature threshold can be set by those skilled in the art according to actual testing needs, or they can be preset through whole vehicle CAE analysis and test simulation, and no specific limitations are made here.

[0088] Specifically, if the current hydrogen emission condition is the low-pressure vent valve activation hydrogen emission condition, a safety control strategy for the low-pressure vent valve activation hydrogen emission condition is generated based on the vehicle's surrounding environment identification results, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy for the low-pressure vent valve activation hydrogen emission condition.

[0089] Specifically, such as Figure 5 As shown, if the current hydrogen emission condition is low-pressure vent valve activation, the HMS (Hydrogen Management System) sends a low-pressure vent valve activation request signal based on this condition. It also collects information about the vehicle's surroundings via a 360-degree panoramic camera to obtain environmental recognition results. Simultaneously, this information is sent to the vehicle control unit (ECU) to determine if there are any obstacles behind the vehicle, such as other vehicles, pedestrians, or other objects that might obstruct hydrogen emission. If no obstacles are found, the ECU approves the low-pressure vent valve activation request and controls the second solenoid valve of the hydrogen emission system to open, thus venting hydrogen from the vehicle. Otherwise, it obtains the third distance between the target obstacle and the vehicle. If the third distance meets the third hydrogen emission distance threshold, it controls the second solenoid valve of the hydrogen emission system to open. The valve opens and hydrogen is released from the vehicle. Otherwise, the temperature data around the vehicle collected by the first temperature sensor is acquired and sent to the ECU to determine whether the temperature data is greater than the second preset temperature threshold. If the temperature data is less than or equal to the second preset temperature threshold, the ECU agrees to execute the low-pressure vent valve activation request, controls the second solenoid valve to open, and releases hydrogen. Otherwise, it determines whether the vehicle meets the active start conditions. If the vehicle meets the active start conditions, it controls the vehicle to start actively and reacquires the environmental recognition results around the vehicle. Otherwise, the ECU refuses to execute the low-pressure vent valve activation request, generates a second hydrogen release rejection signal, and sends a third reminder signal to the user, causing the instrument panel lights to flash and the vehicle's infotainment system to alarm, reminding the user to leave the vehicle.

[0090] According to the safety control method of the hydrogen emission system in this application embodiment, the current hydrogen emission condition of the vehicle is determined. If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the vehicle's surrounding environment identification result is obtained based on the hydrogen emission request signal. A safety control strategy for the current hydrogen emission condition is generated based on the vehicle's surrounding environment identification result, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. This solves the problem that the lack of intelligent safety detection and control mechanisms can easily lead to hydrogen accumulation or even explosions during the hydrogen emission process due to improper operation, making it difficult to ensure the safety of the hydrogen emission process in complex environments. By identifying the hydrogen emission environment and generating corresponding safety control strategies when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

[0091] Next, the safety control device for a hydrogen emission system proposed according to an embodiment of this application is described with reference to the accompanying drawings.

[0092] Figure 6 This is a block diagram of the safety control device of the hydrogen emission system according to an embodiment of this application.

[0093] like Figure 6 As shown, the safety control device 10 of the hydrogen emission system includes: a determination module 100, an acquisition module 200, and a control module 300.

[0094] Among them, the determination module 100 is used to determine the current hydrogen emission conditions of the vehicle;

[0095] The acquisition module 200 is used to acquire the vehicle's surrounding environment recognition result based on the hydrogen emission request signal corresponding to the current hydrogen emission condition if a hydrogen emission request signal corresponding to the current hydrogen emission condition is received.

[0096] The control module 300 is used to generate a safety control strategy for the current hydrogen emission condition based on the identification results of the vehicle's surrounding environment, and to control the vehicle to safely emit hydrogen based on the safety control strategy.

[0097] According to one embodiment of this application, the hydrogen emission conditions of the vehicle include purging hydrogen emission conditions, TPRD-activated hydrogen emission conditions, and low-pressure vent valve-activated hydrogen emission conditions.

[0098] According to one embodiment of this application, the control module 300 includes:

[0099] The first judgment unit is used to determine whether there are target obstacles around the vehicle based on the recognition results of the vehicle's surrounding environment.

[0100] The first control unit is used to control the first solenoid valve of the hydrogen exhaust system to open and perform a purging action to exhaust hydrogen from the vehicle if there is no target obstacle around the vehicle; otherwise, it obtains the first distance between the target obstacle and the vehicle. The first solenoid valve is connected to the fuel cell controller of the hydrogen exhaust system, the fuel cell, and the first temperature sensor of the hydrogen exhaust system.

[0101] The second judgment unit is used to control the first solenoid valve to open and perform a purging action to remove hydrogen from the vehicle if the first distance meets the first hydrogen discharge distance threshold; otherwise, it acquires the temperature data around the vehicle and determines whether the temperature data is greater than the first preset temperature threshold.

[0102] The third judgment unit is used to control the first solenoid valve to open and perform a purging action to remove hydrogen from the vehicle if the temperature data is less than or equal to the first preset temperature threshold; otherwise, it determines whether the vehicle meets the conditions for active start-up.

[0103] The second control unit is used to control the vehicle to start actively if the vehicle meets the active start conditions, and to reacquire the recognition results of the vehicle's surrounding environment; otherwise, it generates a first hydrogen emission rejection signal and sends a first reminder signal to the user.

[0104] According to one embodiment of this application, the control module 300 includes:

[0105] The fourth judgment unit is used to generate a second reminder signal based on the hydrogen emission request signal corresponding to the TPRD activation hydrogen emission condition, and send the second reminder signal to the user. At the same time, based on the vehicle's surrounding environment recognition results, it determines whether there are target obstacles around the vehicle.

[0106] The first acquisition unit is used to control the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve of the hydrogen exhaust system to be in the open state to exhaust hydrogen from the vehicle if there is no target obstacle around the vehicle; otherwise, it acquires the second distance between the target obstacle and the vehicle. The second solenoid valve is connected to the safety valve, the second temperature sensor and the hydrogen exhaust system controller of the hydrogen exhaust system respectively.

[0107] The fifth judgment unit is used to control the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve to be in the open state to discharge hydrogen from the vehicle if the second distance meets the second hydrogen discharge distance threshold; otherwise, it determines whether the vehicle meets the active acceleration conditions.

[0108] The third control unit is used to control the vehicle to actively accelerate if the vehicle meets the conditions for active acceleration, and to control the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve to be in the open state to discharge hydrogen from the vehicle; otherwise, it re-acquires the second distance between the target obstacle and the vehicle.

[0109] According to one embodiment of this application, the control module 300 includes:

[0110] The sixth judgment unit is used to determine whether there are target obstacles around the vehicle based on the recognition results of the vehicle's surrounding environment.

[0111] The fourth control unit is used to control the second solenoid valve of the hydrogen exhaust system to open to exhaust hydrogen from the vehicle if there is no target obstacle around the vehicle; otherwise, it obtains the third distance between the target obstacle and the vehicle.

[0112] The seventh judgment unit is used to control the second solenoid valve of the hydrogen exhaust system to open and exhaust hydrogen from the vehicle if the third distance meets the third hydrogen exhaust distance threshold; otherwise, it acquires the temperature data around the vehicle and determines whether the temperature data is greater than the second preset temperature threshold.

[0113] The eighth judgment unit is used to control the second solenoid valve to open and discharge hydrogen from the vehicle if the temperature data is less than or equal to the second preset temperature threshold; otherwise, it determines whether the vehicle meets the conditions for active start-up.

[0114] The second acquisition unit is used to control the vehicle to start actively if the vehicle meets the active start conditions, and to reacquire the identification results of the vehicle's surrounding environment; otherwise, it generates a second hydrogen rejection signal and sends a third reminder signal to the user.

[0115] According to the safety control device of the hydrogen emission system in this application embodiment, the current hydrogen emission condition of the vehicle is determined. If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the device acquires the identification result of the vehicle's surrounding environment based on the hydrogen emission request signal, generates a safety control strategy for the current hydrogen emission condition based on the identification result, and controls the vehicle to safely emit hydrogen based on the safety control strategy. This solves the problem that the lack of intelligent safety detection and control mechanisms can easily lead to hydrogen accumulation or even explosions during hydrogen emission, making it difficult to ensure the safety of hydrogen emission in complex environments. By identifying the hydrogen emission environment and generating corresponding safety control strategies when there is a risk of hydrogen emission, the safety of hydrogen emission is improved.

[0116] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0117] The memory 701, the processor 702, and the computer program stored on the memory 701 and executable on the processor 702.

[0118] When the processor 702 executes the program, it implements the safety control method for the hydrogen emission system provided in the above embodiments.

[0119] Furthermore, the vehicle also includes:

[0120] Communication interface 703 is used for communication between memory 701 and processor 702.

[0121] The memory 701 is used to store computer programs that can run on the processor 702.

[0122] The memory 701 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0123] If the memory 701, processor 702, and communication interface 703 are implemented independently, then the communication interface 703, memory 701, and processor 702 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of representation, Figure 7 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0124] Optionally, in a specific implementation, if the memory 701, processor 702, and communication interface 703 are integrated on a single chip, then the memory 701, processor 702, and communication interface 703 can communicate with each other through an internal interface.

[0125] The processor 702 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0126] This embodiment also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described safety control method for the hydrogen emission system.

[0127] This embodiment also provides a computer program product, including a computer program that is executed to implement the safety control method for the hydrogen emission system described in the above embodiment.

[0128] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0129] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0130] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0131] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which programs can be printed, because programs can be obtained electronically, for example, by optically scanning the paper or other media, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0132] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0133] Those skilled in the art will understand that all or part of the steps of the methods described in the above embodiments can be implemented by a program instructing related hardware, and the program can be stored in a computer-readable storage medium. When executed, the program includes one or a combination of the steps of the method embodiments.

[0134] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0135] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A safety control method for a hydrogen emission system, characterized in that, Includes the following steps: Determine the vehicle's current hydrogen emission status; If a hydrogen emission request signal corresponding to the current hydrogen emission condition is received, the vehicle's surrounding environment recognition result is obtained based on the hydrogen emission request signal corresponding to the current hydrogen emission condition. Based on the identification results of the vehicle's surrounding environment, a safety control strategy for the current hydrogen emission condition is generated, and the vehicle is controlled to safely emit hydrogen based on the safety control strategy. The hydrogen emission conditions of the vehicle include purging hydrogen emission condition, TPRD activated hydrogen emission condition, and low-pressure vent valve activated hydrogen emission condition. The current hydrogen emission condition is the purging hydrogen emission condition. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification results, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes: determining whether there is a target obstacle around the vehicle based on the vehicle's surrounding environment identification results; if there is no target obstacle around the vehicle, controlling the first solenoid valve of the hydrogen emission system to open and performing a purging action to emit hydrogen from the vehicle; otherwise, obtaining the first distance between the target obstacle and the vehicle. The first solenoid valve is connected to the fuel cell controller, the fuel cell, and the first temperature sensor of the hydrogen emission system. If the first distance meets the first hydrogen emission distance threshold, the first solenoid valve is opened and a purging action is performed to purge hydrogen from the vehicle. Otherwise, temperature data around the vehicle is acquired, and it is determined whether the temperature data is greater than a first preset temperature threshold. If the temperature data is less than or equal to the first preset temperature threshold, the first solenoid valve is opened and a purging action is performed to purge hydrogen from the vehicle. Otherwise, it is determined whether the vehicle meets the active start-up conditions. If the vehicle meets the active start-up conditions, the vehicle is controlled to start actively, and the environmental recognition results around the vehicle are acquired again. Otherwise, a first hydrogen emission rejection signal is generated, and a first reminder signal is sent to the user.

2. The method according to claim 1, characterized in that, The current hydrogen emission condition is the TPRD-activated hydrogen emission condition. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification results, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes: A second reminder signal is generated based on the hydrogen emission request signal corresponding to the TPRD activation hydrogen emission condition, and the second reminder signal is sent to the user. At the same time, based on the vehicle surrounding environment recognition results, it is determined whether there are target obstacles around the vehicle. If there is no target obstacle around the vehicle, the hydrogen cylinder valve, pressure reducing valve, safety valve and second solenoid valve of the hydrogen exhaust system are all in the open state to exhaust hydrogen from the vehicle; otherwise, the second distance between the target obstacle and the vehicle is obtained, wherein the second solenoid valve is connected to the safety valve, the second temperature sensor and the hydrogen exhaust system controller of the hydrogen exhaust system respectively. If the second distance meets the second hydrogen discharge distance threshold, then the hydrogen cylinder valve, the pressure reducing valve, the safety valve and the second solenoid valve are all in the open state to discharge hydrogen from the vehicle; otherwise, it is determined whether the vehicle meets the active acceleration conditions. If the vehicle meets the active acceleration condition, the vehicle is controlled to actively accelerate, and the hydrogen cylinder valve, the pressure reducing valve, the safety valve, and the second solenoid valve are all controlled to be in the open state to discharge hydrogen from the vehicle; otherwise, the second distance between the target obstacle and the vehicle is reacquired.

3. The method according to claim 1, characterized in that, The current hydrogen emission condition is the hydrogen emission condition activated by the low-pressure vent valve. The step of generating a safety control strategy for the current hydrogen emission condition based on the vehicle's surrounding environment identification results, and controlling the vehicle to safely emit hydrogen based on the safety control strategy, includes: Based on the vehicle's surrounding environment recognition results, it is determined whether there are any target obstacles around the vehicle; If there is no target obstacle around the vehicle, the second solenoid valve of the hydrogen exhaust system is opened to exhaust hydrogen from the vehicle; otherwise, the third distance between the target obstacle and the vehicle is obtained. If the third distance meets the third hydrogen emission distance threshold, the second solenoid valve of the hydrogen emission system is opened to emit hydrogen from the vehicle; otherwise, the temperature data around the vehicle is acquired and it is determined whether the temperature data is greater than the second preset temperature threshold. If the temperature data is less than or equal to the second preset temperature threshold, the second solenoid valve is controlled to open and hydrogen is discharged from the vehicle; otherwise, it is determined whether the vehicle meets the conditions for active start-up. If the vehicle meets the active start conditions, the vehicle is controlled to start actively, and the environmental recognition results of the vehicle's surroundings are reacquired; otherwise, a second hydrogen rejection signal is generated, and a third reminder signal is sent to the user.

4. A safety control device for a hydrogen emission system, characterized in that, include: The determination module is used to determine the vehicle's current hydrogen emission conditions; The acquisition module is used to acquire the vehicle's surrounding environment recognition result based on the hydrogen emission request signal corresponding to the current hydrogen emission condition if a hydrogen emission request signal corresponding to the current hydrogen emission condition is received. The control module is used to generate a safety control strategy for the current hydrogen emission condition based on the identification results of the vehicle's surrounding environment, and to control the vehicle to safely emit hydrogen based on the safety control strategy. The hydrogen emission conditions of the vehicle include purging hydrogen emission condition, TPRD activated hydrogen emission condition, and low-pressure vent valve activated hydrogen emission condition. The control module includes: a first judgment unit, configured to determine whether a target obstacle exists around the vehicle based on the vehicle's surrounding environment recognition result; a first control unit, configured to, if the target obstacle does not exist around the vehicle, control the opening of the first solenoid valve of the hydrogen exhaust system and perform a purging action to exhaust hydrogen from the vehicle; otherwise, obtain a first distance between the target obstacle and the vehicle, wherein the first solenoid valve is connected to the fuel cell controller, the fuel cell, and the first temperature sensor of the hydrogen exhaust system; and a second judgment unit, configured to, if the first distance meets a first hydrogen exhaust distance threshold, control the opening of the first solenoid valve. The system performs a purging action to remove hydrogen from the vehicle; otherwise, it acquires temperature data around the vehicle and determines whether the temperature data is greater than a first preset temperature threshold. A third determining unit controls the first solenoid valve to open and performs a purging action to remove hydrogen from the vehicle if the temperature data is less than or equal to the first preset temperature threshold; otherwise, it determines whether the vehicle meets the active start-up conditions. A second control unit controls the vehicle to start actively if the vehicle meets the active start-up conditions and reacquires the environmental recognition results around the vehicle; otherwise, it generates a first hydrogen removal rejection signal and sends a first reminder signal to the user.

5. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the safety control method for a hydrogen emission system as described in any one of claims 1-3.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the safety control method for the hydrogen emission system as described in any one of claims 1-3.

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