Vehicle control method, controller, system, medium and vehicle

Abstract

The embodiment of the invention provides a vehicle control method, a controller, a system, a medium and a vehicle. The vehicle comprises a first controller and a second controller, and the first controller and the second controller are respectively integrated with a first function; the method comprises the steps that under the condition that a first controller serves as a main controller, the first controller sends a state signal to a second controller, and the state signal is used for indicating the working state of the first controller; when the second controller determines that the working state of the first controller is abnormal according to the receiving condition of the state signal, the first function is executed, so that the control reliability of the vehicle can be improved.

Description

Technical Field

[0001] The embodiments of the present specification relate to the field of vehicle control technology, and specifically to a vehicle control method, controller, system, medium and vehicle. Background Art

[0002] An electric vehicle is a vehicle that uses an onboard power source as a power source and uses a motor to drive the wheels. During the operation of an electric vehicle, it is usually necessary to control various functions of the vehicle so that the vehicle can run normally. For example, the vehicle can be powered on and off. By powering on the vehicle, the onboard power source can supply power to various loads to drive the loads to work normally. By powering off the vehicle, the onboard power source stops supplying power to the loads, and the loads also stop working.

[0003] In the related art, when controlling various functions of electric vehicles, the control is usually performed according to a preset timing, and its reliability needs to be improved. Summary of the invention

[0004] In view of this, multiple embodiments of the present specification are directed to providing a control method, a controller, a system, a medium and a vehicle of a vehicle to improve the reliability of the vehicle.

[0005] An embodiment of the present specification provides a method for controlling a vehicle, wherein the vehicle includes a first controller and a second controller, wherein the first controller and the second controller are respectively integrated with a first function; the method includes: when the first controller serves as a main controller, the first controller sends a status signal to the second controller, wherein the status signal is used to indicate a working status of the first controller, so that when the second controller determines that the working status of the first controller is abnormal based on the reception of the status signal, the first function is executed.

[0006] In some embodiments, the vehicle includes a first controller and a second controller, and the first controller and the second controller are respectively integrated with a first function; the method includes: when the first controller serves as a main controller, the second controller receives a status signal from the first controller, and the status signal is used to indicate a working status of the first controller; if the second controller determines that the working status of the first controller is abnormal based on the reception of the status signal, the second controller executes the first function.

[0007] In some embodiments, the status signal is a heartbeat signal.

[0008] In some implementations, the status signal indicates that the operating status of the first control is normal.

[0009] In some embodiments, the second controller determines that the working state of the first controller is abnormal when the reception condition of the status signal satisfies the following condition: the second controller does not receive the status signal within a first time period.

[0010] In some embodiments, the second controller determines that the working state of the first controller is abnormal when the reception condition of the status signal satisfies the following conditions: the value of the counter of the second controller is greater than or equal to a specified value; wherein, the counter is counted from zero according to a specified period by the second controller when the status signal is received, and the specified period is equal to the sending period of the status signal.

[0011] In some embodiments, the first controller is a domain controller, and / or the second controller is a domain controller.

[0012] In some embodiments, the first function includes a power on / off function.

[0013] In some embodiments, executing the first function includes: controlling the vehicle to enter a power-on process when a power-on request signal is detected; or controlling the vehicle to enter a power-off process when a power-off request signal is detected.

[0014] In some embodiments, entering the power-on process includes: adjusting the power gear of the vehicle to the circuit-on gear; when the power gear is in the circuit-on gear, if it is detected that the vehicle meets a preset drivable state condition, controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle.

[0015] In some embodiments, adjusting the power gear position of the vehicle to the circuit-on gear includes: when a key corresponding to the vehicle passes anti-theft verification, adjusting the power gear position to the circuit-on gear.

[0016] In some embodiments, the first controller and the second controller are both connected to multiple electronic units of the vehicle, the multiple electronic units include a high-voltage electronic unit, and the high-voltage electronic unit includes a motor control unit; before the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle, the method also includes: when the power gear is in the circuit-on gear, self-checking the high-voltage electronic unit and performing power anti-theft verification on the motor control unit; when the self-check passes and the power anti-theft verification passes, detecting whether the vehicle meets the drivable state condition.

[0017] In some embodiments, the first controller and the second controller are both connected to multiple electronic units of the vehicle, and the multiple electronic units include high-voltage electronic units; the controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle includes: controlling the pre-charging contactor and the main negative contactor to be attracted to make the vehicle enter a high-voltage pre-charging mode; wherein the high-voltage pre-charging mode is used to pre-charge the high-voltage electronic unit; when the vehicle is in the high-voltage pre-charging mode, if the high-voltage electronic unit has not experienced a pre-charging timeout or pre-charging fault, controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle, and delaying the disconnection of the pre-charging contactor.

[0018] In some embodiments, the high-voltage electronic unit includes a motor control unit, a DC converter, and a battery pack; the drivable state condition includes at least one of the following: the vehicle has no collision, the driving gear is P gear or N gear, the battery pack is in normal condition, the high-voltage electronic unit does not have a specified level of leakage, the high-voltage interlocking device corresponding to the high-voltage electronic unit is normal, the contactor has no sintering fault, the motor control unit has no cover opening fault, and the DC converter does not have a specified level of fault.

[0019] In some implementations, the power-on request signal includes a start signal and a brake signal.

[0020] In some embodiments, both the first controller and the second controller are connected to multiple electronic units of the vehicle, and the multiple electronic units include a high-voltage electronic unit; entering the power-off process includes: controlling the high-voltage electronic unit to stop running; when the high-voltage electronic unit stops running, if it is detected that the vehicle meets a preset power-off condition, controlling the main positive contactor and the main negative contactor to disconnect to power off the vehicle.

[0021] In some embodiments, the multiple electronic units include a vehicle heater and a vehicle compressor, and the high-voltage electronic unit includes a motor; the power-off condition includes at least one of the following: the vehicle speed is less than or equal to a specified vehicle speed threshold, the motor speed is less than or equal to a specified motor speed threshold, the motor has been unloaded, the contactor has no sintering fault, and the vehicle heater and the vehicle compressor are in a power-off state.

[0022] An embodiment of the present specification provides a controller, including a processor, wherein the processor is connected to a memory, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any of the above embodiments is implemented.

[0023] An embodiment of the present specification provides an electronic and electrical system for a vehicle, including a first controller and a second controller.

[0024] An embodiment of the present specification provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method described in any of the above embodiments is implemented.

[0025] An embodiment of the present specification provides a vehicle, comprising a controller as described in any of the above embodiments.

[0026] In multiple implementations provided in this specification, a vehicle includes a first controller and a second controller each integrated with a first function. When the first controller serves as a main controller, the first controller sends a status signal to the second controller, and the status signal is used to indicate the working status of the first controller, so that when the second controller determines that the working status of the first controller is abnormal based on the reception of the status signal, it executes the first function. In this way, the reliability of vehicle control can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A schematic diagram of an electronic and electrical system of a vehicle provided for an embodiment of this specification;

[0028] Figure 2 A schematic flow chart of a vehicle control method provided in an embodiment of this specification;

[0029] Figure 3 A schematic diagram of a power-on process of a vehicle control method provided in an embodiment of this specification;

[0030] Figure 4 A schematic diagram of a power-on process of a vehicle control method provided in an embodiment of this specification;

[0031] Figure 5 A schematic diagram of a power-on process of a vehicle control method provided in an embodiment of this specification;

[0032] Figure 6 A schematic diagram of a power-off process of a vehicle control method provided in an embodiment of this specification;

[0033] Figure 7a A schematic diagram of a power-on process of a vehicle control method provided in an embodiment of this specification;

[0034] Figure 7b A schematic diagram of a power-off process of a vehicle control method provided in an embodiment of this specification;

[0035] Figure 8 A schematic diagram of a computer device provided for embodiments of the present specification. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the solution of this specification, the technical solution in the implementation of this specification will be clearly and completely described below in conjunction with the drawings in the implementation of this specification. Obviously, the described implementation is only a part of the implementation of this specification, not all of the implementations. Based on the implementation in this specification, all other implementations obtained by ordinary technicians in this field without creative work are within the scope of protection of this specification.

[0037] In the related art, the vehicle is usually controlled according to a preset timing. For example, the power-on and power-off process of the electric vehicle is realized by controlling the closing or opening of the contactor according to the preset timing. In the process of controlling the vehicle, when a control component fails, it is difficult to restore to normal in time, and its reliability needs to be improved.

[0038] In some other related technologies, in the process of controlling the power on and off of the vehicle, the control strategy or control logic of the vehicle power on and off is relatively complicated, and there are many data transmission links in the vehicle, which easily affects the timeliness of the control.

[0039] Therefore, it is necessary to provide a vehicle control method, based on a first controller and a second controller of the vehicle that are capable of communicating with each other and are respectively integrated with a first function. First, when the first controller is operating normally, it can act as a main controller to send a status signal to the second controller, so that the second controller can determine whether to replace the first controller as the main controller to perform the first function based on the reception of the status signal. In this way, the control reliability of the vehicle can be improved.

[0040] This specification provides a scenario example of a vehicle control method. Figure 1 , this scenario example may be the electronic and electrical system of a vehicle, and the electronic and electrical system of the vehicle may include a first controller and a second controller that are arranged on the vehicle and can communicate with each other. Among them, the first controller may be a domain controller, and / or, the second controller may be a domain controller, in other words, the first controller may be a first domain controller, and the second controller may be a second domain controller. Both the first controller and the second controller are capable of controlling the vehicle, that is, the first controller and the second controller are each integrated with the first function of the vehicle, so that the control logic of the vehicle can be optimized based on the first controller and the second controller, and the transmission speed and efficiency of data and information in the vehicle can be improved. Among them, the vehicle may be a new energy vehicle or an electric vehicle, for example, it may be a pure electric vehicle, an extended-range electric vehicle, a fuel cell electric vehicle, etc.

[0041] Specifically, the first function may include a power on / off function of the vehicle. In this way, the power on / off control function of the vehicle can be implemented based on the first controller and the second controller.

[0042] Specifically, the electronic and electrical system of the vehicle may also include multiple electronic units on the vehicle. Exemplarily, the multiple electronic units may include at least part of a shift control panel assembly, a wheel speed sensor, a detection antenna, a start button, a brake sensor, and a driver's door micro switch. As an example, the multiple electronic units may also include at least one of a vehicle heater and a vehicle compressor. As an example, the multiple electronic units may also include a vehicle instrument and an airbag control unit (Supplemental Restraint System, SRS). It is understandable that the electronic units on the vehicle may also be other units or components.

[0043] Among them, the shift control panel assembly can be used to collect the vehicle gear position signal, that is, it is responsible for collecting the driver's driving intention signal. The wheel speed sensor can be used to collect the vehicle speed signal, that is, it is mainly responsible for feeding back the wheel side status of the vehicle to the first controller and the second controller in real time, so as to judge the body posture. The detection antenna can realize key authentication based on the low-frequency signal sent, and is mainly responsible for key detection in the vehicle or anti-theft verification of the key. The start button can be used to collect the start signal of the vehicle. The brake sensor can be used to collect the brake signal. The driver's door micro switch can be used to collect the driver's door status signal, exemplarily, the driver's door is also the left front door. SRS can be used to collect vehicle collision signals, or it can be used to receive the vehicle collision signal sent by the collision sensor to determine whether the vehicle is hit. MCU can be used to collect the motor status signal of the vehicle. The battery pack can be used to collect the battery status signal of the vehicle. The vehicle instrument can be used to display the vehicle status. The above-mentioned multiple electronic units can transmit the collected signals to the first controller or the second controller, so that the main controller in the first controller and the second controller can perform logical judgment and operation of high-voltage power on and off based on the received signals, thereby realizing the high-voltage power on and off of the vehicle.

[0044] Exemplarily, the multiple electronic units may include multiple high-voltage electronic units. The multiple high-voltage electronic units may include a motor control unit (MCU), a DC-DC concerter (DCDC), a battery pack, a motor, etc. Among them, the DCDC can be used to convert the high-voltage direct current of the battery pack into low-voltage direct current after the vehicle is successfully powered on at high voltage, so as to supply the low-voltage direct current.

[0045] Exemplarily, the electronic and electrical system of the vehicle may further include a contactor for realizing power on and off control of the vehicle, for example, a main positive contactor and a main negative contactor, and a pre-charge contactor.

[0046] For details, please continue to see Figure 1The first controller and the second controller can both be connected to multiple electronic units of the vehicle, thereby realizing the integration of the first function of the vehicle in the first controller and the second controller. In this way, the second controller can be used as a redundant backup of the first controller. When the first controller fails and cannot operate normally, the second controller can be combined with the multiple electronic units connected to it to take over the vehicle power-on and power-off functions in time, thereby improving the stability of the vehicle's electronic and electrical system in power-on and power-off control. At the same time, by connecting the first controller and the second controller to multiple electronic units, multi-channel signal collection and transmission of any electronic unit can be realized, thereby further improving the power-on and power-off stability of the vehicle's electronic and electrical system.

[0047] Exemplarily, to further improve the stability of power on and off of the vehicle's electronic and electrical system, the electronic and electrical system may also include a third controller, a fourth controller, or more domain controllers. These domain controllers may be configured the same as the second controller, that is, they may be able to communicate with the first controller to receive status signals sent by the first controller, and be connected to multiple electronic units on the vehicle to achieve communication redundancy and control redundancy for power on and off of the vehicle.

[0048] This specification provides a method for controlling a vehicle. Figure 2 , Figure 2 It is a flow chart of a vehicle control method provided by the present embodiment. The present embodiment provides method operation steps as shown in the flow chart, but more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in the embodiment is only one execution method among many step execution sequences, and does not represent the only execution order. When the system or server product is executed in practice, it can be executed in sequence or in parallel according to the method shown in the embodiment (for example, a parallel processor or a multi-threaded processing environment). The vehicle control method can be applied to the electronic and electrical system of the vehicle, and the vehicle control method may include: when the first controller is used as the main controller, the first controller sends a status signal to the second controller, and the status signal is used to indicate the working status of the first controller, so that when the second controller determines that the working status of the first controller is abnormal based on the reception of the status signal, it executes the first function.

[0049] In this implementation, please continue to refer to Figure 1 The vehicle is configured with a first controller and a second controller that can communicate with each other, wherein the first controller and the second controller are both integrated with a first function of the vehicle, and when the operating state of the first controller is normal, the first controller can perform the first function as a main controller, and the first controller can send a status signal to the second controller for indicating the operating state or working state of the first controller.

[0050] Specifically, the reception of the status signal may refer to whether the second controller receives the status signal, and / or the time after the second controller receives the status signal. For example, the second controller may serve as a redundant backup of the first controller, and the second controller may determine whether the first controller fails or is abnormal based on the reception of the status signal, and may perform the first function as the main controller when the first controller fails.

[0051] In the above embodiment, the second controller is utilized to determine whether the working state of the first controller is abnormal after receiving a status signal. Then, after determining that the working state of the first controller is abnormal, the second controller replaces the first controller as the main controller to perform the first function, thereby improving the control redundancy of the vehicle and further improving the control reliability of the vehicle.

[0052] In some implementations, the status signal may be a heartbeat signal or a heartbeat message, that is, the status signal may be a periodic signal.

[0053] In some embodiments, the status signal may indicate that the working status of the first controller is normal.

[0054] The present specification also provides a vehicle control method, which can be applied to the electronic and electrical system of the vehicle. Figure 2 , the vehicle control method may include the following steps.

[0055] Step S210: When the first controller is used as the main controller, the second controller receives a status signal from the first controller, where the status signal is used to indicate the working status of the first controller;

[0056] Step S220: If the second controller determines that the working state of the first controller is abnormal based on the reception of the state signal, the second controller executes the first function.

[0057] In some embodiments, when the reception of the status signal meets the following conditions, the second controller determines that the working state of the first controller is abnormal: the second controller does not receive the status signal within the first time length. Specifically, when the first controller is in normal operation, it can serve as the main controller and can send a status signal to the second controller according to a specified period. Among them, the first time length is greater than the specified period. The second controller can start timing after receiving the status signal. If the status signal sent by the first controller is not received again within the first time length, it can be determined that the working state of the first controller is abnormal, and the first controller can be replaced as the main controller to perform the first function. In this way, when the first controller fails and cannot operate normally, the second controller can take over the first function of the vehicle in time as the main controller to improve the control reliability of the vehicle.

[0058] In some embodiments, the second controller determines that the working state of the first controller is abnormal when the reception of the status signal satisfies the following conditions: the value of the counter of the second controller is greater than or equal to a specified value. Specifically, the counter is counted from zero according to a specified period by the second controller when the status signal is received, and the specified period is equal to the sending period of the status signal. The value of the counter can represent the number of specified periods, that is, it can represent the number of specified periods that the second controller has passed after receiving the status signal.

[0059] Exemplarily, the designated value may be 3, that is, when the value of the counter is greater than or equal to 3, the second controller may determine that the first controller is in an abnormal state.

[0060] In the above embodiment, the working state of the first controller is determined by whether the counter of the second controller is greater than or equal to a specified value. In this way, when the first controller fails to operate normally, the second controller can take over the vehicle's function as the main controller in time, thereby improving the control reliability of the vehicle's electrical control.

[0061] In some embodiments, the first controller or the second controller performs the first function as a main controller, and the first function may include a vehicle power-on and power-off function. Specifically, the first function may include: controlling the vehicle to enter a power-on process when a power-on request signal is detected; or controlling the vehicle to enter a power-off process when a power-off request signal is detected.

[0062] Specifically, the first controller or the second controller as the main controller can detect the power-on request signal, and enter the power-on process when the power-on request signal is detected, so as to power on the vehicle. The power-on request signal can be a signal for requesting power-on, or a combination of multiple signals.

[0063] Exemplarily, the power-on request signal may include a start signal and a brake signal. In other words, the power-on request signal may be a combination of the start signal and the brake signal.

[0064] Specifically, the first controller or the second controller as the main controller can detect the power-off request signal, and when the power-off request signal is detected, enter the power-off process to power off the vehicle. The power-off request signal can be a signal for requesting power on or off, or a combination of multiple signals.

[0065] In the above implementation, the vehicle is controlled to enter a power-on process or a power-off process based on the second controller as a redundant backup of the first controller, thereby improving the control reliability of high-voltage power on and off of the vehicle.

[0066] In some embodiments, see Figure 3 , enter the power-on process, which may include the following steps.

[0067] Step S310: Adjust the power level of the vehicle to the circuit-on level.

[0068] Specifically, the main controller can adjust the power gear to the circuit-on gear to connect the entire vehicle circuit. That is to say, when the power gear is in the circuit-on gear, the entire vehicle circuit is in a working state to power the electronic units in the vehicle.

[0069] Exemplarily, the circuit-on position may be represented as “ON position”.

[0070] Step S320: When the power gear is in the circuit-on gear, if it is detected that the vehicle meets the preset drivable state conditions, the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle.

[0071] Specifically, when the power gear is in the circuit-on gear, the main controller can detect whether the preset drivable state conditions are met based on the signals fed back by the multiple connected electronic units. If it is detected that the vehicle meets the preset drivable state conditions, the main positive contactor and the main negative contactor can be controlled to be attracted, thereby powering on the vehicle.

[0072] The drivable state condition can be represented as "OK gear" or "OK ​​light". For example, if it is detected that the vehicle meets the preset drivable state condition, "OK gear" or "OK ​​light" can be displayed on the vehicle instrument, indicating that the vehicle is in a drivable state and allowed to start, and then the main positive contactor and the main negative contactor are controlled to be attracted, so as to power on the vehicle with high voltage. In this way, the stability and reliability of the vehicle's high-voltage power-on can be improved.

[0073] In some embodiments, adjusting the power gear of the vehicle to the circuit-on gear may include: adjusting the power gear to the circuit-on gear when a key corresponding to the vehicle passes anti-theft verification.

[0074] In some cases, in order to further improve the reliability of the vehicle power on and off control, the main controller can perform anti-theft verification on the key corresponding to the vehicle before adjusting the power gear to the circuit-on gear, and adjust the power gear to the circuit-on gear when the key corresponding to the vehicle passes the anti-theft verification. Exemplarily, the detection antenna can detect the key in the vehicle based on the low-frequency signal sent to determine whether it is the key corresponding to the vehicle, and perform anti-theft authentication on the key corresponding to the vehicle. The main controller can determine whether the key corresponding to the vehicle passes the anti-theft authentication based on the signal fed back by the detection antenna, so that the reliability of the vehicle power on and off can be further improved.

[0075] In some embodiments, see Figure 4 Before controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle, the vehicle electrical control method may further include the following steps.

[0076] Step S410: When the power gear is in the circuit-on gear, a self-check is performed on the high-voltage electronic unit, and a power anti-theft verification is performed on the motor control unit.

[0077] Specifically, to further improve the reliability of vehicle power on and off, when the power gear is in the circuit-on gear, the main controller can self-check the IG power on and off of the motor control unit MCU, DC converter DCDC, battery pack, motor and other high-voltage electronic units, and can perform power anti-theft verification on the motor control unit MCU. For example, if the power anti-theft verification fails, a power anti-theft alarm can be issued.

[0078] Step S420: When the self-check and the power anti-theft verification are passed, whether the vehicle meets the conditions for being able to drive is detected.

[0079] In the above embodiment, when the power gear is in the circuit-on gear, the high-voltage electronic unit is self-checked and the motor control unit is verified for power anti-theft. If the self-check passes and the power anti-theft verification passes, whether the vehicle meets the drivable state condition is detected, and if it is detected that the vehicle meets the preset drivable state condition, the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle. In this way, the reliability of powering on and off the vehicle can be further improved.

[0080] In some embodiments, see Figure 5 , controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle may include the following steps.

[0081] Step S510: Control the pre-charging contactor and the main negative contactor to be attracted so that the vehicle enters a high-voltage pre-charging mode; wherein the high-voltage pre-charging mode is used to pre-charge the high-voltage electronic unit.

[0082] In some cases, considering the high voltage when the vehicle is powered on, the vehicle can be controlled to enter a high-voltage pre-charging mode before the vehicle is powered on to reduce the damage caused by the high-voltage shock to the high-voltage electronic units in the vehicle, thereby improving the reliability of vehicle power-on.

[0083] Step S520: When the vehicle is in the high-voltage pre-charging mode, if the high-voltage electronic unit has no pre-charging timeout or pre-charging fault, the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle, and the pre-charging contactor is disconnected with a delay.

[0084] Among them, when the vehicle is in the high-voltage pre-charging mode, if the high-voltage electronic unit is pre-charged, it means that there is no pre-charging timeout or pre-charging failure in the high-voltage electronic unit.

[0085] In the above embodiment, the vehicle is controlled to enter a high-voltage pre-charging mode to pre-charge the high-voltage electronic unit, and the vehicle is powered on when there is no pre-charging timeout or pre-charging failure in the high-voltage electronic unit. In this way, the damage caused by high-voltage shock to the high-voltage electronic unit in the vehicle can be reduced, and the reliability of vehicle power-on can be improved.

[0086] In some embodiments, the drivable state conditions may include at least one of the following: the vehicle has no collision, the driving gear is P gear or N gear, the battery pack is in normal condition, the high-voltage electronic unit does not have a specified level of leakage, the high-voltage interlocking device corresponding to the high-voltage electronic unit is normal, the contactor has no sintering fault, the motor control unit has no cover opening fault, and the DC converter does not have a specified level of fault.

[0087] Among them, the P gear may refer to the parking gear or the parking gear in the driving gear, and the N gear may refer to the neutral gear, the neutral gear or the neutral gear in the driving gear.

[0088] In some embodiments, see Figure 6 , enter the power-off process, which may include the following steps.

[0089] Step S610: Control the high-voltage electronic unit to stop running.

[0090] Step S620: When the high-voltage electronic unit stops running, if it is detected that the vehicle meets the preset power-off condition, the main positive contactor and the main negative contactor are controlled to be disconnected to power off the vehicle.

[0091] In some embodiments, the power-off condition may include at least one of the following: the vehicle speed is less than or equal to a specified vehicle speed threshold, the motor speed is less than or equal to a specified motor speed threshold, the motor is unloaded, the contactor has no sintering fault, and the status of the vehicle heater and the vehicle compressor is in a power-off state.

[0092] The present specification provides a vehicle control method, which can be applied to a second controller in an electronic and electrical system of a vehicle. Figure 7a and Figure 7b , the vehicle control method may include the following steps.

[0093] Step S701: The driver's door is opened. Specifically, the driver's door may be a left front door. Exemplarily, the driver's door may also be a right front door.

[0094] Step S702: Wake up the first controller and the second controller.

[0095] Step S703: the first controller sends a status signal to the second controller according to a specified period; wherein the status signal is used to indicate that the first controller operates normally as the main controller.

[0096] Step S704: The second controller determines whether it has received a status signal sent by the first controller. If it has received the status signal, it proceeds to step S705; otherwise, it proceeds to step S706.

[0097] Step S705: the first controller serves as a main controller and prepares to be powered on.

[0098] Step S706: the second controller starts counting from zero according to a specified period through a counter.

[0099] Step S707: the second controller judges the value of the counter. If the value of the counter is greater than or equal to 3, the process goes to step S708; otherwise, the process continues to judge the value of the counter.

[0100] Step S708: the second controller serves as the main controller and prepares to be powered on.

[0101] Step S709: Start the vehicle.

[0102] Step S711: Detect the power-on request signal; if the power-on request signal is detected, go to step S712, otherwise, continue to detect the power-on request signal.

[0103] Exemplarily, the power-on request signal includes a start signal and a brake signal.

[0104] Step S712: Perform anti-theft verification on the key corresponding to the vehicle; if the key corresponding to the vehicle fails the anti-theft verification, go to step S713; otherwise, go to step S714.

[0105] Step S713: Output warning information.

[0106] Step S714: Adjust the power level to the circuit-on level.

[0107] Step S715: When the power gear is in the circuit-on gear, the high-voltage electronic unit is self-checked and the motor control unit is verified for power anti-theft; if the self-check passes and the power anti-theft verification passes, go to step S717; otherwise, go to step S716.

[0108] Step S716: Output warning information.

[0109] Step S717: Check whether the vehicle meets the conditions for being able to drive; if the conditions for being able to drive are met, go to step S719; otherwise, go to step S718.

[0110] Among them, the drivable state conditions include at least one of the following: the vehicle has no collision, the driving gear is P gear or N gear, the battery pack is in normal condition, the high-voltage electronic unit does not have a specified level of leakage, the high-voltage interlocking device corresponding to the high-voltage electronic unit is normal, the contactor has no sintering fault, the motor control unit has no cover opening fault, and the DC converter does not have a specified level of fault.

[0111] Step S718: Output warning information.

[0112] Step S719: Control the pre-charging contactor and the main negative contactor to be attracted, so that the vehicle enters the high-voltage pre-charging mode; wherein the high-voltage pre-charging mode is used to pre-charge the high-voltage electronic unit.

[0113] Step S720: When the vehicle is in high-voltage pre-charging mode, determine whether the pre-charging is completed. Completion of pre-charging indicates that the high-voltage electronic unit has not experienced a pre-charging timeout or pre-charging failure. If the high-voltage electronic unit has not experienced a pre-charging timeout or pre-charging failure, go to step S722; otherwise, go to step S721.

[0114] Step S721: disconnect the pre-charging contactor and output an alarm message.

[0115] Step S722: Control the main positive contactor and the main negative contactor to be attracted.

[0116] Step S723: Delay disconnection of the pre-charging contactor and the main negative contactor.

[0117] Step S724: Power on successfully.

[0118] Step S725: After the power-on is successful, continue to detect the power-off request signal. If the power-off request signal is detected, go to step S726.

[0119] Step S726: The second controller determines whether it has received the status signal sent by the first controller. If it has received the status signal, it goes to step S731; otherwise, it goes to step S727.

[0120] Step S727: The second controller starts counting from zero according to a specified period through a counter.

[0121] Step S728: The second controller judges the value of the counter. If the value of the counter is greater than or equal to 3, go to step S729; otherwise, continue to judge the value of the counter.

[0122] Step S729: the second controller prepares to power off as the main controller, and proceeds to step S730 and step S732.

[0123] Step S730: Display warning information through the vehicle instrument.

[0124] Step S731: The first controller serves as the main controller and prepares to be powered off, and then goes to step S732.

[0125] Step S732: Control the high-voltage electronic unit to stop running.

[0126] Step S733: Determine whether the power-off condition is met; if so, go to step S734, otherwise, continue to determine whether the power-off condition is met.

[0127] Among them, the power-off conditions include at least one of the following: the vehicle speed is less than or equal to the specified vehicle speed threshold, the motor speed is less than or equal to the specified motor speed threshold, the motor has been unloaded, the contactor has no sintering fault, and the status of the vehicle heater and the vehicle compressor is in a power-off state.

[0128] Step S734: the main positive contactor and the main negative contactor are disconnected.

[0129] Step S735: Power off successfully.

[0130] The embodiment of the present specification provides a vehicle control device. The vehicle control device can be applied to a second controller in an electronic and electrical system of a vehicle. The vehicle control device can include a main controller determination module, a power-on process execution module, and a power-off process execution module.

[0131] A main controller determination module, used to determine whether to act as the main controller to control the vehicle to enter a power-on process or a power-off process based on the reception of a status signal sent by the first controller when acting as the main controller;

[0132] A power-on process execution module, used for, if the second controller is used as the main controller, to enter the power-on process when a power-on request signal is detected;

[0133] The power-off process execution module is used to enter the power-off process when the second controller is used as the main controller and a power-off request signal is detected.

[0134] In some embodiments, the power-on process execution module is also used to: adjust the power gear of the vehicle to the circuit-on gear; when the power gear is in the circuit-on gear, if it is detected that the vehicle meets the preset drivable state conditions, control the main positive contactor and the main negative contactor to be attracted to power on the vehicle.

[0135] In some implementations, the power-on process execution module is further used to: when the key corresponding to the vehicle passes the anti-theft verification, adjust the power gear to the circuit-on gear.

[0136] In some embodiments, the power-on process execution module is also used to: when the power gear is in the circuit-on gear, perform a self-check on the high-voltage electronic unit and perform a power anti-theft verification on the motor control unit; when the self-check passes and the power anti-theft verification passes, detect whether the vehicle meets the conditions for being able to drive.

[0137] In some embodiments, the power-on process execution module is also used to: control the pre-charging contactor and the main negative contactor to be attracted to enable the vehicle to enter a high-voltage pre-charging mode; wherein the high-voltage pre-charging mode is used to pre-charge the high-voltage electronic unit; when the vehicle is in the high-voltage pre-charging mode, if the high-voltage electronic unit has not experienced a pre-charging timeout or pre-charging failure, control the main positive contactor and the main negative contactor to be attracted to power on the vehicle, and delay the disconnection of the pre-charging contactor.

[0138] In some embodiments, the power-off process execution module is also used to: control the high-voltage electronic unit to stop running; when the high-voltage electronic unit stops running, if it is detected that the vehicle meets the preset power-off conditions, control the main positive contactor and the main negative contactor to disconnect to power off the vehicle.

[0139] The specific functions and effects achieved by the vehicle control device can be explained in other embodiments of this specification, and will not be repeated here. Each module in the vehicle control device can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0140] The embodiments of the present specification also provide a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a computer, the computer executes the vehicle control method in any of the above embodiments.

[0141] The embodiments of the present specification also provide a computer program product including instructions, which, when executed by a computer, enables the computer to execute the vehicle control method in any of the above embodiments.

[0142] The embodiments of the present specification also provide an electronic and electrical system, including a first controller and a second controller.

[0143] An embodiment of the present specification also provides a vehicle, comprising a controller in any of the above embodiments.

[0144] The embodiment of the present specification also provides a controller, which may be a first controller or a second controller. The controller may include a memory and a processor. The memory stores a computer program. When the processor executes the computer program, the vehicle control method in the above embodiment is implemented.

[0145] In some embodiments, see Figure 8 , the controller can be a terminal, and its internal structure diagram can be as follows Figure 8 As shown. The controller includes a processor, a memory, and a communication interface connected through a system bus. Among them, the processor of the controller is used to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The communication interface of the controller is used to communicate with an external terminal in a wired or wireless manner, and the wireless method can be implemented through WIFI, an operator network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a vehicle control method is implemented.

[0146] It should be understood that the specific examples herein are only intended to help those skilled in the art to better understand the embodiments of the present specification, rather than to limit the scope of the present invention.

[0147] It can be understood that in the various implementations of this specification, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the implementation methods of this specification.

[0148] It can be understood that the various embodiments described in this specification can be implemented individually or in combination, and the embodiments of this specification are not limited to this.

[0149] Unless otherwise specified, all technical and scientific terms used in the embodiments of this specification have the same meaning as those generally understood by those skilled in the art of the technical field of this specification. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the scope of this specification. The term "and / or" used in this specification includes any and all combinations of one or more related listed items. The singular forms of "a", "above", and "the" used in the embodiments of this specification and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0150] It can be understood that the processor of the embodiment of this specification can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method implementation can be completed by the hardware integrated logic circuit or software instructions in the processor. The above processor can be a general processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiment of this specification can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in the embodiment of this specification can be directly embodied as a hardware decoding processor to perform, or the hardware and software modules in the decoding processor are combined and executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0151] It is understood that the memory in the embodiments of this specification may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (programmable ROM, PROM), an erasable programmable read-only memory (erasablePROM, EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory may be a random access memory (RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0152] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this specification.

[0153] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method implementation methods and will not be repeated here.

[0154] The above is only a specific implementation of this specification, but the protection scope of the present invention is not limited thereto. Any person skilled in the art who is familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in this specification, which should be included in the protection scope of this specification. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a first controller and a second controller, wherein the first controller and the second controller are respectively integrated with a first function; and the method includes: When the first controller acts as the main controller, the first controller sends a status signal to the second controller, where the status signal is used to indicate the working status of the first controller, so that when the second controller determines that the working status of the first controller is abnormal based on the reception of the status signal, it executes the first function.

2. A vehicle control method, characterized in that: The vehicle includes a first controller and a second controller, wherein the first controller and the second controller are respectively integrated with a first function; and the method includes: In the case where the first controller serves as a main controller, the second controller receives a status signal from the first controller, wherein the status signal is used to indicate a working status of the first controller; If the second controller determines that the working state of the first controller is abnormal based on the reception of the state signal, the second controller executes the first function.

3. The method according to claim 1 or 2, characterized in that: The status signal is a heartbeat signal.

4. The method according to claim 1 or 2, characterized in that: The state signal indicates that the working state of the first control is normal.

5. The method according to claim 1 or 2, characterized in that: The second controller determines that the working state of the first controller is abnormal when the reception condition of the status signal satisfies the following condition: the second controller does not receive the status signal within a first time period.

6. The method according to claim 1 or 2, characterized in that: The second controller determines that the working state of the first controller is abnormal when the reception condition of the status signal satisfies the following conditions: the value of the counter of the second controller is greater than or equal to a specified value; wherein, the counter is counted from zero according to a specified period by the second controller when the status signal is received, and the specified period is equal to the sending period of the status signal.

7. The method according to claim 1 or 2, characterized in that: The first controller is a domain controller, and / or the second controller is a domain controller.

8. The method according to claim 1 or 2, characterized in that: The first function includes a power on and off function.

9. The method according to claim 1 or 2, characterized in that: The performing of the first function comprises: When a power-on request signal is detected, controlling the vehicle to enter a power-on process; or, When a power-off request signal is detected, the vehicle is controlled to enter a power-off process.

10. The method according to claim 9, characterized in that The step of entering the power-on process includes: Adjusting the power gear of the vehicle to the circuit-on gear; When the power gear is in the circuit-on gear, if it is detected that the vehicle meets a preset drivable state condition, the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle.

11. The method according to claim 10, characterized in that The step of adjusting the power gear position of the vehicle to the circuit-on gear comprises: When the key corresponding to the vehicle passes the anti-theft verification, the power gear is adjusted to the circuit-on gear.

12. The method according to claim 11, characterized in that The first controller and the second controller are both connected to a plurality of electronic units of the vehicle, the plurality of electronic units including a high-voltage electronic unit, the high-voltage electronic unit including a motor control unit; Before controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle, the method further includes: When the power gear is in the circuit-on gear, the high-voltage electronic unit is self-checked, and the motor control unit is verified for power anti-theft; When the self-check is passed and the power anti-theft verification is passed, whether the vehicle satisfies the drivable state condition is detected.

13. The method according to claim 10, characterized in that The first controller and the second controller are both connected to a plurality of electronic units of the vehicle, the plurality of electronic units including a high voltage electronic unit; The controlling the main positive contactor and the main negative contactor to be attracted to power on the vehicle includes: Controlling the pre-charging contactor and the main negative contactor to be attracted so that the vehicle enters a high-voltage pre-charging mode; wherein the high-voltage pre-charging mode is used to pre-charge the high-voltage electronic unit; When the vehicle is in the high-voltage pre-charging mode, if the high-voltage electronic unit has no pre-charging timeout or pre-charging fault, the main positive contactor and the main negative contactor are controlled to be attracted to power on the vehicle, and the pre-charging contactor is disconnected with a delay.

14. The method according to claim 13, characterized in that The high-voltage electronic unit includes a motor control unit, a DC converter, and a battery pack; The drivable state conditions include at least one of the following: the vehicle has no collision, the driving gear is P gear or N gear, the battery pack is in normal status, the high-voltage electronic unit does not have a specified level of leakage, the high-voltage interlocking device corresponding to the high-voltage electronic unit is normal, the contactor has no sintering fault, the motor control unit has no cover opening fault, and the DC converter does not have a specified level of fault.

15. The method according to claim 9, characterized in that The power-on request signal includes a start signal and a brake signal.

16. The method according to claim 9, characterized in that The first controller and the second controller are both connected to a plurality of electronic units of the vehicle, the plurality of electronic units including a high voltage electronic unit; The step of entering the power-off process includes: Controlling the high-voltage electronic unit to stop operating; In the case where the high-voltage electronic unit stops running, if it is detected that the vehicle meets a preset power-off condition, the main positive contactor and the main negative contactor are controlled to be disconnected to power off the vehicle.

17. The method according to claim 16, characterized in that The plurality of electronic units include a vehicle heater and a vehicle compressor, and the high voltage electronic unit includes a motor; The power-off condition includes at least one of the following: the vehicle speed is less than or equal to a specified vehicle speed threshold, the motor speed is less than or equal to a specified motor speed threshold, the motor has been unloaded, the contactor has no sintering fault, and the vehicle heater and the vehicle compressor are in a power-off state.

18. A controller, comprising a processor, the processor being connected to a memory, the memory storing a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 1, 3 to 17 is implemented.

19. A controller, comprising a processor, the processor being connected to a memory, the memory storing a computer program, characterized in that: When the processor executes the computer program, the method according to any one of claims 2, 3 to 17 is implemented.

20. An electronic and electrical system for a vehicle, characterized in that: Includes the controller described in claim 18 and the controller described in claim 19.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 17 is implemented.

22. A vehicle, characterized in that: Includes the controller described in claims 18 and 19.

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