Vehicle control method, device and equipment, vehicle, storage medium, product and chip

Abstract

The invention relates to the technical field of new energy vehicles, in particular to a vehicle control method, device and equipment, a vehicle, a storage medium, a product and a chip. The method comprises the steps that the indication state of the power disengaging device of the vehicle is obtained, and the indication state comprises the combination state or the disengaging state; under the driving working condition, the verification state of the power disengaging device is obtained; and determining whether the working state of the power release device is normal or not according to the indication state and the verification state. According to the embodiment of the invention, the working state of the power release device can be accurately identified in a multi-signal fusion mode, real-time power monitoring is realized, unexpected torque is avoided, and a vehicle safety protection function is provided to improve the safety of a vehicle system.

Description

Technical Field

[0001] The present disclosure relates to the technical field of new energy vehicles, and particularly to a vehicle control method, device, equipment, vehicle, storage medium, product and chip. Background Art

[0002] In the related art, the electric drive system is applied in new energy vehicles (including pure electric vehicles and hybrid vehicles) as the key power source of the vehicle. The electric drive system at least includes sub-components such as a motor, a motor controller, and a reduction mechanism. The integration method of each sub-component can be an integrated mechanical integration or an independent form.

[0003] An electric drive system configured with a power disconnection function refers to adding a power disconnection device on the basis of the above electric drive system. This power disconnection device allows the electric drive system to be controllably connected to or disconnected from the vehicle transmission system. When the disconnection device is in the engaged state, the shaft system of the electric drive system will be connected to the vehicle transmission system and can provide power for the vehicle; when the disconnection device is in the disconnected state, the shaft system of the electric drive system will be disconnected from the transmission system. At this time, the system cannot transmit power to the vehicle, but at the same time, the resistance transmitted by the electric drive system to the vehicle transmission system will decrease, thereby achieving the purpose of reducing the vehicle power consumption and improving the vehicle endurance.

[0004] However, this power disconnection function will introduce uncertain factors to the vehicle safety. From the perspective of functional safety, the unexpected operation of the power disconnection device may cause unexpected movement / acceleration / deceleration / instability of the vehicle, further leading to accidents and even personal injuries. Therefore, the electric drive system configured with a power disconnection device should have corresponding functional safety designs to ensure that the system does not appear in an unexpected operating state. This safety design includes the state identification of the power disconnection device and protection strategies in different situations. Among them, the state of the power disconnection device is a very critical signal and needs to be accurately judged and identified. Currently, the integrated power disconnection devices on the market do not have sensors specifically for identifying their states and can only be identified indirectly, which poses safety risks in some scenarios. Summary of the Invention

[0005] To overcome the problems existing in the related art, the present disclosure provides a vehicle control method, device, equipment, vehicle, storage medium, product and chip.

[0006] According to the first aspect of the embodiments of the present disclosure, a vehicle control method is provided, including: Obtaining an indicated state of a power disconnection device of the vehicle, where the indicated state includes an engaged state or a disconnected state; Obtaining a verification state of the power disconnection device under a driving condition; Determine whether the operating state of the power disconnect device is normal according to the indicated state and the verification state.

[0007] In one embodiment, obtaining the verification state of the power disconnect device includes: Obtain a first operating parameter of the vehicle; Obtain a second operating parameter of the power disconnect device; Obtain the verification state of the power disconnect device according to the first operating parameter and the second operating parameter.

[0008] In one embodiment, the first operating parameter includes the motor speed of the vehicle, and the second operating parameter includes the speed of the power disconnect device; The obtaining the verification state of the power disconnect device according to the first operating parameter and the second operating parameter includes: Obtain the verification state of the power disconnect device according to the motor speed and the speed of the power disconnect device.

[0009] In one embodiment, the obtaining the verification state of the power disconnect device according to the motor speed and the speed of the power disconnect device includes: When the motor speed matches the speed of the power disconnect device, determine that the verification state of the power disconnect device is the engaged state; When the motor speed does not match the speed of the power disconnect device, determine that the verification state of the power disconnect device is the disengaged state.

[0010] In one embodiment, the situation where the speeds match includes: there is a specified proportional relationship between the motor speed and the speed of the power disconnect device; The situation where the speeds do not match includes: there is no such specified proportional relationship between the motor speed and the speed of the power disconnect device.

[0011] In one embodiment, the determining whether the operating state of the power disconnect device is normal according to the indicated state and the verification state includes: When the indicated state and the verification state are consistent, determine that the operating state of the power disconnect device is normal; When the indicated state and the verification state are inconsistent, determine that the operating state of the power disconnect device is abnormal.

[0012] In one embodiment, under driving conditions, the method further includes: When the operating state of the power disconnect device is normal, determine that there is no need to enter the protection mode; When the operating state of the power disengagement device is abnormal, it is determined that it is necessary to enter the protection mode.

[0013] In one embodiment, in the parking condition, the method further includes: When the indicated state of the power disengagement device is the engaged state, it is determined that there is no need to enter the protection mode; When the indicated state of the power disengagement device is the disengaged state or the process state, it is determined whether it is necessary to enter the protection mode according to the output torque of the vehicle, where the process state is the process state of changing from the engaged state to the disengaged state, or the process state of changing from the disengaged state to the engaged state.

[0014] In one embodiment, the determining whether it is necessary to enter the protection mode according to the output torque of the vehicle includes: When the output torque is greater than or equal to the hazard torque threshold, it is determined that it is necessary to enter the protection mode; When the output torque is less than the hazard torque threshold, it is determined that there is no need to enter the protection mode.

[0015] In one embodiment, the method further includes: When the indicated state signal of the power disengagement device is abnormal, it is determined to enter the protection mode.

[0016] In one embodiment, the protection mode includes the following strategies: When the operating state of the power disengagement device is normal and the torque control of the vehicle is abnormal, the power disengagement device is adjusted to the disengaged state, and / or the electric drive system of the vehicle is controlled to stop outputting torque.

[0017] In one embodiment, the protection mode includes the following strategies: When the operating state of the power disengagement device is abnormal and the torque control of the vehicle is normal, the power disengagement device is controlled to maintain its original state, and the electric drive system of the vehicle outputs torque normally.

[0018] In one embodiment, the protection mode includes the following strategies: When the operating state of the power disengagement device is abnormal and the torque control of the vehicle is abnormal, the power disengagement device is controlled to maintain its original state, and the electric drive system of the vehicle stops outputting torque.

[0019] According to the second aspect of the embodiments of the present disclosure, a vehicle control device is provided, including: A first acquisition module, configured to acquire an indicated state of a power disconnect device of a vehicle, where the indicated state includes an engaged state or a disengaged state; A second acquisition module, configured to acquire a verification state of the power disconnect device under a driving condition; A determination module, configured to determine whether the working state of the power disconnect device is normal according to the indicated state and the verification state.

[0020] According to a third aspect of the embodiments of the present disclosure, there is provided an electronic device, including: A processor; A memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the executable instructions to implement the method described in any one of the first aspect.

[0021] According to a fourth aspect of the embodiments of the present disclosure, there is provided a vehicle, including: the electronic device described in the third aspect.

[0022] According to a fifth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the method described in any one of the first aspect are implemented.

[0023] According to a sixth aspect of the embodiments of the present disclosure, there is provided a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of the first aspect are implemented.

[0024] According to a seventh aspect of the embodiments of the present disclosure, there is provided a chip, including a processor and an interface; the processor is used to read instructions to execute the method described in any one of the first aspect.

[0025] In summary, the embodiments of the present disclosure provide a vehicle control method, including: acquiring an indicated state of a power disconnect device of a vehicle, where the indicated state includes an engaged state or a disengaged state; acquiring a verification state of the power disconnect device under a driving condition; and determining whether the working state of the power disconnect device is normal according to the indicated state and the verification state. The embodiments of the present disclosure can accurately identify the working state of the power disconnect device through a multi-signal fusion method, realize real-time power monitoring, avoid the occurrence of unexpected torque, and provide a vehicle safety protection function to improve the safety of the vehicle system.

[0026] It should be understood that the above general description and subsequent detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure.

[0028] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0029] Figure 2 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0030] Figure 3 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0031] Figure 4 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0032] Figure 5 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0033] Figure 6 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0034] Figure 7 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0035] Figure 8 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0036] Figure 9 is a flowchart of a vehicle control method shown according to an exemplary embodiment.

[0037] Figure 10 is a block diagram of a vehicle control device shown according to an exemplary embodiment.

[0038] Figure 11 is a block diagram of an electronic device shown according to an exemplary embodiment.

[0039] Figure 12 is a block diagram of a vehicle shown according to an exemplary embodiment. Detailed Description of the Invention

[0040] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0041] It should be understood that the term "including" and its variations used herein are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "an embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0042] It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units. The modifications of "one" and "a plurality of" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". In the description of the present disclosure, unless otherwise specified, "a plurality of" means two or more, and other quantifiers are similar; "at least one (item)", "one (item) or more (items)" or similar expressions refer to any combination of these items (items), including any combination of single item (item) or plural items (items).

[0043] In the embodiments of the present disclosure, although operations or steps are described in a specific order in the accompanying drawings, it should not be understood that these operations or steps are required to be performed in the specific order shown or in a serial order, or that all the operations or steps shown are required to obtain the desired result. In the embodiments of the present disclosure, these operations or steps can be performed serially; they can also be performed in parallel; or a part of these operations or steps can be performed.

[0044] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information. It can be understood that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to users and the authorization of users should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0045] First, the application scenarios of the present disclosure will be described. The core problem of the current technical solution lies in identifying the working state of the power disengagement device. The mainstream solutions in the industry currently include the direct position detection method, the position self-resetting method, the memory position method, and diagnosis and protection are carried out based on the above solutions.

[0046] 1) The direct position detection method refers to a method of directly obtaining the working state of the disengagement device by arranging sensors at key positions of the disengagement device mechanism. This method is the most direct, but arranging this sensor requires relatively complex design and cost, so it is less used in the industry.

[0047] 2) The memory position method means that when the electric drive system is powered off, the position of the power disengagement device at this time is stored in the microcontroller, and this position is read when the system is powered on next time. However, this method cannot avoid the situation where the position of the power disengagement device changes during the power-off process of the system.

[0048] 3) The self-resetting method refers to a method of spontaneously performing position self-resetting of the power disengagement device when the electric drive system is powered on. First, the disengagement device is forced to move to the disengaged state and then restored to the engaged state to reset its state. However, this method introduces an engagement and disengagement process that the vehicle does not need, and may instead cause safety risks brought by the unexpected engagement of the power disengagement device.

[0049] In view of this, the embodiments of the present disclosure provide a vehicle control method, device, equipment, vehicle, storage medium, product, and chip, aiming to accurately identify the working state of the power disengagement device through a multi-signal fusion method, realize real-time power monitoring, avoid the appearance of unexpected torque, and provide a vehicle safety protection function to improve the safety of the vehicle system. The present disclosure will be described below with reference to specific embodiments.

[0050] Figure 1 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 1 shown, the embodiments of the present disclosure provide a vehicle control method, which may include the following steps: In step S10, obtain the indicated state of the power disengagement device of the vehicle, where the indicated state includes an engaged state or a disengaged state.

[0051] In this step, obtain the indicated state of the power disengagement device of the vehicle. The indicated state includes an engaged state or a disengaged state. Exemplarily, the indicated state of the power disengagement device can be obtained according to the state of the power disengagement function switch panel. When the power disengagement function switch is turned to the disengaged position, the indicated state is the disengaged state. When the power disengagement function switch is turned to the engaged position, the indicated state is the engaged state.

[0052] In step S20, obtain the verification state of the power disengagement device under driving conditions.

[0053] In this step, under driving conditions, obtain the verification status of the power disengagement device. Exemplarily, the first operating parameter of the vehicle can be obtained first, then the second operating parameter of the power disengagement device is obtained, and then according to the first operating parameter and the second operating parameter, the verification status of the power disengagement device is obtained.

[0054] In step S30, according to the indication status and the verification status, determine whether the working status of the power disengagement device is normal.

[0055] In this step, according to the indication status and the verification status, determine whether the working status of the power disengagement device is normal. Exemplarily, when the indication status and the verification status are consistent, it can be determined that the working status of the power disengagement device is normal; when the indication status and the verification status are inconsistent, it is determined that the working status of the power disengagement device is abnormal.

[0056] In summary, the embodiments of the present disclosure provide a vehicle control method, including: obtaining the indication status of the power disengagement device of the vehicle, where the indication status includes a combined state or a disengaged state; under driving conditions, obtaining the verification status of the power disengagement device; according to the indication status and the verification status, determine whether the working status of the power disengagement device is normal. The embodiments of the present disclosure can accurately identify the working status of the power disengagement device through multi-signal fusion, realize real-time power monitoring, avoid the occurrence of unexpected torque, and provide a vehicle safety protection function to improve the safety of the vehicle system.

[0057] Figure 2 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 2 shown, obtaining the verification status of the power disengagement device may include the following steps: In step S201, obtain the first operating parameter of the vehicle.

[0058] In this step, obtain the first operating parameter of the vehicle. Exemplarily, the first operating parameter of the vehicle may include the motor speed of the vehicle.

[0059] In step S202, obtain the second operating parameter of the power disengagement device.

[0060] In this step, obtain the second operating parameter of the power disengagement device. Exemplarily, the second operating parameter of the power disengagement device may include the speed of the power disengagement device.

[0061] In step S203, according to the first operating parameter and the second operating parameter, obtain the verification status of the power disengagement device.

[0062] In this step, according to the first operating parameter and the second operating parameter, obtain the verification status of the power disconnect device. Exemplarily, the verification status of the power disconnect device can be obtained according to the motor speed of the vehicle and the speed of the power disconnect device.

[0063] Figure 3 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 3 shown, the first operating parameter includes the motor speed of the vehicle, and the second operating parameter includes the speed of the power disconnect device; the obtaining the verification status of the power disconnect device according to the first operating parameter and the second operating parameter may include the following steps: In step S2031, according to the motor speed and the speed of the power disconnect device, obtain the verification status of the power disconnect device.

[0064] In this step, according to the motor speed and the speed of the power disconnect device, obtain the verification status of the power disconnect device. Exemplarily, when the motor speed matches the speed of the power disconnect device, determine that the verification status of the power disconnect device is the engaged state; when the motor speed does not match the speed of the power disconnect device, determine that the verification status of the power disconnect device is the disengaged state.

[0065] Figure 4 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 4 shown, the obtaining the verification status of the power disconnect device according to the motor speed and the speed of the power disconnect device may include the following steps: In step S20311, when the motor speed matches the speed of the power disconnect device, determine that the verification status of the power disconnect device is the engaged state.

[0066] In this step, when the motor speed matches the speed of the power disconnect device, determine that the verification status of the power disconnect device is the engaged state.

[0067] In a possible implementation, the situation of speed matching may include: there is a specified proportional relationship between the motor speed and the speed of the power disconnect device. If the system is in the engaged state, it means that the motor has established a rigid connection with the power disconnect device, and their speeds are in a real-time proportional relationship. Based on the verification of whether the motor speed matches the speed of the power disconnect device, the working status monitoring of the power disconnect device under driving conditions can be realized.

[0068] In step S20312, when the motor speed does not match the speed of the power disconnect device, determine that the verification status of the power disconnect device is the disengaged state.

[0069] In this step, when the rotational speed of the motor does not match that of the power disconnect device, the verification state of the power disconnect device is determined to be the disconnected state.

[0070] In a possible implementation, the situation where the rotational speeds do not match may include: there is no specified proportional relationship between the rotational speed of the motor and that of the power disconnect device. If the system is in the disconnected state, it means that there is no rigid connection established between the motor and the power disconnect device, and their rotational speeds are random and have no correlation. Based on the verification of whether the rotational speed of the motor matches that of the power disconnect device, the working state monitoring of the power disconnect device under driving conditions can be achieved.

[0071] Figure 5 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 5 shown, determining whether the working state of the power disconnect device is normal according to the indication state and the verification state may include the following steps: In step S301, when the indication state and the verification state are consistent, it is determined that the working state of the power disconnect device is normal.

[0072] In this step, when the indication state and the verification state are consistent, it is determined that the working state of the power disconnect device is normal.

[0073] In step S302, when the indication state and the verification state are inconsistent, it is determined that the working state of the power disconnect device is abnormal.

[0074] In this step, when the indication state and the verification state are inconsistent, it is determined that the working state of the power disconnect device is abnormal.

[0075] Figure 6 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 6 shown, under driving conditions, the method may further include the following steps: In step S40, when the working state of the power disconnect device is normal, it is determined that there is no need to enter the protection mode.

[0076] In this step, when the working state of the power disconnect device is normal, it is determined that there is no need to enter the protection mode. Exemplarily, when it is determined that the working state of the power disconnect device is normal, it can be considered that the vehicle can be normally controlled, so it can be determined that there is no need to enter the protection mode.

[0077] In step S50, when the working state of the power disconnect device is abnormal, it is determined that it is necessary to enter the protection mode.

[0078] In this step, when the operating state of the power disconnect device is abnormal, it is determined that the protection mode needs to be entered. Exemplarily, when it is determined that the operating state of the power disconnect device is abnormal, it is possible that an unexpected torque due to control abnormality is transmitted to the driveline, resulting in unexpected acceleration, deceleration, and movement of the vehicle, which can easily lead to accidents and dangers. In this case, it is determined that the protection mode needs to be entered.

[0079] Figure 7 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 7 shown, in a parking condition, the method may further include the following steps: In step S60, when the indicated state of the power disconnect device is the engaged state, it is determined that there is no need to enter the protection mode.

[0080] In this step, when the indicated state of the power disconnect device is the engaged state, it is determined that there is no need to enter the protection mode. Exemplarily, different from the state monitoring in the driving condition, when the vehicle is in a stationary condition, whether the power disconnect device is in the engaged state or the disengaged state, the vehicle motor and wheels are in a stationary state, and it is impossible to use the verification method in the driving condition for verification and distinction. A separate protection scheme needs to be designed. When the indicated state of the power disconnect device is the engaged state, the electric drive system can output power according to the instructions of the upper-level vehicle controller. In this case, even if the actual state of the power disconnect device is the non-engaged state, the power will not be transmitted to the driveline, so there is no safety risk. Therefore, it can be determined that there is no need to enter the protection mode.

[0081] In step S70, when the indicated state of the power disconnect device is the disengaged state or the transition state, it is determined whether to enter the protection mode according to the output torque of the vehicle, where the transition state is the transition state from the engaged state to the disengaged state, or the transition state from the disengaged state to the engaged state.

[0082] In this step, when the indicated state of the power disconnect device is the disengaged state or the transition state, it is determined whether to enter the protection mode according to the output torque of the vehicle, where the transition state is the transition state from the engaged state to the disengaged state, or the transition state from the disengaged state to the engaged state. Exemplarily, when the indicated state of the power disconnect device is the disengaged state or the transition state, if the power disconnect device is actually in the engaged state, then at this time, the unexpected torque due to incorrect control will be transmitted to the driveline, resulting in unexpected acceleration, deceleration, and movement of the vehicle. In this case, it is necessary to determine whether to enter the protection mode according to the current output torque of the vehicle.

[0083] Figure 8 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 8 shown, determining whether to enter the protection mode according to the output torque of the vehicle may include the following steps: In step S701, when the output torque is greater than or equal to the hazard torque threshold, it is determined that the protection mode needs to be entered.

[0084] In this step, when the current output torque of the vehicle is greater than or equal to the hazard torque threshold, it is determined that the protection mode needs to be entered. Exemplarily, the hazard torque threshold can be calibrated in advance according to vehicle parameters such as torque constraint ability.

[0085] In step S702, when the output torque is less than the hazard torque threshold, it is determined that there is no need to enter the protection mode.

[0086] In this step, when the current output torque of the vehicle is less than the hazard torque threshold, it is determined that there is no need to enter the protection mode. Exemplarily, when the current output torque of the vehicle is less than the hazard torque threshold, it can be considered that the current vehicle state is controllable, so it can be determined that there is no need to enter the protection mode.

[0087] Figure 9 is a flowchart of a vehicle control method shown according to an exemplary embodiment. As Figure 9 shown, the method may further include the following steps: In step S80, when the indication status signal of the power disconnect device is abnormal, it is determined to enter the protection mode.

[0088] In this step, when the indication status signal of the power disconnect device is abnormal, it is determined to enter the protection mode. Exemplarily, an abnormal indication status signal of the power disconnect device means that the level of the indication status signal itself is abnormal and the signal cannot be transmitted and acquired normally. In this case, the system state is in an unknown state, so it can be determined to enter the protection mode.

[0089] In a possible implementation, the protection mode may include the following strategies: When the working state of the power disconnect device is normal and the torque control of the vehicle is abnormal, the power disconnect device is adjusted to the disconnected state, and / or the electric drive system of the vehicle is controlled to stop outputting torque. This can avoid the occurrence of unexpected torque and ensure the safety of the vehicle to the greatest extent.

[0090] In a possible implementation, the protection mode may include the following strategies: When the operating state of the power disengagement device is abnormal and the torque control of the vehicle is normal, control the power disengagement device to maintain its original state, and the electric drive system of the vehicle outputs torque normally. When the operating state of the power disengagement device is abnormal, the actual state of the power disengagement device may be the engaged state or the disengaged state. When the actual state is the engaged state, as long as the torque control of the vehicle is normal, the safety of the vehicle can be guaranteed; when the actual state is the disengaged state, the motor torque cannot be transmitted to the powertrain and will not cause the vehicle to malfunction. Therefore, the normal output of torque by the electric drive system of the vehicle will not pose a safety hazard.

[0091] In a possible implementation, the protection mode may include the following strategies: When the operating state of the power disengagement device is abnormal and the torque control of the vehicle is abnormal, control the power disengagement device to maintain its original state, and the electric drive system of the vehicle stops outputting torque. This can avoid the appearance of unexpected torque and ensure the safety of the vehicle to the greatest extent.

[0092] In summary, the embodiments of the present disclosure provide a vehicle control method, including: obtaining an indication state of a power disengagement device of a vehicle, where the indication state includes an engaged state or a disengaged state; obtaining a verification state of the power disengagement device under a driving condition; and determining whether the operating state of the power disengagement device is normal according to the indication state and the verification state. The embodiments of the present disclosure can accurately identify the operating state of the power disengagement device through a multi-signal fusion method, realize real-time power monitoring, avoid the appearance of unexpected torque, and provide a vehicle safety protection function to improve the safety of the vehicle system.

[0093] Figure 10 is a block diagram of a vehicle control device shown according to an exemplary embodiment. As Figure 10 shown, the embodiments of the present disclosure provide a vehicle control device 1000, which may include the following modules: A first acquisition module 1010, configured to acquire an indication state of a power disengagement device of a vehicle, where the indication state includes an engaged state or a disengaged state.

[0094] A second acquisition module 1020, configured to acquire a verification state of the power disengagement device under a driving condition.

[0095] A determination module 1030, configured to determine whether the operating state of the power disengagement device is normal according to the indication state and the verification state.

[0096] In a possible implementation, the second acquisition module 1020 is further configured to: acquire a first operating parameter of the vehicle; Obtain the second operating parameter of the power disengagement device; Obtain the verification status of the power disengagement device according to the first operating parameter and the second operating parameter.

[0097] In a possible implementation manner, the first operating parameter includes the motor speed of the vehicle, and the second operating parameter includes the speed of the power disengagement device; the second obtaining module 1020 is further configured to: Obtain the verification status of the power disengagement device according to the motor speed and the speed of the power disengagement device.

[0098] In a possible implementation manner, the second obtaining module 1020 is further configured to: When the motor speed matches the speed of the power disengagement device, determine that the verification status of the power disengagement device is in the engaged state; When the motor speed does not match the speed of the power disengagement device, determine that the verification status of the power disengagement device is in the disengaged state.

[0099] In a possible implementation manner, the situation where the speeds match includes: there is a specified proportional relationship between the motor speed and the speed of the power disengagement device; The situation where the speeds do not match includes: there is no such specified proportional relationship between the motor speed and the speed of the power disengagement device.

[0100] In a possible implementation manner, the determining module 1030 is further configured to: When the indication status is consistent with the verification status, determine that the working status of the power disengagement device is normal; When the indication status is inconsistent with the verification status, determine that the working status of the power disengagement device is abnormal.

[0101] In a possible implementation manner, the vehicle control device 1000 further includes a protection module, and the protection module is configured to: When the working status of the power disengagement device is normal, determine that there is no need to enter the protection mode; When the working status of the power disengagement device is abnormal, determine that it is necessary to enter the protection mode.

[0102] The protection module is configured to: When the indication status of the power disengagement device is in the engaged state, determine that there is no need to enter the protection mode; When the indicated state of the power disengagement device is the disengaged state or the process state, determine whether to enter the protection mode according to the output torque of the vehicle, where the process state is the process state of changing from the engaged state to the disengaged state, or the process state of changing from the disengaged state to the engaged state.

[0103] The protection module is further configured to: When the output torque is greater than or equal to the hazard torque threshold, determine that it is necessary to enter the protection mode; When the output torque is less than the hazard torque threshold, determine that there is no need to enter the protection mode.

[0104] The protection module is further configured to: When the indicated state signal of the power disengagement device is abnormal, determine to enter the protection mode.

[0105] In a possible implementation manner, the protection mode includes the following strategies: When the working state of the power disengagement device is normal and the torque control of the vehicle is abnormal, adjust the power disengagement device to the disengaged state, and / or control the electric drive system of the vehicle to stop outputting torque.

[0106] In a possible implementation manner, the protection mode includes the following strategies: When the working state of the power disengagement device is abnormal and the torque control of the vehicle is normal, control the power disengagement device to maintain its original state, and the electric drive system of the vehicle outputs torque normally.

[0107] In a possible implementation manner, the protection mode includes the following strategies: When the working state of the power disengagement device is abnormal and the torque control of the vehicle is abnormal, control the power disengagement device to maintain its original state, and the electric drive system of the vehicle stops outputting torque.

[0108] Regarding the device in the above embodiments, the specific manners in which each module performs operations have been described in detail in the embodiments related to the method, and will not be elaborated here.

[0109] In summary, the embodiments of the present disclosure provide a vehicle control device, including: a first acquisition module configured to acquire an indication state of a power disconnect device of a vehicle, where the indication state includes an engaged state or a disengaged state; a second acquisition module configured to acquire a verification state of the power disconnect device under a driving condition; and a determination module configured to determine whether the working state of the power disconnect device is normal according to the indication state and the verification state. The embodiments of the present disclosure can accurately identify the working state of the power disconnect device through a multi-signal fusion method, realize real-time power monitoring, avoid the occurrence of unexpected torque, and provide a vehicle safety protection function to improve the safety of the vehicle system.

[0110] The present disclosure also provides a computer-readable storage medium, on which computer program instructions are stored, and when the program instructions are executed by a processor, the steps of the vehicle control method provided by the present disclosure are implemented.

[0111] Figure 11 FIG. is a block diagram of an electronic device shown according to an exemplary embodiment. For example, the electronic device 1100 may be a vehicle controller.

[0112] Referring to Figure 11 , the electronic device 1100 may include one or more of the following components: a processing component 1102, a memory 1104, a power supply component 1106, a multimedia component 1108, an audio component 1110, an input / output interface 1112, a sensor component 1114, and a communication component 1116.

[0113] The processing component 1102 generally controls the overall operation of the electronic device 1100, such as operations associated with display, telephone call, data communication, camera operation, and recording operation. The processing component 1102 may include one or more processors 1120 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 1102 may include one or more modules to facilitate the interaction between the processing component 1102 and other components. For example, the processing component 1102 may include a multimedia module to facilitate the interaction between the multimedia component 1108 and the processing component 1102.

[0114] The memory 1104 is configured to store various types of data to support the operation of the electronic device 1100. Examples of such data include instructions for any application or method operating on the electronic device 1100, contact data, phone book data, messages, pictures, videos, and the like. The memory 1104 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0115] The power supply component 1106 provides power to various components of the electronic device 1100. The power supply component 1106 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 1100.

[0116] The multimedia component 1108 includes a screen that provides an output interface between the electronic device 1100 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can not only sense the boundaries of touch or swipe actions, but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 1108 includes a front camera and / or a rear camera. When the electronic device 1100 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0117] The audio component 1110 is configured to output and / or input audio signals. For example, the audio component 1110 includes a microphone (MIC) that is configured to receive external audio signals when the electronic device 1100 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 1104 or transmitted via the communication component 1116. In some embodiments, the audio component 1110 further includes a speaker for outputting audio signals.

[0118] The input / output interface 1112 provides an interface between the processing component 1102 and a peripheral interface module, and the peripheral interface module may be a keyboard, click wheel, button, etc. These buttons may include, but are not limited to: home button, volume button, power button, and lock button.

[0119] The sensor component 1114 includes one or more sensors for providing an assessment of the status of various aspects of the electronic device 1100. For example, the sensor component 1114 can detect the on / off state of the electronic device 1100, the relative positioning of components, such as the display and keypad of the electronic device 1100, the sensor component 1114 can also detect a change in the position of the electronic device 1100 or a component of the electronic device 1100, the presence or absence of user contact with the electronic device 1100, the orientation or acceleration / deceleration of the electronic device 1100, and the temperature change of the electronic device 1100. The sensor component 1114 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor component 1114 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor component 1114 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0120] The communication component 1116 is configured to facilitate communication between the electronic device 1100 and other devices in a wired or wireless manner. The electronic device 1100 can access a wireless network based on communication standards, such as WiFi, 2G, or 3G, or a combination thereof. In an exemplary embodiment, the communication component 1116 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 1116 further includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0121] In an exemplary embodiment, the electronic device 1100 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for performing the above method.

[0122] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1104 including instructions. The above instructions can be executed by a processor 1120 of an electronic device 1100 to complete the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0123] In addition to being an independent electronic device, the above device can also be a part of an independent electronic device. For example, in one embodiment, the device can be an integrated circuit (IC) or a chip. The integrated circuit can be a single IC or a collection of multiple ICs; the chip can include, but is not limited to, the following types: GPU (Graphics Processing Unit), CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), SOC (System on Chip). The above integrated circuit or chip can be used to execute executable instructions (or code) to implement the above vehicle control method. The executable instructions can be stored in the integrated circuit or chip, or obtained from other devices or equipment. For example, the integrated circuit or chip includes a processor, a memory, and an interface for communicating with other devices. The executable instructions can be stored in the memory, and when the executable instructions are executed by the processor, the above vehicle control method is implemented; or, the integrated circuit or chip can receive the executable instructions through the interface and transmit them to the processor for execution to implement the above vehicle control method.

[0124] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above vehicle control method when executed by the programmable device.

[0125] Figure 12 is a block diagram of a vehicle shown according to an exemplary embodiment. Refer to Figure 12, Vehicle 1200 may include an electronic device 1100 and various subsystems. For example, an infotainment system 1210, a perception system 1220, a decision control system 1230, a drive system 1240, and a computing platform 1250. Among them, Vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of Vehicle 1200 may be interconnected by wired or wireless means.

[0126] In some embodiments, the infotainment system 1210 may include a communication system, an entertainment system, a navigation system, etc.

[0127] The perception system 1220 may include several sensors for sensing information about the environment around Vehicle 1200. For example, the perception system 1220 may include a global positioning system (the global positioning system may be a GPS system, a Beidou system, or other positioning systems), an inertial measurement unit (IMU), lidar, millimeter-wave radar, ultrasonic radar, and a camera device.

[0128] The decision control system 1230 may include a computing system, a vehicle controller, a steering system, an accelerator, and a braking system.

[0129] The drive system 1240 may include components that provide motive power for Vehicle 1200. In one embodiment, the drive system 1240 may include an engine, an energy source, a powertrain, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, and an air compression engine. The engine can convert the energy provided by the energy source into mechanical energy.

[0130] Some or all functions of Vehicle 1200 are controlled by the computing platform 1250. The computing platform 1250 may include at least one processor 1251 and a memory 1252. The processor 1251 may execute instructions 1253 stored in the memory 1252.

[0131] The processor 1251 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, a Graphic Process Unit (GPU), a Field Programmable Gate Array (FPGA), a System on Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

[0132] The memory 1252 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disks or optical discs.

[0133] In addition to the instructions 1253, the memory 1252 can also store data, such as road maps, route information, data on the position, direction, speed, etc. of the vehicle. The data stored in the memory 1252 can be used by the computing platform 1250.

[0134] In an embodiment of the present disclosure, the processor 1251 can execute the instructions 1253 to complete all or part of the steps of the above-mentioned vehicle control method.

[0135] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

[0136] Those skilled in the art will readily think of other embodiments of the present disclosure after considering the specification and practicing the present disclosure. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include known common knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only considered exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0137] It should be understood that the present disclosure is not limited to the exact structures already described and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A vehicle control method, characterized in that, Including: Obtain the indicated state of the power disconnect device of the vehicle, where the indicated state includes an engaged state or a disengaged state; Under driving conditions, obtain the verification state of the power disconnect device; Based on the indicated state and the verification state, determine whether the working state of the power disconnect device is normal.

2. The method according to claim 1, wherein The obtaining the verification state of the power disconnect device includes: Obtain the first operating parameter of the vehicle; Obtain the second operating parameter of the power disconnect device; Based on the first operating parameter and the second operating parameter, obtain the verification state of the power disconnect device.

3. The method according to claim 2, wherein The first operating parameter includes the motor speed of the vehicle, and the second operating parameter includes the speed of the power disconnect device; The obtaining the verification state of the power disconnect device based on the first operating parameter and the second operating parameter includes: Based on the motor speed and the speed of the power disconnect device, obtain the verification state of the power disconnect device.

4. The method according to claim 3, characterized in that The obtaining the verification state of the power disconnect device based on the motor speed and the speed of the power disconnect device includes: When the motor speed matches the speed of the power disconnect device, determine that the verification state of the power disconnect device is the engaged state; When the motor speed does not match the speed of the power disconnect device, determine that the verification state of the power disconnect device is the disengaged state.

5. The method according to claim 4, wherein The situation of speed matching includes: there is a specified proportional relationship between the motor speed and the speed of the power disconnect device; The situation of speed mismatch includes: there is no such specified proportional relationship between the motor speed and the speed of the power disconnect device.

6. The method according to claim 1, wherein The determining whether the working state of the power disconnect device is normal based on the indicated state and the verification state includes: When the indicated state and the verification state are consistent, determine that the working state of the power disconnect device is normal; When the indicated state and the verification state are inconsistent, determine that the working state of the power disconnect device is abnormal.

7. The method according to claim 1, characterized in that, Under driving conditions, the method further includes: When the working state of the power disconnect device is normal, determine that there is no need to enter the protection mode; When the working state of the power disconnect device is abnormal, determine that it is necessary to enter the protection mode.

8. The method according to claim 1, characterized in that Under parking conditions, the method further includes: When the indicated state of the power disconnect device is the engaged state, determine that there is no need to enter the protection mode; When the indicated state of the power disconnect device is the disengaged state or the process state, determine whether to enter the protection mode according to the output torque of the vehicle, where the process state is the process state of changing from the engaged state to the disengaged state, or from the disengaged state to the engaged state.

9. The method according to claim 8, wherein The determining whether to enter the protection mode according to the output torque of the vehicle includes: When the output torque is greater than or equal to the hazard torque threshold, determine that it is necessary to enter the protection mode; When the output torque is less than the hazard torque threshold, determine that there is no need to enter the protection mode.

10. The method according to claim 1, wherein The method further includes: When the indication status signal of the power disconnection device is abnormal, it is determined that the protection mode is entered.

11. The method according to any one of claims 7 to 10, characterized in that The protection mode includes the following strategies: When the operating state of the power disconnection device is normal and the torque control of the vehicle is abnormal, the power disconnection device is adjusted to the disconnection state, and / or the electric drive system of the vehicle is controlled to stop outputting torque.

12. The method according to any one of claims 7 to 10, characterized in that The protection mode includes the following strategies: When the operating state of the power disconnection device is abnormal and the torque control of the vehicle is normal, the power disconnection device is controlled to maintain its original state, and the electric drive system of the vehicle outputs torque normally.

13. The method according to any one of claims 7 to 10, characterized in that, The protection mode includes the following strategies: When the operating state of the power disconnection device is abnormal and the torque control of the vehicle is abnormal, the power disconnection device is controlled to maintain its original state, and the electric drive system of the vehicle stops outputting torque.

14. A vehicle control device, characterized in that, It includes: A first acquisition module configured to acquire the indication status of the power disconnection device of the vehicle, where the indication status includes a combined state or a disconnection state; A second acquisition module configured to acquire the verification status of the power disconnection device under driving conditions; A determination module configured to determine whether the operating state of the power disconnection device is normal according to the indication status and the verification status.

15. An electronic device, characterized in that, It includes: A processor; A memory for storing instructions executable by the processor; Wherein, the processor is configured to: execute the executable instructions to implement the method according to any one of claims 1 to 13.

16. A vehicle, characterized in that, It includes: The electronic device according to claim 15.

17. A computer-readable storage medium having computer program instructions stored thereon, characterized in that, When the program instructions are executed by the processor, the steps of the method according to any one of claims 1 to 13 are implemented.

18. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 13 are implemented.

19. A chip, characterized in that, It includes a processor and an interface; the processor is used to read instructions to execute the method according to any one of claims 1 to 13.

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