Vehicle control method and device, computer equipment, storage medium and vehicle

Abstract

The embodiment of the invention provides a vehicle control method and device, computer equipment, a storage medium and a vehicle. The method comprises the following steps: determining the current speed and the current acceleration of the vehicle under the condition of detecting that a driving related system of the vehicle generates unexpected torque; acquiring degradation control relation data; wherein the degradation control relation data is used for representing the corresponding relation among the vehicle speed, the acceleration and the vehicle operation area, and the vehicle operation area comprises a safe operation area; and performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relation data to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area. Thus, when the unexpected torque is generated, the current vehicle speed and the current acceleration can be adjusted in time, the probability that the vehicle is out of control is reduced, and therefore the running reliability of the vehicle can be improved.

Description

Technical Field

[0001] The embodiments in the present application relate to the technical field of vehicles, and particularly to a vehicle control method, device, computer device, storage medium and vehicle. Background Art

[0002] During vehicle driving, a fault may occur, and it is necessary to process the vehicle fault in time to ensure the normal driving of the vehicle.

[0003] In the related art, different fault control strategies can usually be selected according to the speed of the drive motor. For example, when the speed is relatively large, the electric drive system can be controlled to reduce the speed and then cut off the power device. However, in the related art, when controlling the vehicle, the driving reliability of the vehicle needs to be improved. Summary of the Invention

[0004] In view of this, multiple embodiments of the present application are committed to providing a vehicle control method, device, computer device, storage medium and vehicle to reduce the probability of vehicle out-of-control and improve the driving reliability of the vehicle.

[0005] An embodiment of the present application provides a vehicle control method, and the method includes: when it is detected that the drive-related system of the vehicle generates an unexpected torque, determining the current vehicle speed and the current acceleration of the vehicle; obtaining degradation control relationship data; wherein, the degradation control relationship data is used to characterize the corresponding relationship between the vehicle speed, acceleration, and vehicle operation area, and the vehicle operation area includes a safe operation area; based on the degradation control relationship data, performing degradation control on the current vehicle speed and / or the current acceleration to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area.

[0006] In the above embodiment, by detecting the drive-related system of the vehicle, and when it is detected that the drive-related system generates an unexpected torque, determining the current vehicle speed and the current acceleration of the vehicle, and obtaining the degradation control relationship data used to characterize the corresponding relationship between the vehicle speed, acceleration, and vehicle operation area, performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data including the safe operation area to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area. In this way, when an unexpected torque is generated, the current vehicle speed and the current acceleration can be adjusted in time, reducing the probability of vehicle out-of-control, and thus improving the driving reliability of the vehicle.

[0007] In some embodiments, before performing the degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data, the method further includes: when it is detected that the drive-related system generates an unexpected torque, determining the current operation area of the vehicle;

[0008] Accordingly, the downgrading control of the current vehicle speed and / or the current acceleration based on the downgrading control relationship data includes: downgrading the current vehicle speed and / or the current acceleration based on the current operating area and the downgrading control relationship data.

[0009] In the above embodiments, when it is detected that the drive-related system generates an unexpected torque, the current operating area of the vehicle is determined, and then the current vehicle speed and / or the current acceleration are downgraded based on the current operating area and the downgrading control relationship data. In this way, when an unexpected torque occurs, the current vehicle speed and the current acceleration can be timely downgraded based on the downgrading control relationship data in combination with the current operating area of the vehicle.

[0010] In some embodiments, the downgrading control of the current vehicle speed and / or the current acceleration based on the current operating area and the downgrading control relationship data includes: when the current operating area is a dangerous operating area, downgrading the current vehicle speed and / or the current acceleration based on the downgrading control relationship data. In this way, when the current operating area of the vehicle is a dangerous operating area, the current vehicle speed and the current acceleration can be timely adjusted to the target vehicle speed and the target acceleration corresponding to the safe operating area.

[0011] In some embodiments, the downgrading control of the current vehicle speed and / or the current acceleration based on the downgrading control relationship data to obtain the target vehicle speed and the target acceleration corresponding to the safe operating area includes: downgrading the current vehicle speed and / or the current acceleration based on the expected vehicle speed and the expected acceleration corresponding to the safe operating area to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration. In this way, the downgrading control of at least one of the current vehicle speed and the current acceleration can be realized based on the expected vehicle speed and the expected acceleration corresponding to the safe operating area.

[0012] In some embodiments, the drive-related system is detected for whether it generates an unexpected torque in the following manner: monitoring the implementation result of the drive-related function of the drive-related system to obtain function monitoring information; detecting based on the function monitoring information to determine whether the drive-related system generates an unexpected torque. In this way, according to the implementation result of the drive-related function of the drive-related system represented by the function monitoring information, it can be determined whether the drive-related system generates an unexpected torque, that is, it can be determined whether the drive-related function of the drive-related system is correctly implemented.

[0013] In some embodiments, the detection based on the function monitoring information to determine whether the drive-related system generates unexpected torque includes: when it is detected based on the function control status information that there is no controller failure in the drive-related controller, detecting whether the drive-related system of the vehicle generates unexpected torque based on the function monitoring information; wherein, the function control status information is used to describe whether the control of the drive-related controller over the drive-related system is normal.

[0014] In the above embodiments, through the function control status information used to describe whether the control of the drive-related controller over the drive-related system is normal, it is detected whether there is a controller failure in the drive-related controller, and when there is no controller failure in the drive-related controller, it is detected whether the drive-related system generates unexpected torque based on the function monitoring information. In this way, the accuracy of detecting unexpected torque can be improved.

[0015] In some embodiments, the method further includes: when it is detected based on the function control status information that the drive-related controller has the controller failure, generating an internal shutdown request; according to the internal shutdown request, resetting the drive-related controller to its initial state. In this way, the drive-related controller can be restored to the normal state when there is a controller failure, which can improve the robustness of the drive-related controller in the drive-related system to a certain extent, thereby improving the driving reliability of the vehicle.

[0016] In some embodiments, the safe operating area corresponds to an expected vehicle speed and an expected acceleration; the method further includes: when the vehicle speed after the degraded control is greater than the expected vehicle speed, and / or, the acceleration after the degraded control is greater than the expected acceleration, generating an internal shutdown request; according to the internal shutdown request, resetting the drive-related controller for controlling the drive-related system to its initial state.

[0017] In the above embodiments, when the vehicle speed after the degraded control is greater than the expected vehicle speed, and / or, the acceleration after the degraded control is greater than the expected acceleration, it can be determined that the degraded control is ineffective, and an internal shutdown request is generated when the degraded control is ineffective, so as to reset the drive-related controller for controlling the drive-related system to its initial state according to the internal shutdown request. In this way, the robustness of the drive-related controller in the drive-related system can be improved to a certain extent, thereby improving the driving reliability of the vehicle.

[0018] In some embodiments, the drive-related system is connected to a power supply system, and the power supply system can supply power to the drive-related system; the method further includes: generating an external shutdown request when the drive-related controller cannot be reset to the initial state according to the internal shutdown request; wherein, the external shutdown request is used to request the power supply system to stop supplying power to the drive-related system. In this way, the robustness of the drive-related system can be further improved, thereby improving the driving reliability of the vehicle.

[0019] In some embodiments, the method further includes at least one of the following: outputting a function monitoring warning message when a function monitoring-related fault is detected based on the function monitoring information and no unexpected torque is detected; outputting an internal shutdown warning message when the drive-related controller is reset to the initial state according to the internal shutdown request; outputting an unexpected torque warning message when an unexpected torque is detected in the drive-related system; outputting an external shutdown warning message when an external shutdown request is generated to request the power supply system to stop supplying power to the drive-related system. In this way, by outputting the function monitoring warning message, the internal shutdown warning message, the unexpected torque warning message, and the external shutdown warning message, it is possible to timely remind the driver and passengers according to the fault scenario.

[0020] An embodiment of the present application provides a vehicle control device, which includes: an unexpected torque determination module for determining the current vehicle speed and current acceleration of the vehicle when an unexpected torque is detected in the drive-related system of the vehicle; a control relationship acquisition module for acquiring degradation control relationship data; wherein, the degradation control relationship data is used to characterize the corresponding relationship between the vehicle speed, acceleration, and vehicle operating area, and the vehicle operating area includes a safe operating area; a degradation control module for performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operating area.

[0021] An embodiment of the present application provides a computer device, including a memory and a processor, where the memory stores a computer program, and when the processor executes the computer program, it implements the vehicle control method described in any of the above embodiments.

[0022] An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the vehicle control method described in any of the above embodiments.

[0023] An embodiment of the present application provides a vehicle, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the vehicle control method described in any of the above embodiments is implemented.

[0024] The above description is only an overview of the technical solution of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the present application. And in order to make the above and other purposes, features and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically exemplified below. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] By reading the detailed description of the alternative embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the alternative embodiments and are not considered to be a limitation of the present application. And in all the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0026] Figure 1 It is a schematic diagram of the application environment of the vehicle control method provided by the embodiment of the present application;

[0027] Figure 2 It is a schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0028] Figure 3 It is a schematic diagram of the degradation control relationship data provided by the embodiment of the present application;

[0029] Figure 4 It is a schematic flowchart of the vehicle control method provided by the embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the vehicle control device provided by the embodiment of the present application;

[0031] Figure 6 It is a schematic diagram of the computer device provided by the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The following will describe in detail the embodiments of the technical solution of the present application with reference to the drawings. The following embodiments are only used to illustrate the technical solution of the present application more clearly and therefore are only examples and cannot be used to limit the protection scope of the present application.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs; the terms used herein are for the purpose of describing specific embodiments only and are not intended to limit this application; the terms "comprising" and "having" and any variations thereof in the embodiments of this application and the claims and the above description of the drawings are intended to cover non-exclusive inclusion.

[0034] In the description of the embodiments of this application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity, specific order or primary-secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "a plurality of" is two or more unless otherwise specifically defined.

[0035] Reference to "embodiment" herein means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment. The phrase does not necessarily refer to the same embodiment at every occurrence in this application, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0036] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0037] With the development of technology, people's dependence on vehicles is increasing, and faults may occur during vehicle driving. Therefore, it is necessary to promptly handle vehicle faults to ensure normal vehicle driving. For example, during vehicle driving, torques inconsistent with expectations may be generated, and corresponding handling is required at this time so that the vehicle can drive normally.

[0038] In some related technologies, different fault control strategies can be selected according to the speed of the drive motor. For example, when the speed is relatively high, the electric drive system can be controlled to actively short-circuit to reduce the speed and then the power device can be cut off. However, there are still problems of relatively low driving reliability in the related technologies when controlling vehicles.

[0039] Therefore, it is necessary to provide a vehicle control method. First, detect whether the drive-related systems of the vehicle generate unexpected torque. Then, when it is detected that the drive-related systems generate unexpected torque, determine the current vehicle speed and the current acceleration of the vehicle. Next, obtain the degradation control relationship data for characterizing the corresponding relationship among the vehicle speed, acceleration, and vehicle operating regions, where the vehicle operating regions include a safe operating region. Finally, perform degradation control on at least one of the current vehicle speed and the current acceleration based on the degradation control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operating region. In this way, the driving risk and out-of-control probability of the vehicle can be reduced, and the driving reliability of the vehicle can be improved.

[0040] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the application environment of the vehicle control method provided in this scenario example. In this scenario example, the vehicle 1000 may include a drive-related system 110, a drive-related controller 120, and a power supply system 130. This vehicle control method can be applied to the vehicle 1000, or rather, can be applied to the drive-related controller 120 of the vehicle 1000.

[0041] In this scenario example, the vehicle 1000 may be a new energy vehicle. For example, it may be a pure electric vehicle, a hybrid vehicle, or an extended-range electric vehicle, etc. Exemplarily, the vehicle 1000 may also be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0042] In this scenario example, the drive-related system 110 may be an electronic and electrical system, component, or unit related to the drive of the vehicle, etc. The drive-related system 110 may include a motor, an accelerator pedal, a driving assistance system, and a braking control system, etc. Among them, the driving assistance system may include a cruise control system, an anti-lock braking system, a lane keeping assistance system, a parking assistance system, a brake assistance system, a reverse assistance system, etc. It can be understood that the drive-related system may also include any other electronic and electrical systems, components, or units related to the drive on the vehicle 1000.

[0043] In this scenario example, the drive-related controller 120 can obtain a power request and vehicle state information from the drive-related system 110, and after processing based on the vehicle state information and / or the power request, can control the drive-related system 110 so that the vehicle 1000 travels. Exemplarily, the vehicle state information may include information such as vehicle speed, acceleration, steering information, motor speed, torque, etc. for describing the driving state of the vehicle. The power request may be determined according to the pedal depth of the accelerator pedal.

[0044] In this scenario example, the power supply system 130 can be used to supply power to the drive-related system 110 and the drive-related controller 120.

[0045] In this scenario example, the drive-related controller 120 may include a function control unit, a function monitoring unit, and a controller monitoring unit. The function control unit may process based on vehicle state information and / or power request and then control the drive-related system 110 to enable the drive-related system 110 to implement drive-related functions. During the process of the function control unit controlling the drive-related system 110, the controller monitoring unit may obtain the function control status information of the function control unit to monitor the drive-related controller 120. Among them, the function control status information may be used to describe whether the control of the drive-related system 110 by the drive-related controller 120 or the function control unit in the drive-related controller is normal. For example, the function control status information may refer to the input / output status, control instructions, fault codes, etc. of the drive-related controller 120. In this way, it is possible to detect whether there is a controller fault in the drive-related controller 120 through the function control status information.

[0046] Exemplarily, the drive-related controller 120 may be a vehicle control unit (VCU).

[0047] The function monitoring unit may monitor the implementation result of the drive-related function of the drive-related system 110 based on at least one of the vehicle state information, power request, and function control status information to obtain function monitoring information. That is to say, the function monitoring information may describe the implementation result of the drive-related function of the drive-related system 110, so that it is possible to perform detection based on the function monitoring information, thereby at least determining whether the drive-related system 110 generates unexpected torque. Exemplarily, the function monitoring information may include the motor output torque, expected torque, motor speed, steering information, and feedback torque of the motor, etc.

[0048] As an example, the drive-related controller 120 may further include an electrical and communication diagnosis unit. For example, the electrical and communication diagnosis unit may perform electrical and communication diagnosis on the drive-related system 110 according to the vehicle state information to obtain function monitoring information. The function monitoring information may include the normal or faulty operating state of the drive-related system 110, the connection state of the communication connection line, etc.

[0049] As another example, the drive-related controller 120 may further include an "electrical & communication diagnosis + function monitoring" unit. That is to say, the "electrical & communication diagnosis + function monitoring" unit may perform electrical and communication diagnosis on the drive-related system 110 according to the vehicle state information, and may monitor the implementation result of the drive-related function of the drive-related system 110 based on at least one of the vehicle state information, power request, and function control status information to obtain function monitoring information.

[0050] It should be noted that according to the actual situation, the drive-related controller 120 may also have other units, which are not limited here. For example, it may also include an alarm signal output unit to output alarm information at least when a controller failure occurs in the drive-related controller 120.

[0051] In this scenario example, the drive-related controller 120 can detect whether there is a controller failure in the drive-related controller 120 based on the function control status information through the controller monitoring unit, and generate an internal shutdown request in the case of a controller failure, so as to reset the drive-related controller 120 to the initial state according to the internal shutdown request and operate in the initial state.

[0052] In this scenario example, the drive-related controller 120 can monitor the implementation result of the drive-related function of the drive-related system 110 based on at least one of the vehicle state information, power request, and function control status information through the function monitoring unit or the "electrical & communication diagnosis + function monitoring unit", obtain function monitoring information, and perform detection based on the function monitoring information, so as to at least judge whether the drive-related system 110 generates unexpected torque. In the case of generating unexpected torque, a downgrade instruction is generated, so that the drive-related controller 120 can adjust and reduce at least one of the current vehicle speed and the current acceleration of the vehicle according to the downgrade instruction, thereby realizing the downgrade of the drive-related system.

[0053] In this scenario example, when the drive-related controller 120 fails to adjust and reduce the current vehicle speed and / or the current acceleration of the vehicle according to the downgrade instruction, or in other words, fails to realize the downgrade of the drive-related system, an internal shutdown request is generated to reset the drive-related controller 120 to the initial state according to the internal shutdown request and operate in the initial state.

[0054] An embodiment of the present application provides a vehicle control method. Please refer to Figure 2 , Figure 2 is a flowchart of a vehicle control method provided by this embodiment. This embodiment provides method operation steps as shown in the flowchart, but based on routine or non-creative labor, it may include more or fewer operation steps. The step order listed in the embodiment is only one execution method among the execution orders of numerous steps, and does not represent the only execution order. When the actual system or server product executes, it can be executed in the method order shown in the embodiment or in parallel (for example, in an environment of parallel processors or multi-threaded processing). Specifically, as Figure 2 shown, this vehicle control method can be applied to the drive-related controller 120, and this vehicle control method may include the following steps.

[0055] Step S210: When it is detected that the drive-related system of the vehicle generates an unexpected torque, determine the current vehicle speed and the current acceleration of the vehicle.

[0056] In some cases, when the drive-related system of the vehicle generates an unexpected torque, the vehicle or the drive-related system of the vehicle can be degraded to improve the driving reliability of the vehicle. Specifically, for example, the degradation can be achieved by reducing at least one of the current vehicle speed and the current acceleration.

[0057] Among them, the unexpected torque can be the torque generated by the motor in the drive-related system during the vehicle driving process that exceeds the expectation due to certain reasons. Exemplarily, the unexpected torque can be caused by a motor failure, a problem with the relevant sensors in the drive-related system, or other external factors.

[0058] Specifically, the drive-related controller can detect whether the drive-related system of the vehicle generates an unexpected torque, and when it is detected that the drive-related system generates an unexpected torque, determine the current vehicle speed and the current acceleration of the vehicle, or rather, obtain the current vehicle speed and the current acceleration of the vehicle to reduce at least one of the current vehicle speed and the current acceleration.

[0059] Step S220: Obtain the degradation control relationship data; among them, the degradation control relationship data is used to characterize the corresponding relationship between the vehicle speed, the acceleration, and the vehicle operation area, and the vehicle operation area includes a safe operation area.

[0060] Among them, the vehicle operation area can refer to the driving state of the vehicle within a set vehicle speed range and within a set acceleration range, that is to say, the vehicle operation area can be determined according to the set vehicle speed range and the set acceleration range. Based on a certain vehicle speed and a certain acceleration of the vehicle, the vehicle speed range to which the vehicle speed belongs and the acceleration range to which the acceleration belongs can be determined, and thus the vehicle operation area corresponding to the vehicle can be determined according to the vehicle speed range and the acceleration range.

[0061] Among them, the degradation control relationship data can include multiple vehicle operation areas. In any two of the multiple vehicle operation areas, the vehicle speed ranges corresponding to the two vehicle operation areas are different, and / or the acceleration ranges corresponding to the two vehicle operation areas are different.

[0062] Among them, the vehicle operation area includes a safe operation area, which can mean that the vehicle operation area is a safe operation area. The safe operation area can mean that when the vehicle is driving within the corresponding vehicle speed range and acceleration range of the safe operation area, the driving state of the vehicle is stable, or in other words, the vehicle is driving stably. For example, when the vehicle is driving in this safe operation area, it will not pose a danger to the passengers and / or other road users in the vehicle. Another example is that the driving process of the vehicle can be evaluated for danger to assess the dangerous situation of the vehicle driving process for the passengers and / or other road users. When the vehicle is driving in this safe operation area, the evaluated dangerous situation is relatively low, for example, less than a certain danger assessment threshold.

[0063] Specifically, the degradation control relationship data can be determined in advance, and the relevant controller can obtain the pre-determined degradation control relationship data so that the degradation control can be performed based on the degradation control relationship data.

[0064] Exemplarily, please refer to Figure 3 , Figure 3 is a schematic diagram of exemplary degradation control relationship data. The safe operation area in the degradation control relationship data can be the QM area. For example, the safe operation area can be QM 1, QM 2, QM 3, QM 4, QM 5, QM 6, QM 7, QM 8, etc. in the QM area.

[0065] Step S230: Perform degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data to obtain the target vehicle speed and the target acceleration corresponding to the safe operation area.

[0066] Among them, the degradation control can be to degrade at least one of the current vehicle speed and the current acceleration, that is, to reduce at least one of the current vehicle speed and the current acceleration, so that the target vehicle speed and the target acceleration of the vehicle obtained after reducing at least one of the current vehicle speed and the current acceleration are corresponding to the safe operation area.

[0067] Specifically, query the degradation control relationship data, obtain the vehicle speed range and the acceleration range corresponding to the safe operation area, and control the current vehicle speed to be within the vehicle speed range corresponding to the safe operation area, and control the current acceleration to be within the acceleration range corresponding to the safe operation area.

[0068] Exemplarily, controlling the current vehicle speed to be within the vehicle speed range corresponding to the safe operation area can be achieved by reducing the current vehicle speed to the target vehicle speed corresponding to the safe operation area, or by reducing the current acceleration to the target acceleration corresponding to the safe operation area, or by simultaneously reducing the current vehicle speed and the current acceleration to the target vehicle speed and the target acceleration corresponding to the safe operation area.

[0069] Exemplarily, controlling the current acceleration to be within the acceleration range corresponding to the safe operation region can be achieved by reducing the current acceleration to the target acceleration corresponding to the safe operation region, or by reducing the current vehicle speed to the target vehicle speed corresponding to the safe operation region, or by simultaneously reducing the current vehicle speed and the current acceleration to the target vehicle speed and the target acceleration corresponding to the safe operation region.

[0070] Exemplarily, please continue to refer to Figure 3 , at least one of the current vehicle speed and the current acceleration can be reduced so that the target vehicle speed and the target acceleration of the vehicle obtained after reducing at least one of the current vehicle speed and the current acceleration correspond to any one of QM 1, QM 2, QM 3, QM 4, QM 5, QM 6, QM 7, QM 8 in the QM region.

[0071] As an example, please continue to refer to Figure 3 , if it is detected that the drive-related system generates unexpected torque, and the degradation control relationship data as shown in Figure 3 is obtained: For example, if the current vehicle speed is greater than 20 kilometers per hour (KPH) and the current acceleration is greater than 0.2 standard gravitational accelerations (g), then the degradation control relationship data as shown in Figure 3 can be queried to obtain the vehicle speed range and the acceleration range of the safe operation region being the QM 4 region or the QM 7 region. Among them, the acceleration ranges corresponding to the QM 4 region and the QM 7 region are 0.2g and below 0.2g. Then, the current acceleration greater than 0.2g can be reduced to 0.2g or below 0.2g. That is to say, the current acceleration greater than 0.2g among the current vehicle speed greater than 20 KPH and the current acceleration greater than 0.2g can be reduced. At the same time, the current vehicle speed greater than 20 KPH can also not be reduced or restricted, so that after reducing the current acceleration greater than 0.2g, the target vehicle speed and the target acceleration of the vehicle correspond to the safe operation region QM 4 or QM 7. Additionally, for another example, if the current vehicle speed is greater than 20 KPH and the current acceleration is greater than 0.4g, then the degradation control relationship data as shown in Figure 3The degradation control relationship data shown is used to obtain the speed range and acceleration range for the safe operation areas QM 1, QM 2, QM 3, and QM 5, such that the target vehicle speed and target acceleration of the vehicle correspond to QM 1, QM 2, QM 3, or QM 5. Taking the QM 5 area as an example, the acceleration range corresponding to the QM 5 area is 0.4g and below, and the speed range corresponding to the QM 5 area is 20 KPH and below. The current acceleration greater than 0.4g can be reduced to 0.4g or below, and the current vehicle speed greater than 20 KPH can be reduced to 20 KPH and below. That is to say, by reducing the current acceleration greater than 0.4g to 0.4g or below and limiting the target vehicle speed to not exceed 20 KPH, the target vehicle speed and target acceleration of the vehicle can correspond to the safe operation area QM 5.

[0072] In the above embodiment, by detecting the drive-related systems of the vehicle and determining the current vehicle speed and current acceleration of the vehicle when it is detected that the drive-related systems generate unexpected torque, and obtaining the degradation control relationship data for characterizing the corresponding relationship among vehicle speed, acceleration, and vehicle operation area, the current vehicle speed and / or current acceleration are controlled for degradation based on the degradation control relationship data including the safe operation area, so as to obtain the target vehicle speed and target acceleration corresponding to the safe operation area. In this way, when unexpected torque occurs, the current vehicle speed and current acceleration can be adjusted in a timely manner, reducing the probability of the vehicle getting out of control, and thus improving the driving reliability of the vehicle.

[0073] In some embodiments, the degradation control relationship data can be determined in the following manner.

[0074] (1) Obtain Automotive Safety Integrity Level (ASIL) data. Among them, the ASIL data can include multiple ASIL values, and the ASIL values are obtained by performing a Hazard Analysis and Risk Assessment (HARA) on the vehicle according to the levels of exposure E, severity S, and controllability C of the vehicle.

[0075] Among them, the exposure is used to describe the relationship between the vehicle's scenario and functional failures. For example, when the vehicle enters a dark tunnel scenario but there is a functional failure that the vehicle's lighting cannot be turned on. The severity is used to describe the severity of the harm caused to the passengers in the vehicle during driving, and the controllability is used to describe the controllability of the passengers to avoid dangerous events.

[0076] Exemplarily, the exposure E can be divided into four levels E1, E2, E3, and E4, the severity S can be divided into three levels S1, S2, and S3, and the controllability C can be divided into three levels C1, C2, and C3.

[0077] Exemplarily, referring to Table 1, the ASIL data can include any one of the ASIL values in Table 1. That is to say, the ASIL value can be any one of ASIL A, ASIL B, ASIL C, ASIL D, and QM.

[0078] Table 1

[0079]

[0080]

[0081] Exemplarily, the ASIL value can be determined according to the sum of the levels of the exposure E, severity S, and controllability C corresponding to the vehicle. For example, when the sum of S, E, and C is equal to 10, the ASIL value is ASIL D; when the sum of S, E, and C is equal to 9, the ASIL value is ASIL C; when the sum of S, E, and C is equal to 8, the ASIL value is ASIL B; when the sum of S, E, and C is equal to 7, the ASIL value is ASIL A; when the sum of S, E, and C is less than 7, the ASIL value is QM. For example, when the ASIL value corresponding to the vehicle is ASIL C, the level of the exposure E corresponding to the vehicle can be E4, the level of the severity S can be S3, and the level of the controllability C can be C2, or the level of the exposure E corresponding to the vehicle can be E4, the level of the severity S can be S2, and the level of the controllability C can be C3.

[0082] (2) Determine the downgrade control relationship data based on the automotive safety integrity level data.

[0083] In some cases, the vehicle operating area corresponding to the ASIL value in the ASIL data can be determined in advance, or in other words, the vehicle speed range and acceleration range corresponding to the ASIL value can be preset. In other words, according to the ASIL value, it can be determined that the vehicle speed of the vehicle is within this speed range, and it can be determined that the acceleration of the vehicle is within this acceleration range.

[0084] Specifically, after determining the ASIL value, based on the vehicle speed range and acceleration range corresponding to the ASIL value, the vehicle operating area can be determined. In this way, the downgrade control relationship data representing the corresponding relationship between the vehicle speed range, acceleration range, and vehicle operating area can be obtained, that is, the downgrade control relationship data representing the corresponding relationship between the vehicle speed, acceleration, and vehicle operating area can be obtained.

[0085] Exemplarily, the vehicle operation areas determined based on different ASIL values can be divided into a safe operation area and a dangerous operation area. As an example, please continue to refer to Figure 3 , the safe operation area can be the vehicle operation area determined based on the ASIL value of QM, and the dangerous operation area can be the vehicle operation area determined based on the ASIL value of non-QM. Among them, the ASIL value of non-QM can be ASIL A, ASIL B, ASIL C or ASIL D. Among them, QM, ASIL A, ASIL B or ASIL C can be determined based on different E, S, C. For example, ASIL A can be determined based on E4, S1, C2 or can be determined based on E4, S2, C1.

[0086] Exemplarily, the dangerous operation area in the vehicle operation area can also be further divided into dangerous operation areas of different degrees based on ASIL A, ASIL B, ASIL C and ASIL D, which will not be specifically limited here.

[0087] In the above embodiment, by obtaining ASIL data and then determining the downgrade control relationship data based on the ASIL value in the ASIL data, when an unexpected torque occurs in the drive-related system of the vehicle subsequently, the vehicle can be quickly downgraded directly based on the downgrade control relationship data, quickly reducing the probability of vehicle out of control, thereby being able to quickly improve the driving reliability of the vehicle.

[0088] In some embodiments, before downgrading the current vehicle speed and / or the current acceleration based on the downgrade control relationship data, the vehicle control method may further include: determining the current operation area of the vehicle when it is detected that the drive-related system generates an unexpected torque.

[0089] In some cases, when it is detected that the drive-related system generates an unexpected torque, it is necessary to downgrade the vehicle based on the current operation area of the vehicle.

[0090] Among them, the current operation area may refer to the vehicle speed range and acceleration range corresponding to the vehicle currently, or rather, the vehicle speed range in which the current vehicle speed of the vehicle is located, and the acceleration range in which the current acceleration of the vehicle is located. That is to say, the current operation area can be determined according to the current vehicle speed and the current acceleration of the vehicle.

[0091] Specifically, the downgrade control relationship data can be queried according to the current vehicle speed and the current acceleration to determine the current operation area. Exemplarily, please continue to refer to Figure 3, the current operating area can be any one of multiple vehicle operating areas in the degradation control relationship data. For example, the current operating area can be any one of the QM area, ASIL A area, ASIL B area, ASIL C area, and ASIL D area.

[0092] Correspondingly, in this embodiment, performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data may include: performing degradation control on the current vehicle speed and / or the current acceleration based on the current operating area and the degradation control relationship data.

[0093] Specifically, after querying the degradation control relationship data based on the current vehicle speed and the current acceleration to obtain the current operating area, the current operating area can be adjusted to a safe operating area based on the current operating area and the degradation control relationship data. That is to say, at least one of the current vehicle speed and the current acceleration within the vehicle speed range and the acceleration range corresponding to the current operating area can be reduced to within the vehicle speed range and the acceleration range corresponding to the safe operating area.

[0094] Exemplarily, please continue to refer to Figure 3 , if it is determined that the current operating area is the ASIL C area based on the current vehicle speed and the current acceleration of the vehicle, and the ASIL C area can be determined based on E4, S3, and C2, then the current vehicle speed and / or the current acceleration corresponding to the ASIL C area can be degraded based on the ASIL C area to obtain a target vehicle speed and a target acceleration, such that the target vehicle speed and the target acceleration correspond to any one of QM 1, QM 2, QM 3, QM 4, QM 5, QM 6, QM 7, and QM 8 in the safe operating area QM.

[0095] Exemplarily, please continue to refer to Figure 3 , if it is determined that the current operating area is any one of the QM areas based on the current vehicle speed and the current acceleration of the vehicle. For example, when the current operating area is the QM 4 area, then the current vehicle speed and / or the current acceleration corresponding to the QM 4 area can be degraded based on the QM 4 area to obtain a target vehicle speed and a target acceleration, such that the target vehicle speed and the target acceleration correspond to any one of QM 1 and QM 2 in the safe operating area QM.

[0096] In the above embodiment, by determining the current operating area of the vehicle when it is detected that the drive-related system generates an unexpected torque, and then performing degradation control on the current vehicle speed and / or the current acceleration based on the current operating area and the degradation control relationship data, in this way, when an unexpected torque occurs, it is possible to timely perform degradation control on the current vehicle speed and the current acceleration based on the degradation control relationship data in combination with the current operating area of the vehicle.

[0097] In some embodiments, performing downgrade control on the current vehicle speed and / or the current acceleration based on the current operating area and the downgrade control relationship data may include: when the current operating area is a dangerous operating area, performing downgrade control on the current vehicle speed and / or the current acceleration based on the downgrade control relationship data.

[0098] In some cases, when it is detected that the drive-related system generates unexpected torque, downgrade control may be performed on at least one of the current vehicle speed and the current acceleration only when the current operating area of the vehicle is a dangerous operating area.

[0099] Among them, the dangerous operating area may be the vehicle operating area opposite to the safe operating area among the multiple vehicle operating areas of the downgrade control relationship data, or in other words, it may be the non-safe operating area among the multiple vehicle operating areas. When the vehicle travels within the speed range and acceleration range corresponding to this dangerous operating area, the driving state of the vehicle is unstable, or in other words, the vehicle is driving unstably. For example, when the vehicle travels in this dangerous operating area, it may pose a danger to the passengers and / or other road users in the vehicle, or in other words, the evaluated danger to the passengers and / or other road users is relatively high, such as greater than or equal to a certain danger assessment threshold.

[0100] In this way, when the current operating area of the vehicle is a dangerous operating area, the current vehicle speed and the current acceleration can be timely adjusted to the target vehicle speed and the target acceleration corresponding to the safe operating area, reducing the probability of the vehicle getting out of control, and thus improving the driving reliability of the vehicle.

[0101] In some embodiments, performing downgrade control on the current vehicle speed and / or the current acceleration based on the downgrade control relationship data to obtain the target vehicle speed and the target acceleration corresponding to the safe operating area may include: performing downgrade control on the current vehicle speed and / or the current acceleration based on the expected vehicle speed and the expected acceleration corresponding to the safe operating area to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration.

[0102] Among them, the expected vehicle speed corresponding to the safe operating area may be any vehicle speed within the speed range corresponding to this safe operating area, and the expected acceleration corresponding to the safe operating area may be any acceleration within the acceleration range corresponding to this safe operating area.

[0103] Exemplarily, the expected vehicle speed may be the maximum vehicle speed within the speed range corresponding to this safe operating area, and the expected acceleration may be the maximum acceleration within the acceleration range corresponding to this safe operating area.

[0104] Specifically, based on the expected vehicle speed and expected acceleration corresponding to any safe operation area in the downgrade control relationship data, the current vehicle speed and / or current acceleration can be downgraded to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration.

[0105] As an example, please continue to refer to Figure 3 , the expected vehicle speed corresponding to the QM 2 area in the safe operation area is 20 KPH, and the corresponding expected acceleration is 0.2g. The expected vehicle speed corresponding to the QM 4 area in the safe operation area is 40 KPH, and the corresponding expected acceleration is 0.2g. The expected vehicle speed corresponding to the QM 5 area in the safe operation area is 20 KPH, and the corresponding expected acceleration is 0.4g.

[0106] If the current vehicle speed is 25 KPH and the current acceleration is 0.5g, the current vehicle speed of 25 KPH can be reduced to the expected vehicle speed of 20 KPH or below corresponding to the QM 2 area, and the current acceleration of 0.5g can be reduced to the expected acceleration of 0.2g or below corresponding to the QM 2 area. That is, the target vehicle speed is 20 KPH or below, and the target acceleration is 0.2g or below.

[0107] If the current vehicle speed is 25 KPH and the current acceleration is 0.5g, the current acceleration of 0.5g can be reduced to the expected acceleration of 0.2g or below corresponding to any of the QM 1, QM 2, QM 4, and QM 7 areas, and the current vehicle speed of 25 KPH can be not reduced or restricted. That is, the target acceleration is 0.2g or below, and the target vehicle speed is 4 KPH, below 4 KPH, 20 KPH, below 20 KPH, 40 KPH or below 40 KPH. Of course, the target vehicle speed can also be 60 KPH, 70 KPH, 80 KPH, 90 KPH, 100 KPH, 110 KPH or below.

[0108] If the current vehicle speed is 25 KPH and the current acceleration is 0.5g, the current vehicle speed of 25 KPH can be reduced to the expected vehicle speed of 20 KPH or below corresponding to the QM 5 area, and the current acceleration of 0.5g can be reduced to the expected acceleration of 0.4g or below corresponding to the QM 5 area. That is, the target vehicle speed is 20 KPH or below, and the target acceleration is 0.4g or below.

[0109] If the current vehicle speed is 15 KPH and the current acceleration is 0.5 g, the current vehicle speed of 15 KPH can be reduced to the expected vehicle speed of 20 KPH or below corresponding to the QM 5 region, and the current acceleration of 0.5 g can be reduced to the expected acceleration of 0.4 g or below corresponding to the QM 5 region. That is, the target vehicle speed is 20 KPH or below, and the target acceleration is 0.4 g or below.

[0110] In this way, it is possible to achieve the downgrade control of at least one of the current vehicle speed and the current acceleration based on the expected vehicle speed and the expected acceleration corresponding to the safe operating region, thereby reducing the probability of vehicle out-of-control and improving the driving reliability of the vehicle.

[0111] In some embodiments, the drive-related system can be detected for unexpected torque generation in the following manner: monitor the implementation result of the drive-related function of the drive-related system to obtain function monitoring information; based on the function monitoring information, detect whether the drive-related system generates unexpected torque.

[0112] Specifically, please continue to refer to Figure 1 The drive-related controller can control the drive-related system through the function control unit to enable the drive-related system to implement the drive-related function. During the process of controlling the drive-related system, the drive-related controller can monitor the implementation result of the drive-related function of the drive-related system to obtain function monitoring information. Exemplarily, the function monitoring information can at least include the motor output torque and the expected torque of the motor, so that it is possible to determine whether the drive-related system generates unexpected torque based on the motor output torque and the expected torque.

[0113] Exemplarily, the implementation result of the drive-related function of the drive-related system can be monitored through the function monitoring unit in the drive-related controller to obtain function monitoring information.

[0114] In this way, according to the implementation result of the drive-related function of the drive-related system represented by the function monitoring information, it is possible to determine whether the drive-related system generates unexpected torque, that is, it is possible to determine whether the drive-related function of the drive-related system is correctly implemented.

[0115] In some embodiments, detecting whether the drive-related system generates unexpected torque based on the function monitoring information may include: when it is detected based on the function control status information that there is no controller failure in the drive-related controller, detecting whether the drive-related system of the vehicle generates unexpected torque based on the function monitoring information; wherein, the function control status information is used to describe whether the control of the drive-related system by the drive-related controller is normal.

[0116] In some cases, please continue to refer to Figure 1 During the process of the drive-related controller controlling the drive-related system through the function control unit, the function control status information for describing whether the control of the drive-related system by the drive-related controller is normal can be obtained, so as to detect whether there is a controller failure in the drive-related controller based on the function control status information.

[0117] Exemplarily, the function control status information may refer to at least one of the input / output status, control instruction, fault code, etc. of the drive-related controller. Among them, the control instruction can be used to instruct the drive-related system to implement the drive-related function, and the fault code is used to represent the fault type of the controller failure that occurs in the drive-related controller.

[0118] Exemplarily, it is possible to detect whether there is a controller failure in the drive-related controller based on the controller monitoring unit of the drive-related controller.

[0119] Specifically, in the case where it is detected that there is no controller failure in the drive-related controller, the function monitoring unit of the drive-related controller is used to detect whether the drive-related system generates an unexpected torque.

[0120] Exemplarily, the function monitoring unit of the drive-related controller monitors the implementation result of the drive-related function of the drive-related system to obtain function monitoring information. It can determine the function monitoring information including at least the motor output torque and the expected torque of the motor by obtaining at least one of the vehicle state information, power request, and function control status information, so that it is possible to judge whether the drive-related system generates an unexpected torque based on the motor output torque and the expected torque in the function monitoring information.

[0121] In the above embodiments, whether there is a controller failure in the drive-related controller is detected through the function control status information for describing whether the control of the drive-related system by the drive-related controller is normal, and in the case where there is no controller failure in the drive-related controller, whether the drive-related system generates an unexpected torque is detected based on the function monitoring information. In this way, the accuracy of detecting the unexpected torque can be improved.

[0122] In some embodiments, the vehicle control method may further include: generating an internal shutdown request in the case where it is detected that there is a controller failure in the drive-related controller based on the function control status information; resetting the drive-related controller to its initial state according to the internal shutdown request.

[0123] Specifically, when the controller monitoring unit based on the drive-related controller detects a controller fault in the drive-related controller, an internal shutdown request is generated based on the controller monitoring unit, and according to the internal shutdown request, the drive-related controller is reset to adjust the drive-related controller to its initial state.

[0124] Exemplarily, according to the internal shutdown request, the function control unit of the drive-related controller can be reset to its initial state so that the function control unit controls the drive-related system in the reset initial state.

[0125] In this way, the drive-related controller can be restored to its normal initial state in the case of a controller fault, and the vehicle can be made to run in the safe operation area through the internal shutdown request, which can improve the robustness of the drive-related controller in the drive-related system to a certain extent, thereby improving the driving reliability of the vehicle.

[0126] In some embodiments, the safe operation area can correspond to an expected vehicle speed and an expected acceleration.

[0127] In this embodiment, the vehicle control method may further include: generating an internal shutdown request when the vehicle speed after downgraded control is greater than the expected vehicle speed and / or the acceleration after downgraded control is greater than the expected acceleration; and resetting the drive-related controller corresponding to the drive-related system to its initial state according to the internal shutdown request.

[0128] In some cases, when performing downgraded control on the current vehicle speed and / or the current acceleration based on the downgraded control relationship data, if the vehicle speed after downgraded control is greater than the expected vehicle speed and / or the acceleration after downgraded control is greater than the expected acceleration, it can be determined that the downgraded control is ineffective. In other words, based on the downgraded control relationship data, at least one of the current vehicle speed and the current acceleration cannot be adjusted to the target vehicle speed and the target acceleration. At this time, the internal shutdown request can be used to adjust and control the current vehicle speed and the current acceleration to make the vehicle run within the safe operation area. In this way, the robustness of the drive-related controller in the drive-related system can be improved to a certain extent, thereby improving the driving reliability of the vehicle.

[0129] In some embodiments, the vehicle control method may further include: generating an external shutdown request when the drive-related controller cannot be reset to its initial state according to the internal shutdown request; wherein the external shutdown request is used to request the power supply system to stop supplying power to the drive-related system.

[0130] In some cases, when the drive-related system generates unexpected torque, it is impossible to perform downgrade control on the drive-related system, and it may also be impossible to reset the drive-related controller corresponding to the drive-related system to its initial state according to the internal shutdown request. Therefore, to improve the reliability of vehicle driving, the current vehicle speed and current acceleration can be adjusted and controlled based on an external shutdown request, so that the vehicle operates within a safe operating area. In this way, the robustness of the drive-related controller in the drive-related system can be improved to a certain extent, thereby improving the driving reliability of the vehicle.

[0131] Specifically, when the drive-related controller cannot be reset to its initial state according to the internal shutdown request, the drive-related controller can generate an external shutdown request and transmit the external shutdown request to the vehicle's power supply system to request the power supply system to stop powering the drive-related system, so that the vehicle operates within a safe operating area and reduces the safety risks of the vehicle.

[0132] In some embodiments, the vehicle control method may at least further include one of the following.

[0133] (1) When a function monitoring-related fault is detected based on function monitoring information and no unexpected torque is detected, output a function monitoring warning message.

[0134] Exemplarily, when a function monitoring-related fault is detected and no unexpected torque is detected, it can be determined that there is a fault indirectly violating the expected torque.

[0135] (2) When the drive-related controller is reset to its initial state according to the internal shutdown request, output an internal shutdown warning message.

[0136] (3) When it is detected that the drive-related system generates unexpected torque, output an unexpected torque warning message.

[0137] Exemplarily, when unexpected torque is detected, it can be determined that there is a fault directly violating the expected torque.

[0138] (4) When an external shutdown request is generated to request the power supply system to stop powering the drive-related system, output an external shutdown warning message.

[0139] In the above embodiments, by outputting function monitoring warning messages, internal shutdown warning messages, unexpected torque warning messages, and external shutdown warning messages, it is possible to timely remind the driver and passengers according to different fault scenarios, so that the driver and passengers can timely understand the operation status of the vehicle.

[0140] An embodiment of the present application provides a vehicle control method, which can be applied to a drive-related controller in a vehicle. Please refer to Figure 4 , and the vehicle control method may include the following steps.

[0141] Step S401: When it is detected based on the function control status information that there is no controller failure in the drive-related controller, monitor the implementation result of the drive-related function of the drive-related system to obtain function monitoring information; wherein, the function control status information is used to describe whether the control of the drive-related controller over the drive-related system is normal.

[0142] Step S403: When it is detected based on the function monitoring information that there is a function monitoring-related failure and no unexpected torque is detected, output a function monitoring warning message.

[0143] Step S405: When it is detected that the drive-related system of the vehicle generates unexpected torque, determine the current vehicle speed and current acceleration of the vehicle, and output an unexpected torque warning message.

[0144] Specifically, determine the current operating area of the vehicle according to the current vehicle speed and current acceleration.

[0145] Step S407: Obtain degradation control relationship data; wherein, the degradation control relationship data is used to characterize the corresponding relationship among the vehicle speed, acceleration, and vehicle operating area, and the vehicle operating area includes a safe operating area and a dangerous operating area.

[0146] Step S409: When the current operating area is a dangerous operating area, perform degradation control on the current vehicle speed and / or current acceleration based on the current operating area and the degradation control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operating area.

[0147] Specifically, perform degradation control on the current vehicle speed and / or current acceleration based on the expected vehicle speed and expected acceleration corresponding to the safe operating area to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration.

[0148] Step S411: When the vehicle speed after degradation control is greater than the expected vehicle speed, and / or, the acceleration after degradation control is greater than the expected acceleration, generate an internal shutdown request.

[0149] Step S413: When it is detected based on the function control status information that there is a controller failure in the drive-related controller, generate an internal shutdown request.

[0150] Step S415: According to the internal shutdown request, reset the drive-related controller used to control the drive-related system to its initial state, and output an internal shutdown warning message.

[0151] Step S417: When the drive-related controller cannot be reset to its initial state according to the internal shutdown request, generate an external shutdown request and output an external shutdown warning message; wherein, the external shutdown request is used to request the power supply system to stop supplying power to the drive-related system.

[0152] An embodiment of the present application provides a vehicle control device. Please refer to Figure 5 , the vehicle control device may include an unexpected torque determination module 510, a control relationship acquisition module 520, and a degradation control module 530.

[0153] The unexpected torque determination module 510 is configured to determine the current vehicle speed and the current acceleration of the vehicle when it detects that the drive-related system of the vehicle generates unexpected torque;

[0154] The control relationship acquisition module 520 is configured to acquire degradation control relationship data; wherein, the degradation control relationship data is used to characterize the corresponding relationship between the vehicle speed, the acceleration, and the vehicle operation area, and the vehicle operation area includes a safe operation area;

[0155] The degradation control module 530 is configured to perform degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area.

[0156] In some embodiments, the unexpected torque determination module 510 is further configured to: determine the current operation area of the vehicle when it detects that the drive-related system generates unexpected torque.

[0157] In this embodiment, the degradation control module 530 is further configured to: perform degradation control on the current vehicle speed and / or the current acceleration based on the current operation area and the degradation control relationship data.

[0158] In some embodiments, the degradation control module 530 is further configured to: perform degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data when the current operation area is a dangerous operation area.

[0159] In some embodiments, the degradation control module 530 is further configured to: perform degradation control on the current vehicle speed and / or the current acceleration based on the expected vehicle speed and the expected acceleration corresponding to the safe operation area to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration.

[0160] In some embodiments, the unexpected torque determination module 510 is further configured to: monitor the implementation result of the drive-related function of the drive-related system to obtain function monitoring information; and perform detection based on the function monitoring information to determine whether the drive-related system generates unexpected torque.

[0161] In some embodiments, the unexpected torque determination module 510 is further configured to: when it is detected based on the function control status information that there is no controller failure in the drive-related controller, detect whether the drive-related system of the vehicle generates unexpected torque based on the function monitoring information; wherein, the function control status information is used to describe whether the control of the drive-related controller over the drive-related system is normal.

[0162] In some embodiments, the degradation control module 530 is further configured to: when it is detected based on the function control status information that there is a controller failure in the drive-related controller, generate an internal shutdown request; and reset the drive-related controller to its initial state according to the internal shutdown request.

[0163] In some embodiments, the safe operating area corresponds to an expected vehicle speed and an expected acceleration; the degradation control module 530 is further configured to: when the vehicle speed after degradation control is greater than the expected vehicle speed, and / or, the acceleration after degradation control is greater than the expected acceleration, generate an internal shutdown request; and reset the drive-related controller used to control the drive-related system to its initial state according to the internal shutdown request.

[0164] In some embodiments, the drive-related system is connected to a power supply system, and the power supply system can supply power to the drive-related system; the degradation control module 530 is further configured to: when the drive-related controller cannot be reset to its initial state according to the internal shutdown request, generate an external shutdown request; wherein, the external shutdown request is used to request the power supply system to stop supplying power to the drive-related system.

[0165] In some embodiments, the vehicle control device may further include an alarm information output module, and the alarm information output module is configured to: when it is detected based on the function monitoring information that there is a function monitoring-related failure and no unexpected torque is detected, output function monitoring alarm information.

[0166] In some embodiments, the alarm information output module is further configured to: when the drive-related controller is reset to its initial state according to the internal shutdown request, output internal shutdown alarm information.

[0167] In some embodiments, the alarm information output module is further configured to: when it is detected that the drive-related system generates unexpected torque, output unexpected torque alarm information.

[0168] In some embodiments, the alarm information output module is further configured to: when an external shutdown request is generated to request the power supply system to stop supplying power to the drive-related system, output external shutdown alarm information.

[0169] Regarding the specific functions and effects achieved by the vehicle control device, reference can be made to other embodiments of this application for comparison and explanation, which will not be elaborated here. Each module in the vehicle control device can be implemented in whole or in part by software, hardware, and their combinations. Each module can be embedded in the processor of the computer device in hardware form or be independent of it, or can be stored in the memory of the computer device in software form, so as to facilitate the processor to call and execute the operations corresponding to each of the above modules.

[0170] An embodiment of this application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by the computer, the computer is caused to execute the vehicle control method in any of the above embodiments.

[0171] An embodiment of this application also provides a computer program product containing instructions. When the instructions are executed by the computer, the computer is caused to execute the vehicle control method in any of the above embodiments.

[0172] An embodiment of this application also provides a vehicle, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the vehicle control method in any of the above embodiments is implemented.

[0173] An embodiment of this application also provides a computer device, including a memory and a processor. A computer program is stored in the memory, and when the processor executes the computer program, the vehicle control method in the above embodiment is implemented.

[0174] In this embodiment, please refer to Figure 6 , the internal structure diagram of this computer device can be as shown in Figure 6 . This computer device includes a processor, a memory, and a communication interface connected through a system bus. Among them, the processor of this computer device is used to provide computing and control capabilities. The memory of this computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of this computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be implemented through WIFI, a carrier network, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, the vehicle control method in any of the above embodiments is implemented.

[0175] It can be understood that the specific examples in this article are only to help those skilled in the art better understand the embodiments of this application, rather than limiting the scope of this application.

[0176] It can be understood that in various embodiments of the present application, the magnitude of the serial numbers of the various processes does not mean the sequence of execution, and the execution sequence of the various processes should be determined by their functions and internal logics, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0177] It can be understood that the various embodiments described in the present application can be implemented alone or in combination, and the embodiments of the present application do not limit this.

[0178] It can be understood that the processor in the embodiments of the present application can be an integrated circuit chip with the ability to process signals. In the implementation process, the steps of the above method embodiments can be completed by the integrated logic circuit in the hardware of the processor or instructions in software form. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by the hardware decoding processor, or executed and completed by the combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0179] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0180] Those of ordinary skill in the art will realize that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, or in a combination of computer software and electronic hardware. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of this application.

[0181] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0183] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0184] In addition, the functional units in the various embodiments of this application can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0185] When the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of this application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0186] As described above, the above are only specific embodiments of this application, but the protection scope of this application is not limited thereto. Any person skilled in the art within the technical scope disclosed by this application can easily think of changes or substitutions, which should all be covered by the protection scope of this application. Therefore, the protection scope of this application should be subject to the protection scope of the claims.

Claims

1. A vehicle control method, characterized in that, The method includes: When it is detected that the drive-related system of the vehicle generates unexpected torque, determining the current vehicle speed and the current acceleration of the vehicle; Obtaining degradation control relationship data; wherein, the degradation control relationship data is used to characterize the corresponding relationship among the vehicle speed, the acceleration, and the vehicle operation area, and the vehicle operation area includes a safe operation area; Based on the degradation control relationship data, performing degradation control on the current vehicle speed and / or the current acceleration to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area.

2. The method according to claim 1, wherein Before performing the degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data, the method further includes: When it is detected that the drive-related system generates unexpected torque, determining the current operation area of the vehicle; The performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data includes: Performing degradation control on the current vehicle speed and / or the current acceleration based on the current operation area and the degradation control relationship data.

3. The method according to claim 2, wherein The performing degradation control on the current vehicle speed and / or the current acceleration based on the current operation area and the degradation control relationship data includes: When the current operation area is a dangerous operation area, performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data.

4. The method according to any one of claims 1 to 3, characterized in that, The performing degradation control on the current vehicle speed and / or the current acceleration based on the degradation control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operation area includes: Performing degradation control on the current vehicle speed and / or the current acceleration based on the expected vehicle speed and the expected acceleration corresponding to the safe operation area to obtain a target vehicle speed not greater than the expected vehicle speed and a target acceleration not greater than the expected acceleration.

5. The method according to claim 1, wherein The drive-related system is detected for whether it generates unexpected torque by the following method: Monitoring the implementation result of the drive-related function of the drive-related system to obtain function monitoring information; Based on the function monitoring information, detecting and determining whether the drive-related system generates unexpected torque.

6. The method according to claim 5, wherein The detecting and determining whether the drive-related system generates unexpected torque based on the function monitoring information includes: When it is detected based on the function control status information that there is no controller fault in the drive-related controller, detecting whether the drive-related system of the vehicle generates unexpected torque based on the function monitoring information; wherein, the function control status information is used to describe whether the control of the drive-related system by the drive-related controller is normal.

7. The method according to claim 6, characterized in that, The method further includes: When it is detected based on the function control status information that the drive-related controller has the controller fault, generating an internal shutdown request; According to the internal shutdown request, resetting the drive-related controller to its initial state.

8. The method according to claim 1, characterized in that, The safe operation area corresponds to an expected vehicle speed and an expected acceleration; the method further includes: Generate an internal shutdown request when the vehicle speed after downgrade control is greater than the expected vehicle speed and / or the acceleration after downgrade control is greater than the expected acceleration; Reset the drive-related controller corresponding to the drive-related system to its initial state according to the internal shutdown request.

9. The method according to claim 8, wherein The drive-related system is connected to a power supply system, and the power supply system can supply power to the drive-related system; the method further includes: Generate an external shutdown request when the drive-related controller cannot be reset to its initial state according to the internal shutdown request; wherein, the external shutdown request is used to request the power supply system to stop supplying power to the drive-related system.

10. The method according to any one of claims 2 to 9, characterized in that, The method further includes at least one of the following: Output a function monitoring warning message when a function monitoring-related fault is detected based on the function monitoring information and no unexpected torque is detected; Output an internal shutdown warning message when the drive-related controller is reset to its initial state according to the internal shutdown request; Output an unexpected torque warning message when unexpected torque is detected in the drive-related system; Output an external shutdown warning message when an external shutdown request is generated to request the power supply system to stop supplying power to the drive-related system.

11. A vehicle control device, characterized in that, The device includes: An unexpected torque determination module, configured to determine the current vehicle speed and current acceleration of the vehicle when unexpected torque is detected in the drive-related system of the vehicle; A control relationship acquisition module, configured to acquire downgrade control relationship data; wherein, the downgrade control relationship data is used to characterize the corresponding relationship between vehicle speed, acceleration, and vehicle operating area, and the vehicle operating area includes a safe operating area; A downgrade control module, configured to perform downgrade control on the current vehicle speed and / or the current acceleration based on the downgrade control relationship data to obtain a target vehicle speed and a target acceleration corresponding to the safe operating area.

12. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the vehicle control method according to any one of claims 1 to 10.

13. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the vehicle control method according to any one of claims 1 to 10.

14. A vehicle, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, it implements the vehicle control method according to any one of claims 1 to 10.

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