Method and system for actively avoiding danger of automobile fire

Abstract

The invention provides an automobile fire active danger avoiding system. The system comprises a battery management system, an aerosol sensor, a power battery, a vehicle-mounted storage battery, a whole vehicle DC-DC, a radar sensor and a whole vehicle controller. When the battery management system detects that the power battery is in thermal runaway, the battery management system informs the whole vehicle controller and requests the whole vehicle controller to separate the whole vehicle from the power battery; and when the battery management system detects the fire behavior around the vehicle, the battery management system informs the vehicle control unit and requests the vehicle control unit to run away from the fire behavior occurrence place. The invention further provides an automobile active risk avoiding method which can be suitable for two scenes of thermal runaway of the power battery and fire behavior outside the automobile. The invention aims to reduce the accident loss to the minimum when the thermal runaway event is handled.

Description

Technical Field

[0001] The invention relates to the field of automobile fire self-protection, and in particular to a protection method and system for active risk avoidance of automobile fire. Background Art

[0002] The spontaneous combustion of new energy vehicles (normal parking, not driving, not touching, not crashing) has always been an invisible wall between car companies and users. Although the incidence of fires is decreasing year by year, battery fires are more difficult to extinguish than gasoline fires, and the re-ignition rate is higher, causing greater personal and economic losses. This is also one of the important reasons why new energy vehicle fires have attracted much attention. Summary of the invention

[0003] The present invention aims to minimize accident losses when dealing with thermal runaway events.

[0004] The present invention provides a system for actively avoiding automobile fires, the system comprising: a battery management system, an aerosol sensor, a power battery, an on-board storage battery, a whole vehicle DC-DC, a radar sensor and a whole vehicle controller, the above components are communicatively connected; the aerosol sensor is used to detect the concentration of environmental particles, and when it is detected that the concentration exceeds a threshold value, an alarm is sent to the battery management system; the power battery provides main power for the vehicle; the on-board storage battery is used to provide temporary power to the vehicle through the whole vehicle DC-DC boost; the whole vehicle DC-DC boosts the on-board storage battery to provide a backup power supply for the whole vehicle; the radar sensor is used to detect the surrounding environment of the vehicle; the power management system is used to monitor the state of the power battery, and determine the fire state according to the state of the power battery and the feedback of the aerosol sensor; the whole vehicle controller calculates the driving route of the vehicle away from the fire site according to the detection data of the radar sensor, and controls the driving of the vehicle; when the fire state is battery thermal runaway, the whole vehicle controller executes the whole vehicle to disengage from the power battery; when the fire state is external fire, the whole vehicle controller controls the vehicle to drive away and executes driving away from the fire site.

[0005] Furthermore, at least one aerosol sensor is provided at each end point on the vehicle, and the aerosol sensor is communicatively connected to the battery management system. When the aerosol sensor detects that the ambient particle concentration exceeds a threshold value, the battery management system is alerted and the battery management system is awakened.

[0006] Furthermore, the working modes of the aerosol sensor include a normal working mode and a low power consumption mode. When the aerosol sensor is in the normal working mode, it continuously monitors the particle concentration in the air, and the aerosol sensor and the battery management system maintain communication. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor sends a fire alarm to the battery management system; when the aerosol sensor is in the low power consumption working mode, it continuously monitors the particle concentration in the air, and the aerosol sensor and the battery management system have no communication. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system to wake up the battery management system.

[0007] Furthermore, the aerosol sensor monitors the concentration of CO / CO2 in the air.

[0008] The present invention also discloses a method for actively avoiding automobile fire, which is applied to any of the above-mentioned systems, and the method comprises:

[0009] After the battery management system detects thermal runaway of the power battery, it requests the vehicle controller to execute the vehicle to disengage from the power battery. The vehicle controller switches the power provided by the power battery to providing short-term power to the vehicle through the on-board battery. The vehicle controller calculates the risk avoidance route based on the detection data of the radar sensor and drives away from the vehicle.

[0010] After the battery management system detects a fire outside the vehicle, it requests the vehicle controller to drive away from the vicinity of the fire. The vehicle controller uses the power battery to power the vehicle, calculates a risk avoidance route based on the detection data of the radar sensor, and drives away from the vehicle.

[0011] Furthermore, when the vehicle system is in an awake state, the aerosol sensor and the battery management system maintain communication, the aerosol sensor is in a normal working mode, and when the detected particle concentration is greater than the alarm threshold, the aerosol sensor sends a fire alarm to the battery management system.

[0012] Furthermore, when the vehicle system is in an unaware state or a power-off state, there is no communication between the aerosol sensor and the battery management system, and the aerosol sensor is in a low-power working mode. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system, wakes up the battery management system, and sends a fire alarm to the battery management system.

[0013] Furthermore, the whole vehicle detaching from the power battery includes: the whole vehicle controller controls the motor to change the direction of the battery pack fixing structure, and the battery pack detaches from the vehicle body by its own weight.

[0014] Furthermore, when the vehicle controller executes the plan of separating the vehicle from the power battery, the DC-DC provides power supply, closes the DC relay, and opens the main positive relay and the main negative relay; when the vehicle controller executes the plan of driving away from the fire site, the power battery provides power supply, closes the main positive relay and the main negative relay, and opens the DC relay.

[0015] Furthermore, the vehicle controller calculates the risk avoidance driving route based on the detection data of the radar sensor, including: the distance between the safe position where the vehicle drives away and parks and the starting position is ≥5 meters.

[0016] Furthermore, the vehicle controller executes the plan of the vehicle being separated from the power battery and the vehicle controller executes the plan of driving away from the fire location, which can be applied to the scenario where there is no driver or a driver on the vehicle; when there is no driver on the vehicle, the vehicle controller starts to execute the plan of the vehicle being separated from the power battery or the vehicle controller executes the automatic avoidance plan of driving away from the fire location; when the vehicle controller recognizes that there is a driver on the vehicle, the vehicle controller starts to execute the plan of the vehicle being separated from the power battery or the vehicle controller executes the automatic avoidance plan of driving away from the fire location, the vehicle body instrument displays "Please select to start automatic avoidance or driver driving", if the driver does not operate within the predetermined time, the automatic avoidance plan is automatically executed;

[0017] Furthermore, when the vehicle controller executes the plan of the vehicle being separated from the power battery or the vehicle controller executes the plan of driving away from the fire location, an alarm is sounded at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 shows the installation location of the aerosol sensor;

[0019] Figure 2 The control circuit diagram of the vehicle controller switching power supply is shown;

[0020] Figure 3 A flowchart of an automatic risk avoidance scheme A according to a specific embodiment of the present invention is shown;

[0021] Figure 4 A schematic diagram showing the structure of a mounting surface of a battery pack is shown;

[0022] Figure 5 A schematic diagram showing a vehicle controller planning an active risk avoidance route according to a specific embodiment of the present invention is shown;

[0023] Figure 6 A flow chart of automatic risk avoidance scheme B according to a specific embodiment of the present invention is shown. DETAILED DESCRIPTION

[0024] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the accompanying drawings and specific embodiments are only exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0025] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0026] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms "a", "the", and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0027] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0028] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0029] In the description of the present invention, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0030] In the following description, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention and have no specific meaning. Therefore, "module" and "component" can be used interchangeably.

[0031] The present invention provides an active fire avoidance system for automobiles, comprising: a battery management system, an aerosol sensor, a power battery, an on-board battery, a vehicle DC-DC, a radar sensor and a vehicle controller. CAN communication is used indirectly or directly between the functional components of the above-mentioned different systems. Specifically, the power battery and the on-board battery are connected to the upper-level ECU through hard-wire acquisition to perform CAN communication; the battery management system, the aerosol sensor and the radar sensor communicate through CAN; the vehicle DC-DC converter is responsible for converting the DC power of the high-voltage battery pack into low-voltage DC power to power the vehicle's low-voltage system. The vehicle controller sends control instructions to the vehicle DC-DC through the CAN bus to adjust the output voltage and current.

[0032] The battery management system detects whether a thermal runaway fire occurs and determines whether it is a fire in the vehicle's power battery or a fire in a nearby vehicle. The former executes automatic risk avoidance plan A, and the latter executes automatic risk avoidance plan B.

[0033] Specifically, the A plan is: if the fire occurs in the battery pack of the vehicle, the battery pack is discarded and the vehicle body is moved to avoid damage to the vehicle body or property inside the vehicle. The B plan is: if the fire occurs outside the vehicle, the vehicle is moved to a safe location to avoid damage to the vehicle.

[0034] The power battery fire detection confirms whether the power battery inside the car has thermal runaway based on a combination of information such as voltage, temperature information and sampling disconnection status collected by the battery management system. For the specific scheme of how the battery management system determines that it is a power battery fire, please refer to the applicant's other patent CN202311660420.8, which will not be repeated here.

[0035] The aerosol sensor is installed at each end of the vehicle. Figure 1 As shown in the figure. The main function of the aerosol sensor is to detect fires in external or adjacent electric vehicles. It detects the ambient particle concentration (CO / CO2) and has the functions of over-threshold alarm (fire signal) and reverse wake-up of the battery management system after over-threshold alarm. The battery management system determines whether there is a fire in the surrounding vehicles based on the feedback from the aerosol sensor.

[0036] Specifically, the working modes of the aerosol sensor include normal working mode and low power consumption mode; normal working mode: the whole vehicle system is in the awake state, the aerosol sensor and the battery management system maintain communication, at this time, the aerosol sensor is in the normal working mode, continuously monitoring the concentration of particles (CO / CO2) in the air (normal frequency, power consumption is rated power); when the detected particle concentration is greater than the alarm threshold, the aerosol sensor sends a fire alarm to the battery management system; low power consumption working mode: the whole vehicle system is in the unawakened state or the power-off state, the aerosol sensor and the battery management system have no communication, at this time, the aerosol sensor is in the low power consumption working mode, continuously sampling the concentration of particles (CO / CO2) (low frequency, power consumption is the minimum working power); when the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system, wakes up the battery management system, and sends a fire alarm to the battery management system;

[0037] The power battery is the main power source for providing power to the vehicle and is power source a.

[0038] The on-board battery, the vehicle's on-board 12V / 24V battery, generally powers the vehicle's ECU, and can also provide short-term power to the vehicle through the DC-DC boost function;

[0039] The vehicle DC-DC, according to the requirements of the load, boosts or reduces the DC voltage to meet the power demand of the load; through the boost function of the DC-DC, the vehicle battery can provide a backup power source for the vehicle by boosting the DC-DC, which is called power source b;

[0040] The radar sensor is used to monitor the surrounding environment and send the detected data information to the vehicle controller;

[0041] The radar sensor can utilize the existing radar sensor on the vehicle body without adding any additional one, and can also be installed at the four side end points of the vehicle body or at a position similar to an aerosol sensor.

[0042] Radar sensors emit microwaves and sound waves and receive echoes to detect objects. They can measure the distance, speed, and direction of objects, providing safety protection for the vehicle's automatic risk avoidance.

[0043] The vehicle controller is used to calculate the vehicle's driving route away from the fire site, so that when processing the automatic risk avoidance plan, the vehicle can be driven to a safe location for parking.

[0044] Specifically, the vehicle controller is a power mechanism that selects and executes the automatic risk avoidance plan A or B requested by the battery management system.

[0045] When executing the automatic risk avoidance plan A, the DC-DC provides power supply, closes the DC relay, and opens the main positive relay and the main negative relay; when executing the automatic risk avoidance plan B, the power supply is provided by the power battery, closes the main positive relay and the main negative relay, and opens the DC relay and the main negative relay. For the specific control circuit diagram, see Figure 2 .

[0046] When the DC-DC is used to provide power boost, taking the output current limit of 30A constant current as an example, the duration of this power source does not exceed 30s. The reason for setting 30s is that it is calculated to meet the capacity output of general battery cells, and the time within 30s is enough for the vehicle to leave the original location.

[0047] Another aspect of the present invention also discloses a method for actively avoiding fire in an automobile, namely, automatic risk avoidance scheme A. Figure 3 The flowchart of a specific embodiment thereof includes the following steps:

[0048] The S11 battery management system detects a power battery fire alarm, notifies the vehicle controller of the fire alarm through the vehicle CAN and initiates avoidance plan A.

[0049] Specifically, in Figure 3 The figure shows a scenario where the vehicle system is in an awake state. At this time, the aerosol sensor and the battery management system maintain communication. The aerosol sensor is in normal working mode and continuously monitors the concentration of particles (CO / CO2) in the air (normal frequency, power consumption is rated power). The battery management system is in working mode and continuously collects battery cell temperature, voltage and other data. When the battery management system determines that the fire is a power battery fire alarm based on the collected battery data and the data fed back by the aerosol sensor, it notifies the vehicle controller and starts the risk avoidance plan A.

[0050] It can be understood that in other embodiments, when the risk avoidance plan A is started, the battery management system and the vehicle controller can also be in a dormant state.

[0051] Specifically, when the vehicle is not in operation, that is, in sleep mode after the vehicle is powered off, there is no communication between the aerosol sensor and the battery management system. The aerosol sensor is in low-power operation mode, and continuously samples the concentration of particles (CO / CO2) (low frequency, power consumption is the minimum operating power). At this time, the BMS is also in sleep mode, and it continuously monitors the battery cell data at a lower frequency. When the basic set threshold value related to the temperature of any battery cell in the battery module triggers an alarm, the BMS switches from sleep mode to normal operation mode, determines whether a power battery fire alarm occurs, informs the vehicle controller of the fire alarm through the vehicle CAN, and initiates risk avoidance plan A.

[0052] For details on how the battery management system determines that it is a power battery fire based on relevant data such as the battery cells, please refer to another patent CN202311660420.8 of the applicant, which will not be described in detail here.

[0053] S12, the vehicle controller executes automatic risk avoidance plan A.

[0054] Specifically, the power source of the vehicle is switched from the power battery, i.e., power source a, to DC-DC to provide power for the vehicle, i.e., power source b, and then the power battery is separated from the vehicle in situ. The battery pack is separated from the structure. Figure 4 The battery pack is disassembled in a straight up and down manner, and the direction of the battery pack fixing structure is changed by controlling a small motor, so that the battery pack can be detached by its own gravity. Figure 4 As shown, the battery pack has the above-mentioned battery pack mounting axis structure on all four sides of the battery pack. Figure 4 Only one of the mounting surfaces is used as an example for further explanation. When the battery pack is pushed into the corresponding position of the vehicle body fixing bracket, the motor rotates clockwise to drag the semicircular structure to clamp the battery pack mounting shaft and tighten the battery pack; the motor rotates counterclockwise to drag the semicircular structure to fall off the battery pack, and the battery pack and the vehicle body are separated. This is similar to the battery pack replacement of current cars.

[0055] S13, the vehicle controller calculates the risk avoidance route and parking position according to the detection data of the radar sensor, and drives away from the vehicle and sounds an alarm under the monitoring of the radar sensor.

[0056] Specifically, the vehicle controller plans an active risk avoidance route based on the detection data of the radar sensor. Figure 5 An embodiment is shown, after the vehicle leaves the starting position, two safe positions, target position 1 and target position 2, are predicted. The pre-set safe positions are required to be greater than five meters from the starting position, so target position 2 is selected for parking and target position 1 is abandoned.

[0057] It can be understood that Figure 5 The evacuation route shown in the figure is only an example of one of the scenarios. Different evacuation routes can be planned according to different algorithms depending on the surrounding environment of the vehicle. For example, if there is no parking space, the vehicle can also be temporarily parked on the roadside or other locations away from the fire source.

[0058] This automatic risk avoidance scheme A can be regarded as unmanned driving risk avoidance.

[0059] Reference Figure 6 This is a flow chart of another embodiment of a method for actively avoiding automobile fire according to the present invention, namely, automatic avoidance scheme B.

[0060] S21, the battery management system detects a fire alarm in a neighboring vehicle, notifies the vehicle controller of the fire alarm through the vehicle CAN and starts the risk avoidance plan B.

[0061] Specifically, in Figure 6 It is shown in the figure that the vehicle system is in an unawakened state or a power-off state, and there is no communication between the aerosol sensor and the battery management system. At this time, the aerosol sensor is in a low-power working mode and continuously samples the concentration of particles (CO / CO2) (low frequency, power consumption is the minimum working power); when the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system, wakes up the battery management system, and sends a fire alarm to the battery management system. The battery management system wakes up the vehicle controller and informs the vehicle controller through CAN to enable risk avoidance plan B.

[0062] It can be understood that in other embodiments, when starting the risk avoidance plan B, the battery management system and the vehicle controller can also be in the awake state. At this time, the aerosol sensor and the battery management system maintain communication, the aerosol sensor is in normal working mode, continuously monitors the concentration of particles (CO / CO2) in the air (normal frequency, power consumption is rated power), the battery management system is in working mode, and continuously collects battery cell temperature, voltage and other data. When the battery management system determines that the fire is a fire alarm of a neighboring vehicle based on the collected battery data and the data fed back by the aerosol sensor, it notifies the vehicle controller and starts the risk avoidance plan B.

[0063] S22, the vehicle controller executes automatic risk avoidance plan B.

[0064] Specifically, the vehicle controller starts the power battery to provide power for the vehicle.

[0065] S23, the vehicle controller calculates the risk avoidance route and parking position according to the detection data of the radar sensor, and drives away from the vehicle and sounds an alarm under the monitoring of the radar sensor.

[0066] Specifically, the vehicle controller plans an active risk avoidance route based on the detection data of the radar sensor. Figure 5 An embodiment is shown, after the vehicle leaves the starting position, two safe positions, target position 1 and target position 2, are predicted. The pre-set safe positions are required to be greater than five meters from the starting position, so target position 2 is selected for parking and target position 1 is abandoned.

[0067] This automatic risk avoidance plan B can be regarded as unmanned driving risk avoidance.

[0068] It can be understood that Figure 5The evacuation route shown in the figure is only an example of one of the scenarios. Different evacuation routes can be planned according to different algorithms depending on the surrounding environment of the vehicle. For example, if there is no parking space, the vehicle can also be temporarily parked on the roadside or other locations away from the fire source.

[0069] It can be understood that the above-mentioned schemes A and B are both applicable to the scenario where there is no driver on the vehicle. During the automatic risk avoidance start-up phase, the vehicle body instrument display will start the automatic risk avoidance plan, and the buzzer will sound an alarm. It can also be applicable to the scenario where there is a driver. When the vehicle controller recognizes that there is a driver on the vehicle based on the gravity sensor on the seat, during the automatic risk avoidance start-up phase, the vehicle body instrument will display "Please select to start automatic risk avoidance or driver driving", and the buzzer will sound an alarm. If the driver does not operate within a predetermined time, such as within 5 seconds, the automatic risk avoidance plan will be automatically executed.

[0070] The present invention provides a method and system for active risk avoidance of automobiles, which can be applied to two scenarios: thermal runaway of power batteries and fire outside the vehicle. The present invention aims to minimize accident losses when handling thermal runaway events.

[0071] It should be noted that the embodiments of the present invention have better practicability and do not impose any form of limitation on the present invention. Any technician familiar with the field may use the technical content disclosed above to change or modify it into an equivalent effective embodiment. However, any modification or equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A system for actively avoiding automobile fire, characterized in that: The system includes: a battery management system, an aerosol sensor, a power battery, an on-board storage battery, a vehicle DC-DC, a radar sensor and a vehicle controller, and the above components are communicatively connected; The aerosol sensor is used to detect the concentration of particles in the environment and to alert the battery management system when it is detected that the concentration exceeds a threshold value; The power battery provides the main power for the vehicle; the on-board storage battery is used to provide short-term power to the vehicle through the DC-DC boost of the whole vehicle; The vehicle DC-DC boosts the on-board battery to provide backup power for the vehicle; The radar sensor is used to detect the surrounding environment of the vehicle; The power management system is used to monitor the status of the power battery and determine the fire status according to the status of the power battery and the feedback of the aerosol sensor; The vehicle controller calculates the vehicle's driving route away from the fire site based on the detection data of the radar sensor and controls the vehicle driving; When the fire status is battery thermal runaway, the vehicle controller executes the vehicle to separate from the power battery; when the fire status is external fire, the vehicle controller controls the vehicle to drive away from the fire site.

2. The system according to claim 1, characterized in that At least one aerosol sensor is provided at each end point on the vehicle, and the aerosol sensor is in communication with the battery management system. When the aerosol sensor detects that the concentration of ambient particles exceeds a threshold, the battery management system is alerted and the battery management system is awakened.

3. The system according to claim 2, characterized in that The working modes of the aerosol sensor include normal working mode and low power consumption mode. When the aerosol sensor is in normal working mode, it continuously monitors the particle concentration in the air. The aerosol sensor and the battery management system maintain communication. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor sends a fire alarm to the battery management system. When the aerosol sensor is in low-power working mode, it continuously monitors the particle concentration in the air. There is no communication between the aerosol sensor and the battery management system. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system to wake up the battery management system.

4. The system according to any one of claims 1 to 3, characterized in that: The aerosol sensor monitors the concentration of CO / CO2 in the air.

5. A method for actively avoiding automobile fire, applied to the system described in any one of claims 1 to 4, characterized in that: The method comprises: After the battery management system detects thermal runaway of the power battery, it requests the vehicle controller to execute the vehicle to disengage from the power battery. The vehicle controller switches the power provided by the power battery to providing short-term power to the vehicle through the on-board battery. The vehicle controller calculates the risk avoidance route based on the detection data of the radar sensor and drives away from the vehicle. After the battery management system detects a fire outside the vehicle, it requests the vehicle controller to drive away from the fire. The vehicle controller uses the power battery to power the vehicle, calculates the risk avoidance route based on the detection data of the radar sensor, and drives away from the vehicle.

6. The method according to claim 5, characterized in that The method further comprises: When the vehicle system is in the awake state, the aerosol sensor and the battery management system maintain communication, and the aerosol sensor is in normal working mode. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor sends a fire alarm to the battery management system.

7. The method according to claim 5, characterized in that When the vehicle system is in an unaware state or a power-off state, there is no communication between the aerosol sensor and the battery management system, and the aerosol sensor is in a low-power working mode. When the detected particle concentration is greater than the alarm threshold, the aerosol sensor outputs a wake-up signal to the battery management system, wakes up the battery management system, and sends a fire alarm to the battery management system.

8. The method according to claim 5, characterized in that The whole vehicle detaching from the power battery includes: the whole vehicle controller controls the motor to change the direction of the battery pack fixing structure, and the battery pack detaches from the vehicle body by its own weight.

9. The method according to claim 5, characterized in that The method includes: when the vehicle controller executes the plan of the vehicle being separated from the power battery, the DC-DC provides power supply, the DC relay is closed, and the main positive relay and the main negative relay are opened; when the vehicle controller executes the plan of driving away from the fire location, the power battery provides power supply, the main positive relay and the main negative relay are closed, and the DC relay is opened.

10. The method according to claim 5, characterized in that The vehicle controller calculates the risk-avoiding driving route based on the detection data of the radar sensor, including: the distance between the safe position where the vehicle leaves and parks and the starting position is ≥5 meters.

11. The method according to claim 5, characterized in that The vehicle controller's plan to disconnect the vehicle from the power battery and the vehicle controller's plan to drive away from the fire scene can be applied to the scenario where there is no driver or a driver on the vehicle. When there is no driver on the vehicle, the vehicle controller starts to execute the plan of the vehicle disengaging from the power battery or the vehicle controller executes the automatic risk avoidance plan of driving away from the fire site; when the vehicle controller recognizes that there is a driver on the vehicle, the vehicle controller starts to execute the plan of the vehicle disengaging from the power battery or the vehicle controller executes the automatic risk avoidance plan of driving away from the fire site, the vehicle body instrument displays "Please select to start automatic risk avoidance or driver driving". If the driver does not operate within the preset time, the automatic risk avoidance plan is automatically executed.

12. The method according to claim 5, characterized in that When the vehicle controller executes the plan of the vehicle being separated from the power battery or the vehicle controller executes the plan of driving away from the fire location, an alarm is sounded at the same time.

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