Vehicle control method, vehicle control system and vehicle

Abstract

The invention relates to the technical field of automobile control, in particular to a vehicle control method, a vehicle control system and a vehicle. The method comprises the steps of obtaining driver operation information and starting request information of a vehicle, determining a corresponding starting request category according to the driver operation information and the starting request information, controlling the vehicle to enter a starting state when the vehicle is in a non-starting state and if a starting condition corresponding to the starting request category is met, and controlling the vehicle to enter a starting state when the vehicle is in the starting state. And if the quit condition corresponding to the starting request category is met, controlling the vehicle to quit the starting state. In the application, whether the starting condition corresponding to the starting request category is met is judged according to different starting request categories, and after the condition that the vehicle enters the starting state in the starting request category is met, the vehicle is controlled to enter the starting state, so that mutual interference of different starting request categories is avoided; and the safety and reliability of starting and stopping control in different vehicle use scenes are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile control, and in particular to a vehicle control method, a vehicle control system and a vehicle. Background Art

[0002] In recent years, the simplification and intelligence of automobile operation has become a major trend in automobile development. The traditional key start and push button start methods have gradually been replaced by simpler operation methods. With the development of automobile intelligence, such as remote parking when the driver is not in the car, valet parking, automatic driving and other functions, the whole vehicle is required to have more starting possibilities different from the traditional starting methods. How to realize different starting methods on the whole vehicle and how to control the safe and reliable starting and stopping of the execution power of the whole vehicle are the technical focuses that need to be further explored in this field. Summary of the invention

[0003] In view of this, an embodiment of the present invention provides a vehicle control method, a vehicle control system and a vehicle to solve the problem of how to control the start and stop of the execution power of the whole vehicle safely and reliably.

[0004] In a first aspect, an embodiment of the present invention provides a vehicle control method, comprising: Acquiring driver operation information and start request information of the vehicle, and determining a corresponding start request category according to the driver operation information and the start request information; When the vehicle is in a non-starting state, if a start condition corresponding to the start request category is met, controlling the vehicle to enter a start state; When the vehicle is in the start-up state, if an exit condition corresponding to the start-up request category is satisfied, the vehicle is controlled to exit the start-up state.

[0005] In a second aspect, an embodiment of the present invention provides a vehicle control system, which includes an intelligent driving control unit, a Bluetooth module, a vehicle control unit, a motor control unit, a gear trigger module, a usage mode management module, a key authentication and management module, a vehicle-side vehicle cloud service module, and a vehicle infrastructure management module; The vehicle control unit, the usage mode management module, the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module are different software components in the same central domain controller, and communicate using internal interfaces. The intelligent driving control unit, the Bluetooth module, the motor control unit, and the gear trigger module are connected to the vehicle body CAN bus through their own CAN communication circuits to achieve communication connections between controllers.

[0006] In a third aspect, an embodiment of the present invention provides a vehicle, wherein the vehicle includes the vehicle control system described above.

[0007] Compared with the prior art, the present invention has the following beneficial effects: The driver operation information and start request information of the vehicle are obtained, and the corresponding start request category is determined according to the driver operation information and the start request information. When the vehicle is in a non-start state, if the start condition corresponding to the start request category is met, the vehicle is controlled to enter the start state. When the vehicle is in the start state, if the exit condition corresponding to the start request category is met, the vehicle is controlled to exit the start state. In the present application, according to different start request categories, it is judged whether the start condition of the corresponding start request category is met. After the conditions for the vehicle to enter the start state in the start request category are met, the vehicle is controlled to enter the start state, avoiding mutual interference between different start request categories, and improving the safety and reliability of start and stop control in different vehicle use scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0009] Figure 1 is a structural schematic diagram of a vehicle control system provided by Embodiment 1 of the present invention; Figure 2 is a flow chart of a vehicle control method provided in Embodiment 2 of the present invention; Figure 3 It is a structural schematic diagram of a vehicle provided in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0010] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0011] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present invention. However, it should be clear to those skilled in the art that the present invention may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, systems, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present invention.

[0012] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0013] It should also be understood that the term "and / or" used in the present description and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0014] As used in the present specification and the appended claims, the term "if" may be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" may be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]", depending on the context.

[0015] In addition, in the description of the present specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0016] References to "one embodiment" or "some embodiments" etc. described in the present specification mean that one or more embodiments of the present invention include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0017] It should be understood that the order of execution of the steps in the following embodiments does not imply a precedence 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 embodiments of the present invention.

[0018] In order to illustrate the technical solution of the present invention, specific embodiments are provided below for illustration.

[0019] In the embodiment of the present invention, the vehicle control method is applied to a vehicle control system, see Figure 1, is a structural diagram of a vehicle control system provided in the first embodiment of the present invention, the vehicle control system includes: an intelligent driving control unit, a Bluetooth module, a vehicle control unit, a motor control unit, a gear trigger module, a usage mode management module, a key authentication and management module, a vehicle-side vehicle cloud service module, and a vehicle infrastructure management module. Among them, the vehicle control unit, the usage mode management module, the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module belong to different software components in the same central domain controller, and use internal interfaces for communication. Different controller units are connected to the vehicle body CAN bus through their own CAN (Controller Area Network) communication circuits to achieve communication connections between controllers.

[0020] Among them, the intelligent driving control unit is used to send the entry and exit startup state requests issued by the user through the host interface or mobile network to the CAN bus. The intelligent driving control unit is also used to send a remote heartbeat signal to the CAN bus. When the startup request is a host interface request, the remote heartbeat signal sent is 0. When the startup request is a remote start issued by the mobile network, or when the mobile network requests to exit the startup state, the remote heartbeat signal sent is not 0. The intelligent driving control unit is also responsible for anti-theft verification with the central domain controller when the user sends a startup request information through the mobile network.

[0021] The Bluetooth module is used to transparently transmit the entry start request and exit start request sent by the user through the mobile phone Bluetooth to the CAN bus, and perform remote anti-theft authentication with the vehicle-side car cloud module while sending the start request.

[0022] The vehicle control unit is used to read the driver's gear request information from the gear trigger module through the external CAN bus, the entry and exit start state requests sent by the intelligent driving control unit and the Bluetooth module, as well as the remote control heartbeat information, and the motor speed information from the motor control unit of the motor control module. It receives the anti-theft verification information from the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module through the internal interface, reads the driver's operation information and throttle information through the sensor hard-wired interface, comprehensively judges the current vehicle start state and start / stop conditions, and performs start and stop control of the vehicle power.

[0023] The motor control unit is used to send the generator and drive motor speed, torque and fault information through the CAN bus, and respond to the power start and stop control of the vehicle control unit.

[0024] The gear trigger module is used to send the gear lever mechanical position information to the vehicle control unit through the CAN bus to reflect the driver's gear operation request.

[0025] The usage mode management module is used for the management of the vehicle usage mode, which is divided into three modes: standby, comfort and driving. Among them, the standby mode function corresponds to the OFF position of the traditional car key state. In this mode, the vehicle stops the local high and low voltage power supply, and only charging and some remote control functions can be performed. When the central domain controller detects that any door is opened or the driver brakes, the usage mode changes from standby to comfort mode; the comfort mode corresponds to the ACC and KeyOn positions of the traditional car key state. In this mode, the vehicle is powered by high and low voltages, and all related functions that require high and low voltage power supply support can be used. The vehicle gear is allowed to enter P\N gear, D\R gear is allowed, and power output is prohibited. When the user has no need to use the vehicle and the central domain controller detects that the user leaves the vehicle and locks it, the usage mode jumps from comfort mode to standby mode; the driving mode corresponds to the vehicle power enabling state. The vehicle control unit determines that the starting conditions are met and allows the vehicle to enter the starting state. Then the vehicle usage mode changes from comfort mode to driving mode. When the vehicle usage mode exits driving, the vehicle control unit needs to control the vehicle to exit the starting state and stop power output.

[0026] The key authentication and management module is used to perform local key and anti-theft authentication when receiving a local start request recognized by the vehicle control unit, and send the anti-theft result to the vehicle control unit through the internal interface for start judgment.

[0027] The vehicle-side car cloud service module is used to perform remote anti-theft verification when receiving the remote anti-theft request sent by the Bluetooth module, and send the anti-theft result to the vehicle control unit through the internal interface.

[0028] The vehicle infrastructure management module is responsible for performing anti-theft verification between the intelligent driving control unit and the central domain controller when receiving the challenge code verification sent by the intelligent driving control unit of the intelligent driving module, and feeding back the anti-theft verification results to the vehicle control unit through the internal interface.

[0029] See also Figure 2 , is a flow chart of a vehicle control method provided by Embodiment 2 of the present invention, such as Figure 2 As shown, the vehicle control method may include the following steps.

[0030] S201: Acquire driver operation information and start request information of the vehicle, and determine a corresponding start request category according to the driver operation information and the start request information.

[0031] In step S201, the driver operation information includes whether the driver has stepped on the brake and whether the corresponding gear is engaged, the start request information is information on whether to start, and the start request category is the start request corresponding to different start scenarios.

[0032] In this embodiment, the vehicle controller and the vehicle control unit read the brake status information and gear information of the vehicle through the external CAN and the internal component communication interface, and identify the start request information, and determine the corresponding start request category according to the driver's operation information and the start request information. Among them, the start request category includes the first request category, the second request category, the third request category, and the fourth request category. Different request categories correspond to different scenarios. Among them, the parking scenarios include the scenario of the user in the car, the automatic parking scenario requested by the driver in the car through the car interface, the remote control automatic parking scenario requested through the mobile phone network, and the automatic parking scenario requested through the mobile phone Bluetooth.

[0033] In this embodiment, the corresponding start request category is determined according to the driver operation information and the start request information, so as to determine the corresponding scene according to the different start request categories, and then further judge whether the start condition is met according to the corresponding scene.

[0034] Optionally, determining a corresponding start request category according to the driver operation information and the start request information includes: When the driver operation information is that the brake is pressed and the N gear, the R gear, or the D gear is engaged, determining that the start request category is the first request category; The start conditions corresponding to the first request category include: the received local anti-theft verification result is passed, the driver's operation information is stepping on the brake, and the other conditions meet the preset requirements.

[0035] In this embodiment, the corresponding start request category is determined based on the driver's operation information and the start request information. If the driver's operation information is to step on the brake and shift into N gear, R gear or D gear, it is identified that the corresponding scene is the scene where the driver starts the car, and the start request category is determined to be the first request category.

[0036] After determining that the start request category is the first request category, determine whether the start conditions corresponding to the first request category are met, wherein the start conditions corresponding to the first request category include that the received local anti-theft verification result is passed, the driver operation information is that the brakes are pressed, and the remaining conditions meet the preset requirements.

[0037] The local anti-theft verification result is the result of the local key and anti-theft authentication performed by the key authentication and management module. The remaining conditions at least include the vehicle usage mode, the vehicle's throttle opening, and the charging and discharging gun connection status information.

[0038] The remaining conditions meet the preset requirements, including: within the preset time, when the vehicle's usage mode enters the comfort mode, the vehicle's throttle opening is less than the preset opening threshold, and the charging and discharging gun connection status information is not connected, it is determined that the remaining conditions meet the preset requirements. Among them, the comfort mode corresponds to the ACC and KeyOn gears of the traditional car key state. In this mode, the whole vehicle is powered by high and low voltages, and related functions that require high and low voltage power supply support can be used. The whole vehicle is allowed to enter the P\N gear, the D\R gear is allowed, and power output is prohibited. When the user has no need to use the car, the central domain controller detects that the user leaves the car and locks it, and the usage mode jumps from the comfort mode to the standby mode. Among them, the vehicle's throttle opening is less than the preset opening threshold, the charging and discharging gun connection status information, and the standby mode function correspond to the OFF gear of the traditional car key state. In this mode, the whole vehicle stops the local high and low voltage power supply, and only charging and some remote control functions can be performed.

[0039] Determining a corresponding start request category according to the driver operation information and the start request information also includes: When the startup request information is a startup request signal sent by the intelligent driving control unit and the remote control heartbeat signal sent by the intelligent driving control unit is zero, determining that the startup request category is a second request category; The start conditions of the second request category include: receiving a local anti-theft authentication result sent by the key authentication and management module as passed, the driver's operation information is to shift into P gear, the vehicle speed is less than a first preset speed threshold, and the remaining conditions meet the preset requirements.

[0040] In this embodiment, the corresponding start request category is determined based on the driver's operation information and the start request information. If the start request information is a start request signal sent by the intelligent driving control unit, and the remote control heartbeat signal sent by the intelligent driving control unit is zero, that is, the start request information is a remote start sent by the mobile phone network, then it is recognized that the corresponding scenario is the automatic parking scenario requested by the driver through the vehicle computer interface in the car, and the start request category is determined to be the second request category.

[0041] After determining that the start request category is the second request category, determine whether the start conditions corresponding to the second request category are met, wherein the start conditions corresponding to the second request category include receiving a local anti-theft authentication result sent by the key authentication and management module as passed, the driver's operation information is to shift into P gear, the vehicle speed is less than a first preset speed threshold, that is, parking is performed when the vehicle speed is low, and the remaining conditions meet the preset requirements.

[0042] It should be noted that the local anti-theft authentication result sent by the key authentication and management module is the result of the local key and anti-theft authentication performed by the key authentication and management module. The remaining conditions meet the preset requirements, including: within the preset time, when the vehicle's usage mode enters the comfort mode, the vehicle's throttle opening is less than the preset opening threshold, and the charging and discharging gun connection status information is not connected, it is determined that the remaining conditions meet the preset requirements. Among them, the comfort mode corresponds to the ACC and KeyOn gears of the traditional car key state. In this mode, the whole vehicle is powered by high and low voltage, and related functions that require high and low voltage power supply support can be used. The whole vehicle gear is allowed to enter the P\N gear, the D\R gear is allowed, and power output is prohibited. When the user has no need to use the car, the central domain controller detects that the user leaves the car and locks it, and the usage mode jumps from the comfort mode to the standby mode. Among them, the vehicle's throttle opening is less than the preset opening threshold, and the charging and discharging gun connection status information.

[0043] Optionally, determining a corresponding start request category according to the driver operation information and the start request information further includes: When the startup request information is a startup request signal sent by the intelligent driving control unit and the remote control heartbeat signal sent by the intelligent driving control unit is non-zero, determining that the startup request category is a third request category; The conditions for initiating the third request category include: the anti-theft authentication result between the central domain controller and the driving control unit sent by the vehicle infrastructure management module is passed, the driver's operation information is to shift into P gear, the vehicle speed is less than the first preset speed threshold, and the other conditions meet the preset requirements.

[0044] In this embodiment, the corresponding start request category is determined based on the driver's operation information and the start request information. If the start request information is a start request signal sent by the intelligent driving control unit and the remote control heartbeat signal sent by the intelligent driving control unit is non-zero, that is, the start request information is a remote exit start issued by the mobile phone network, then it is identified that the corresponding scenario is the remote control automatic parking scenario requested by the driver through the mobile phone network, and the start request category is determined to be the third request category.

[0045] After determining that the startup request category is the third request category, determine whether the startup conditions corresponding to the third request category are met, wherein the startup conditions corresponding to the third request category include receiving an anti-theft authentication result between the central domain controller and the driving control unit sent by the vehicle infrastructure management module as passed, the driver's operation information is to shift into P gear, the vehicle speed is less than a first preset speed threshold, and the remaining conditions meet the preset requirements.

[0046] Among them, the anti-theft authentication result between the central domain controller and the driving control unit sent by the vehicle infrastructure management module is the anti-theft verification result between the central domain controller and the intelligent driving control unit fed back by the vehicle infrastructure management module. The vehicle speed is less than the first preset speed threshold, that is, automatic parking is performed when the vehicle speed is low.

[0047] The remaining conditions meet the preset requirements, including: within the preset time, when the vehicle's usage mode enters the comfort mode, the vehicle's throttle opening is less than the preset opening threshold, and the charge and discharge gun connection status information is not connected, it is determined that the remaining conditions meet the preset requirements. Among them, the comfort mode corresponds to the ACC and KeyOn gears of the traditional car key state. In this mode, the whole vehicle is powered by high and low voltage, and related functions that require high and low voltage power supply support can be used. The whole vehicle is allowed to enter the P\N gear, the D\R gear is allowed, and power output is prohibited. When the user has no need to use the car, the central domain controller detects that the user leaves the car and locks it, and the usage mode jumps from comfort mode to standby mode. Among them, the vehicle's throttle opening is less than the preset opening threshold, and the charge and discharge gun connection status information.

[0048] Optionally, determining a corresponding start request category according to the driver operation information and the start request information further includes: When the startup request information is a startup request signal sent by the Bluetooth module, determining that the startup request category is a fourth request category; The starting conditions of the fourth request category include: the remote anti-theft authentication result sent by the vehicle-side vehicle cloud service module is passed, the driver's operation information is to shift into P gear, the vehicle speed is less than the first preset speed threshold, and the other conditions meet the preset requirements.

[0049] In this embodiment, the corresponding start request category is determined based on the driver's operation information and the start request information. If the start request information is a start request signal sent by the Bluetooth module, it is identified as an automatic parking scenario requested by the driver through the mobile phone Bluetooth, and the start request category is determined to be the fourth request category.

[0050] After determining that the start request category is the fourth request category, determine whether the start condition corresponding to the fourth request category is met, wherein the start condition corresponding to the fourth request category includes that the remote anti-theft authentication result sent by the vehicle-side vehicle cloud service module is passed, the driver's operation information is to put the P gear in gear, the vehicle speed is less than the first preset speed threshold, and the other conditions meet the preset requirements. The remote anti-theft authentication result sent by the vehicle-side vehicle cloud service module is the remote anti-theft verification result fed back by the vehicle-side vehicle cloud module, and the vehicle speed is less than the first preset speed threshold, that is, automatic parking is performed when the vehicle speed is low.

[0051] The remaining conditions meet the preset requirements, including: within the preset time, when the vehicle's usage mode enters the comfort mode, the vehicle's throttle opening is less than the preset opening threshold, and the charge and discharge gun connection status information is not connected, it is determined that the remaining conditions meet the preset requirements. Among them, the comfort mode corresponds to the ACC and KeyOn gears of the traditional car key state. In this mode, the whole vehicle is powered by high and low voltage, and related functions that require high and low voltage power supply support can be used. The whole vehicle is allowed to enter the P\N gear, the D\R gear is allowed, and power output is prohibited. When the user has no need to use the car, the central domain controller detects that the user leaves the car and locks it, and the usage mode jumps from comfort mode to standby mode. Among them, the vehicle's throttle opening is less than the preset opening threshold, and the charge and discharge gun connection status information.

[0052] In this embodiment, based on the difference between the driver's operation information and the start request information, the scene corresponding to starting or stopping the vehicle is identified, and the corresponding start request category is determined based on the corresponding scene, so as to determine whether to control the vehicle to enter the start state or exit the start state according to the start request category.

[0053] S202: When the vehicle is in a non-starting state, if a start condition corresponding to the start request category is satisfied, the vehicle is controlled to enter a start state.

[0054] In step S202, the non-start state is the stopped state of the vehicle. According to the corresponding start request category, it is determined whether the start condition corresponding to the start request category is met. If the start condition corresponding to the start request category is met, the vehicle is controlled to enter the start state to start the corresponding vehicle.

[0055] In this embodiment, when the vehicle is in a non-starting state, if the start condition corresponding to the start request category is met, the vehicle is controlled to enter the start state. Different request categories correspond to different start conditions, that is, different scenarios require different conditions to be met to start the vehicle.

[0056] When the vehicle is not started, the vehicle control unit reads through the internal interface that the vehicle usage mode is standby mode or comfort mode, and detects the driver's operation information, such as braking and shifting to N, R or D gear, and determines that the driver is currently requesting to start the vehicle, that is, the start request category is the first request category. After determining the first request category, a timer is triggered, and the key authentication and management module is requested to perform local key and anti-theft authentication. If the vehicle is in standby mode and not in high-voltage state, the vehicle control unit synchronously coordinates the high-voltage components of the vehicle to complete the high-voltage power-on process. Before the timer reaches the preset time threshold, if the vehicle control unit determines that the start condition for starting the first request category is met, that is, the local anti-theft verification result fed back by the key authentication and management module is passed, and it is determined that the driver's brake is continuously pressed, the throttle opening threshold detected by the throttle sensor is less than the preset opening threshold, the vehicle use mode is the comfort mode, the charging and discharging gun connection is not detected, the high-voltage power-on is completed and there is no system failure that affects the power output of the vehicle, and there is no special scenario requirement that prohibits power output (such as exhibition hall mode), then it is determined that the vehicle meets the power start condition, and the vehicle control unit sends a request through the CAN bus to control the motor control unit motor to enter the torque control mode, allowing the vehicle to output power, and the use mode management module reads through the internal interface that the vehicle control unit enters the start state, then the use mode jumps to the driving mode, where the driving mode corresponds to the vehicle power enable state, the vehicle control unit determines that the start condition is met and allows the vehicle to enter the start state, then the vehicle use mode enters the driving mode from the comfort mode, and when the vehicle use mode exits the driving mode, the vehicle control unit needs to control the vehicle to exit the start state and stop the power output.

[0057] When the vehicle is in a non-start state and the driver operates the intelligent driving parking request through the host in the car, the intelligent driving control unit module will issue a start request and send a remote control heartbeat signal of 0, that is, the start request is a remote start issued by the mobile phone network. When the usage mode management module receives the start request issued by the intelligent driving control unit, it controls the usage mode to enter the comfort mode. When the vehicle control unit receives the start request from the intelligent driving control unit and the remote control heartbeat signal is zero, it is identified as a local automatic parking scene, that is, the automatic parking scene requested by the driver through the vehicle interface in the car, and is determined as the second request category. After determining that the corresponding start request category is the second request category, a timer is triggered to request the key authentication and management module to perform local key and anti-theft authentication. At the same time, when receiving the jump of the use mode to the comfort mode, the high voltage is controlled for the whole vehicle; before the timer reaches the preset time threshold, if the vehicle control unit determines that the start condition for starting the second request category is met, that is, the local anti-theft verification result fed back by the key authentication and management module is passed, and it is determined that the current gear of the whole vehicle is P gear, the vehicle speed is less than the first preset speed threshold, the throttle opening threshold is less than the preset opening threshold, the use mode of the whole vehicle is the comfort mode, the charging and discharging gun connection is not detected, the high voltage power-on is completed and there is no system fault that affects the power output of the whole vehicle, and there is no special scenario requirement that prohibits power output (such as exhibition hall mode), then it is determined that the whole vehicle meets the start condition, and the vehicle control unit sends a request through the CAN bus to control the motor control unit motor to enter the torque control mode, allowing the whole vehicle to output power, and the use mode management module reads through the internal interface that the vehicle control unit enters the start state, then the use mode jumps to the driving mode.

[0058] When the vehicle is not started and the driver operates the intelligent driving start request through the mobile network on the mobile phone, the intelligent driving control unit module will issue a start request and send a remote control heartbeat signal of non-zero state, and at the same time initiate a challenge code verification request to the central domain controller infrastructure management module vehicle infrastructure management module. When the usage mode management module receives the start request issued by the intelligent driving control unit, it controls the usage mode to enter the comfort mode. When the vehicle control unit receives the start request from the intelligent driving control unit and the remote control heartbeat signal is non-zero, it is identified as a remote control intelligent driving start scenario, that is, the remote control automatic parking scenario requested by the driver through the mobile network, and is determined as the second request category. After determining that the corresponding start request category is the third request category, a timer is triggered, and at the same time, when receiving the signal that the usage mode jumps to the comfort mode, the high voltage is controlled for the whole vehicle; before the timer reaches the preset time threshold, if the vehicle control unit determines that the start conditions of the third start request are met, that is, the anti-theft verification result between the central domain controller and the intelligent driving control unit fed back by the vehicle infrastructure management module is passed, and it is determined that the current gear of the whole vehicle is P gear, the vehicle speed is less than the first preset vehicle speed threshold, the throttle opening threshold is less than the preset opening threshold, the vehicle usage mode is comfort mode, the charging and discharging gun connection is not detected, the high voltage power-on is completed and there is no system failure that affects the power output of the whole vehicle, and there is no special scenario requirement that prohibits power output (such as exhibition hall mode), then it is determined that the whole vehicle meets the start conditions, and the vehicle control unit sends a request through the CAN bus to control the motor control unit motor to enter the torque control mode, allowing the whole vehicle to output power, and after the usage mode management module reads through the internal interface that the vehicle control unit has entered the startup state, the usage mode is jumped to the driving mode.

[0059] When the vehicle is not in the start state, when the driver operates the intelligent driving start request through the mobile phone Bluetooth, the Bluetooth module will send a start request. When the use mode management module receives the start request sent by the Bluetooth module, it controls the use mode to enter the comfort mode. When the vehicle control unit receives the start request sent by the Bluetooth module, it identifies it as a remote control intelligent driving start scenario, that is, the automatic parking scenario requested by the driver through the mobile phone Bluetooth, and determines it as the fourth request category. After determining that the corresponding start request category is the fourth request category, a timer is triggered, and at the same time, when receiving a signal that the use mode has jumped to comfort, the high voltage of the whole vehicle is controlled; before the timer reaches the preset time threshold, if the whole vehicle control unit determines that the start condition of the fourth request category is met, that is, the remote anti-theft verification result fed back by the vehicle-side vehicle cloud module is passed, and it is determined that the current gear of the whole vehicle is P gear, the vehicle speed is less than the first preset vehicle speed threshold, the throttle opening threshold is less than the preset opening threshold, the whole vehicle use mode is comfort mode, the charging and discharging gun connection is not detected, the high voltage power-on is completed and there is no system failure that affects the power output of the whole vehicle, and there is no special scenario requirement that prohibits power output (such as exhibition hall mode), then it is determined that the whole vehicle meets the start condition, and the whole vehicle control unit sends a request through the CAN bus to control the motor control unit motor to enter the torque control mode, allowing the whole vehicle to output power, and the use mode management module reads through the internal interface that the whole vehicle control unit has entered the start state, then the use mode is jumped to the driving mode.

[0060] It should be noted that the preset opening threshold is a calibrable quantity, and its selection needs to consider avoiding abnormal situations such as throttle sticking, sudden power output that the user does not expect, and safety accidents and property losses to people inside and outside the vehicle due to the driver's inability to respond in time. The preset time threshold is also a calibrable quantity, and its selection needs to cover the maximum duration of local key authentication and challenge code verification triggered by a single start, and at the same time cover the time required for the vehicle to complete the high-voltage power-on process normally.

[0061] In this embodiment, according to different start request categories, it is determined whether the start conditions required by different start request categories are met. If the start conditions corresponding to the start request categories are met, the vehicle is controlled to enter the start state. This avoids mutual interference between different scene requirements and improves the safety and reliability of start and stop control in different vehicle use scenarios.

[0062] Optionally, it also includes: If the start condition corresponding to the start request category is not met, the start request information is cleared.

[0063] In this embodiment, if the start condition corresponding to the start request category is not met, the start request information is cleared. If the timer reaches the preset time threshold, the vehicle control unit determines that the start condition corresponding to the start request category is not met, then the start request is cleared, the vehicle is controlled in a non-start state, and the use mode management module controls the use mode to remain in the comfort mode.

[0064] S203: When the vehicle is in the start-up state, if the exit condition corresponding to the start-up request category is met, the vehicle is controlled to exit the start-up state.

[0065] In step S203, after the vehicle enters the start state, the corresponding vehicle starts to start. After the vehicle is started, it is in the start state, and it is determined whether the exit condition is met. If the exit condition corresponding to the start request category is met, the vehicle is controlled to exit the start state. In this embodiment, the exit conditions corresponding to the start request categories include: the vehicle's use mode exits from the driving mode, or the power system power distribution is disconnected, or the charge-discharge gun connection is detected. When it is read that the vehicle's use mode exits from the driving mode, or the power system power distribution is disconnected, or the charge-discharge gun connection is detected, it is considered that the exit conditions of the first request category, the second request category, the third request category, and the fourth request category are met, and the vehicle is controlled to exit the start state.

[0066] It should be noted that when it is determined that the startup request category is the second request category, the third request category, or the fourth request category, if a request to exit the startup state or exit the high-voltage state is received from the intelligent driving control unit or the Bluetooth module, and the absolute value of the vehicle speed is less than the second preset time threshold, where the second preset time threshold is greater than the preset time threshold, the entire vehicle is also controlled to exit the startup state and stop power output.

[0067] It should be noted that when it is determined that the start request category is the third request category, or the fourth request category, if it is detected that the remote heartbeat signal sent by the intelligent driving control unit has a non-zero jump to zero, and the zero state continues for a second preset time threshold, or the intelligent driving control unit detects that the driver has stepped on the brakes after the heartbeat signal of the intelligent driving control unit has a non-zero jump, and the absolute value of the current vehicle speed is less than the second preset time threshold, the entire vehicle is also controlled to exit the start state and stop power output.

[0068] When the startup request category is the first request category, after the vehicle enters the startup state, the usage mode jumps to the driving mode, and the charging and discharging gun is not connected. If the vehicle control unit reads the usage mode sent by the usage mode management module through the internal interface to exit the Drive mode, or detects that the power KL15 is disconnected through the hard-wired interface, or detects that the charging and discharging gun is connected when the vehicle speed is less than the first preset vehicle speed threshold, it is considered that the exit condition corresponding to the first request category is met, and the vehicle is controlled to exit the startup state. The motor control unit sends a request through the CAN bus to control the motor to exit the torque control mode and stop the power output of the vehicle. At the same time, the vehicle control unit clears the first request category and sets the startup request category to 0.

[0069] When the start request category is the second request category, the vehicle control unit enters the start state after receiving the start request from the intelligent driving control unit. After the vehicle enters the start state, the usage mode jumps to the driving mode, and the charging and discharging gun is not connected. Therefore, if the vehicle control unit reads through the CAN bus that the start request status sent by the intelligent driving control unit module is stop start and the current vehicle speed is less than the first preset speed threshold, or reads through the internal interface that the usage mode sent by the usage mode management module exits from the D driving mode, or detects through the hard-wired interface that the power KL15 is electrically disconnected, or detects that the charging and discharging gun is connected when the vehicle speed is less than the first preset speed threshold, the vehicle is controlled to exit the start state, and a request is sent through the CAN bus to control the motor control unit to exit the torque control mode, stopping the power output of the vehicle. At the same time, the vehicle control unit clears the second request category and sets the start request category to 0.

[0070] When the start request category is the third request category, after the vehicle control unit controls the vehicle to enter the start state, if the vehicle control unit reads through the CAN bus that the start request state sent by the intelligent driving control unit module is stop start and the current vehicle speed is less than the first preset speed threshold, or reads that the remote control heartbeat signal sent by the intelligent driving control unit jumps from a non-zero state to zero and remains at 0 to reach the second preset time threshold, wherein the second preset time threshold is greater than the preset time threshold, and the current vehicle speed is less than the first preset speed threshold, or the remote control heartbeat signal sent by the intelligent driving control unit jumps from non-zero to zero and then detects that the driver brakes and the current vehicle speed is less than the first preset speed threshold, or reads through the internal interface that the use mode management module exits the driving mode, or detects through the hard-wired interface that the power KL15 is electrically disconnected, or detects that the charge and discharge gun is connected when the vehicle speed is less than the first preset speed threshold, then the vehicle is controlled to exit the start state, and a request is sent through the CAN bus to control the motor control unit to exit the torque control mode, and stop the power output of the vehicle. At the same time, the vehicle control unit clears the third request category and sets the start request category to 0.

[0071] When the start request category is the fourth request category, after the vehicle control unit controls the vehicle to enter the start state, if the vehicle control unit reads through the CAN bus that the start request state sent by the Bluetooth module is stop start and the current vehicle speed is less than the first preset speed threshold, or reads that the remote control heartbeat signal sent by the intelligent driving control unit jumps from a non-zero state to zero and remains at zero for a second preset time threshold and the current vehicle speed is less than the first preset speed threshold, or the remote control heartbeat signal sent by the intelligent driving control unit jumps from non-zero to zero and then detects that the driver brakes and the current vehicle speed is less than the first preset speed threshold, or reads through the internal interface that the use mode management module sends a usage mode exiting from the driving mode, or detects through the hard-wired interface that the power KL15 is electrically disconnected, or detects that the charge and discharge gun is connected when the vehicle speed is less than the first preset speed threshold, then the vehicle is controlled to exit the start state, and a request is sent through the CAN bus to control the motor control unit to exit the torque control mode, and stop the power output of the vehicle. At the same time, the vehicle control unit clears the fourth request category and sets the start request category to 0.

[0072] It should be noted that when the vehicle control unit does not control the vehicle to enter the start state, the vehicle control unit identifies new start requests in real time and makes a start request category judgment; once the start conditions corresponding to the current start request category are met and the vehicle control unit enters the start state, the current start request category is latched and no new start request category is recognized until the vehicle control unit meets the conditions for exiting the start state. When the vehicle control unit exits the start state, the currently latched start request category is cleared and the start request category is set to 0.

[0073] The driver operation information and start request information of the vehicle are obtained, and the corresponding start request category is determined according to the driver operation information and the start request information. When the vehicle is in a non-start state, if the start condition corresponding to the start request category is met, the vehicle is controlled to enter the start state. When the vehicle is in the start state, if the exit condition corresponding to the start request category is met, the vehicle is controlled to exit the start state. In the present application, according to different start request categories, it is judged whether the start condition of the corresponding start request category is met. After the conditions for the vehicle to enter the start state in the start request category are met, the vehicle is controlled to enter the start state, avoiding mutual interference between different start request categories, and improving the safety and reliability of start and stop control in different vehicle use scenarios.

[0074] See also Figure 3, is a schematic diagram of the structure of a vehicle 30 provided in the third embodiment of the present invention, wherein the vehicle 30 includes a control system 10, and the control system 10 includes an intelligent driving control unit, a Bluetooth module, a vehicle control unit, a motor control unit, a gear trigger module, a usage mode management module, a key authentication and management module, a vehicle-side vehicle cloud service module, and a vehicle infrastructure management module. The vehicle control unit, the usage mode management module, the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module are different software components in the same central domain controller, and use internal interfaces for communication. The intelligent driving control unit, the Bluetooth module, the motor control unit, and the gear trigger module are connected to the vehicle body CAN bus through their own CAN communication circuits to achieve communication connection between controllers.

[0075] Among them, the intelligent driving control unit is used to send the entry and exit startup state requests issued by the user through the host interface or mobile network to the CAN bus. The intelligent driving control unit is also used to send a remote heartbeat signal to the CAN bus. When the startup request is a host interface request, the remote heartbeat signal sent is 0. When the startup request is a remote start issued by the mobile network, or when the mobile network requests to exit the startup state, the remote heartbeat signal sent is not 0. The intelligent driving control unit is also responsible for anti-theft verification with the central domain controller when the user sends a startup request information through the mobile network.

[0076] The Bluetooth module is used to transparently transmit the entry start request and exit start request sent by the user through the mobile phone Bluetooth to the CAN bus, and perform remote anti-theft authentication with the vehicle-side car cloud module while sending the start request.

[0077] The vehicle control unit is used to read the driver's gear request information from the gear trigger module through the external CAN bus, the entry and exit start state requests sent by the intelligent driving control unit and the Bluetooth module, as well as the remote control heartbeat information, and the motor speed information from the motor control unit of the motor control module. It receives the anti-theft verification information from the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module through the internal interface, reads the driver's operation information and throttle information through the sensor hard-wired interface, comprehensively judges the current vehicle start state and start / stop conditions, and performs start and stop control of the vehicle power.

[0078] The motor control unit is responsible for sending the generator and drive motor speed, torque and fault information through the CAN bus, and responding to the power start and stop control of the vehicle control unit.

[0079] The gear trigger module is responsible for sending the gear lever mechanical position information to the vehicle control unit through the CAN bus to reflect the driver's gear operation request.

[0080] The usage mode management module is responsible for the management of the vehicle usage mode, which is divided into three modes: standby, comfort and driving. Among them, the standby mode function corresponds to the OFF position of the traditional car key state. In this mode, the whole vehicle stops the local high and low voltage power supply, and only charging and some remote control functions can be performed. When the central domain controller detects that any door is opened or the driver brakes, the usage mode changes from standby to comfort mode; the comfort mode corresponds to the ACC and KeyOn positions of the traditional car key state. In this mode, the whole vehicle is powered by high and low voltages, and all related functions that require high and low voltage power supply support can be used. The whole vehicle is allowed to enter the P\N position, the D\R position is allowed, and power output is prohibited. When the user has no need to use the car and the central domain controller detects that the user leaves the car and locks it, the usage mode jumps from comfort mode to standby mode; the driving mode corresponds to the power enabling state of the whole vehicle. The vehicle control unit determines that the starting conditions are met and allows the whole vehicle to enter the starting state, then the whole vehicle usage mode changes from comfort mode to driving mode, and when the whole vehicle usage mode exits driving, the vehicle control unit needs to control the whole vehicle to exit the starting state and stop power output.

[0081] When the key authentication and management module receives a local start request recognized by the vehicle control unit, it performs local key and anti-theft authentication, and sends the anti-theft result to the vehicle control unit through the internal interface for start judgment.

[0082] When the vehicle-side car cloud service module receives the remote anti-theft request sent by the Bluetooth module, it performs remote anti-theft verification and sends the anti-theft result to the vehicle control unit through the internal interface.

[0083] When the vehicle infrastructure management module receives the challenge code verification sent by the intelligent driving control unit of the intelligent driving module, it is responsible for performing anti-theft verification between the intelligent driving control unit and the central domain controller, and feeding back the anti-theft verification results to the vehicle control unit through the internal interface.

Claims

1. A vehicle control method, characterized in that: include: Acquiring driver operation information and start request information of the vehicle, and determining a corresponding start request category according to the driver operation information and the start request information; When the vehicle is in a non-starting state, if a start condition corresponding to the start request category is met, controlling the vehicle to enter a start state; When the vehicle is in the start-up state, if an exit condition corresponding to the start-up request category is satisfied, the vehicle is controlled to exit the start-up state.

2. The vehicle control method according to claim 1, characterized in that: The determining, according to the driver operation information and the start request information, a corresponding start request category includes: When the driver operation information is that the brake is pressed and the N gear, the R gear, or the D gear is engaged, determining that the start request category is a first request category; The start-up conditions corresponding to the first request category include: the received local anti-theft verification result is passed, the driver operation information is stepping on the brake, and the other conditions meet the preset requirements.

3. The vehicle control method according to claim 1, characterized in that: The determining a corresponding start request category according to the driver operation information and the start request information further includes: When the startup request information is a startup request signal sent by the intelligent driving control unit and the remote control heartbeat signal sent by the intelligent driving control unit is zero, determining that the startup request category is a second request category; The start-up conditions of the second request category include: receiving a local anti-theft authentication result sent by the key authentication and management module as passed, the driver's operation information is to shift into P gear, the vehicle speed is less than a first preset speed threshold, and the remaining conditions meet the preset requirements.

4. The vehicle control method according to claim 1, characterized in that: The determining a corresponding start request category according to the driver operation information and the start request information further includes: When the startup request information is a startup request signal sent by the intelligent driving control unit and the remote control heartbeat signal sent by the intelligent driving control unit is non-zero, determining that the startup request category is a third request category; The conditions for starting the third request category include: receiving a pass result of the anti-theft authentication between the central domain controller and the driving control unit sent by the vehicle infrastructure management module, the driver's operation information is to shift into P gear, the vehicle speed is less than a first preset speed threshold, and the remaining conditions meet the preset requirements.

5. The vehicle control method according to claim 1, characterized in that: The determining a corresponding start request category according to the driver operation information and the start request information further includes: When the startup request information is a startup request signal sent by a Bluetooth module, determining that the startup request category is a fourth request category; The starting conditions of the fourth request category include: the remote anti-theft authentication result sent by the vehicle-side vehicle cloud service module is passed, the driver's operation information is to shift into P gear, the vehicle speed is less than the first preset speed threshold, and the remaining conditions meet the preset requirements.

6. The vehicle control method according to any one of claims 2 to 5, characterized in that: The remaining conditions at least include the vehicle usage mode, the throttle opening of the vehicle, and the charging and discharging gun connection status information; The remaining conditions described above meet the preset requirements, including: Within a preset time, when the use mode of the vehicle enters a comfort mode, the throttle opening of the vehicle is less than a preset opening threshold, and the connection status information of the charging and discharging gun is not connected, it is determined that the remaining conditions meet the preset requirements.

7. The vehicle control method according to claim 1, characterized in that: Also includes: If the start condition corresponding to the start request category is not satisfied, the start request information is cleared.

8. The vehicle control method according to claim 1, characterized in that: The exit condition corresponding to the start request category includes: the vehicle usage mode exits from the driving mode, or the power distribution of the power system is disconnected, or the connection of the charging and discharging gun is detected.

9. A vehicle control system, characterized in that: The vehicle control system includes an intelligent driving control unit, a Bluetooth module, a vehicle control unit, a motor control unit, a gear trigger module, a usage mode management module, a key authentication and management module, a vehicle-side vehicle cloud service module, and a vehicle infrastructure management module; The vehicle control unit, the usage mode management module, the key authentication and management module, the vehicle-side vehicle cloud module, and the vehicle infrastructure management module are different software components in the same central domain controller, and communicate using internal interfaces. The intelligent driving control unit, the Bluetooth module, the motor control unit, and the gear trigger module are connected to the vehicle body CAN bus through their own CAN communication circuits to achieve communication connections between controllers.

10. A vehicle, characterized in that: The vehicle includes the vehicle control system of claim 9.

Images