Vehicle control method and system

Abstract

The invention discloses a vehicle control method and system. The vehicle comprises a main controller and an auxiliary controller, the main controller is connected with the auxiliary controller, and the method is executed by the main controller. The method comprises the steps that first state information of a detection device connected with a main controller is acquired periodically or in real time; periodically sending the first communication information to the auxiliary controller; the first communication information comprises a communication bus baud rate, a calibration parameter, an activation instruction and second state information of the main controller; acquiring second communication information sent by the auxiliary controller; the second communication information comprises third state information, acquired by the auxiliary controller, of the detection device and fourth state information, acquired by the auxiliary controller, of the auxiliary controller; when the acquisition fault is determined according to the first state information and the third state information, stopping driving a motor of the vehicle to operate, and sending fault prompt information; and when communication with the auxiliary controller fails, fault prompt information is sent out, and the speed of the vehicle is controlled to be reduced to zero. According to the technical scheme, the running safety of the vehicle is improved.

Description

Technical Field

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

[0002] With the rapid development of vehicle technology and battery energy storage technology, the driving safety of electric vehicles has received increasing attention.

[0003] The vehicle includes a controller. When the driver presses the accelerator, the controller captures this information and issues a speed command based on the depth of the accelerator depression, keeping the vehicle in motion. If the driver releases the accelerator, the vehicle should slow down and stop. However, if the controller's channel for collecting the accelerator analog feedback signal is faulty, the controller may mistakenly believe that the accelerator is still depressed, preventing the vehicle from stopping. This poses a significant safety hazard and compromises vehicle safety. Summary of the Invention

[0004] The present invention provides a vehicle control method and system to solve the problem of poor safety in vehicle operation.

[0005] According to one aspect of the present invention, a vehicle control method is provided, wherein the vehicle includes a main controller and an auxiliary controller, the main controller is connected to the auxiliary controller, and the vehicle control method is executed by the main controller;

[0006] The vehicle control method comprises:

[0007] Periodically or in real time, obtaining first status information of a detection device connected to the main controller;

[0008] Periodically sending first communication information to the auxiliary controller through the serial port; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions and second status information of the main controller;

[0009] Acquire second communication information sent by the auxiliary controller; wherein the second communication information includes third state information of the detection device acquired by the auxiliary controller and fourth state information of the auxiliary controller;

[0010] When a collection fault is determined according to the first state information and the third state information, stopping the motor driving the vehicle and issuing a fault prompt message;

[0011] When a communication failure occurs with the auxiliary controller, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

[0012] Optionally, the vehicle control method further includes:

[0013] When the main controller is performing a firmware upgrade and the auxiliary controller issues a fault prompt message, it issues a power-on prompt message.

[0014] Optionally, the first status information includes first sub-information and second sub-information; the third status information includes third sub-information and fourth sub-information;

[0015] When a collection fault is determined according to the first state information and the third state information, stopping the motor driving the vehicle and issuing a fault prompt message includes:

[0016] When the first sub-information and the third sub-information obtained a first preset number of times are different, stopping the motor driving the vehicle and issuing a fault prompt message; wherein the first sub-information and the third sub-information are used to indicate whether the detection device is turned on;

[0017] When the difference between the second sub-information and the fourth sub-information obtained for a second preset number of times is greater than a preset difference threshold, the motor driving the vehicle is stopped and a fault prompt message is issued; wherein the second sub-information and the fourth sub-information are used to characterize the degree of opening of the detection device.

[0018] Optionally, the periodically sending the first communication information to the auxiliary controller through the serial port includes:

[0019] After a first preset time period after the start of the power-on self-test phase, periodically sending the first communication information to the auxiliary controller through the serial port; wherein the first preset time period is greater than the power-on self-test time period of the main controller and the power-on self-test time period of the auxiliary controller;

[0020] When a communication failure occurs with the auxiliary controller, issuing a fault prompt message and controlling the speed of the vehicle to be reduced to zero includes:

[0021] After each transmission of the first communication information, if no second communication information sent by the auxiliary controller is received after a second preset time period, it is determined that a communication failure with the auxiliary controller has occurred, a fault prompt message is issued, and the speed of the vehicle is controlled to be reduced to zero;

[0022] Alternatively, the port status of the heartbeat port connecting the auxiliary controller and the main controller is periodically obtained. If the port status obtained for a third preset number of times remains unchanged, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

[0023] Optionally, the vehicle control method further includes:

[0024] When a first target speed received from an electronic control unit of the vehicle is different from a second target speed sent by the auxiliary controller, and the motor speeds corresponding to the first target speed and the second target speed are in the same direction, if an absolute value of the first target speed is greater than an absolute value of the second target speed, controlling the motor to operate according to the second target speed;

[0025] If the absolute value of the first target speed is less than the absolute value of the second target speed, controlling the motor to operate according to the first target speed;

[0026] When the first target speed received from the vehicle's electronic control unit is different from the second target speed sent by the auxiliary controller, and the motor speed directions corresponding to the first target speed and the second target speed are different, a fault prompt message is issued and the vehicle is controlled to stop running.

[0027] Optionally, the vehicle control method further includes:

[0028] When fault information or a movement restriction instruction is obtained from any one of the electronic control unit, the battery management system and the auxiliary controller of the vehicle, the vehicle is controlled to stop running.

[0029] According to another aspect of the present invention, a vehicle control method is provided, wherein the vehicle includes a main controller and an auxiliary controller, the main controller is connected to the auxiliary controller, and the vehicle control method is executed by the auxiliary controller;

[0030] The vehicle control method comprises:

[0031] Periodically or in real time, obtaining third state information of the detection device;

[0032] After the vehicle is powered on, when the vehicle does not receive the first communication information sent by the main controller, it is in a silent state; wherein the first communication information includes the communication bus baud rate, calibration parameters, activation instructions and the second state information of the main controller;

[0033] After receiving the first communication information each time, sending second communication information to the main controller; wherein the second communication information includes the third state information of the detection device obtained by the auxiliary controller and the fourth state information of the auxiliary controller;

[0034] When a communication failure occurs with the main controller, a main controller failure message is sent through the communication bus, and the vehicle is controlled to stop; wherein the main controller failure message includes the failure time, failure type and failure level of the main controller.

[0035] Optionally, after receiving the first communication information each time, sending the second communication information to the main controller includes:

[0036] After receiving the first communication information sent by the main controller, the third state information is calibrated according to the calibration parameters, and the calibrated third state information and the fourth state information are sent to the main controller.

[0037] Optionally, when a communication failure occurs with the main controller, a main controller failure message is sent via a communication bus, and the vehicle is controlled to stop, including:

[0038] After each transmission of the second communication information, if the first communication information sent by the main controller is not received after a second preset time period, it is determined that the main controller is faulty, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop;

[0039] Alternatively, the port status of the heartbeat port connecting the main controller and the auxiliary controller is periodically obtained. If the port status obtained for the third consecutive preset number of times remains unchanged, the main controller is determined to be faulty, a main controller fault message is issued, and the vehicle is controlled to stop.

[0040] According to another aspect of the present invention, there is provided a vehicle control system, the vehicle control system comprising: a main controller and an auxiliary controller, the main controller being connected to the auxiliary controller;

[0041] The main controller is used to periodically or in real time obtain first status information of a detection device connected to the main controller; periodically send first communication information to the auxiliary controller through a serial port; obtain second communication information sent by the auxiliary controller; when determining a collection fault based on the first status information and the third status information, stop driving the motor of the vehicle and issue a fault prompt message; when a communication fault occurs with the auxiliary controller, issue a fault prompt message and control the speed of the vehicle to be reduced to zero; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions and the second status information of the main controller; the second communication information includes the third status information of the detection device obtained by the auxiliary controller and the fourth status information of the auxiliary controller;

[0042] The auxiliary controller is used to periodically or in real time obtain the third status information of the detection device; after the vehicle is powered on, when the first communication information sent by the main controller is not received, it is in a silent state; after each receipt of the first communication information, it sends a second communication information to the main controller; when a communication failure occurs with the main controller, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop; wherein, the main controller fault message includes the fault time, fault type and fault level of the main controller.

[0043] The technical solution of an embodiment of the present invention is to provide a main controller and a secondary controller in a vehicle. The main controller periodically or in real time obtains first status information of a detection device connected to the main controller, periodically sends first communication information to the secondary controller via a serial port, and obtains second communication information sent by the secondary controller. The second communication information includes third status information of the detection device obtained by the secondary controller. The main controller compares the first status information of the detection device collected by the main controller with the third status information sent by the secondary controller. If the first status information and the third status information differ significantly, the main controller determines that a data acquisition failure has occurred, stops the motor driving the vehicle, and controls the electromagnetic brake to apply braking, bringing the vehicle to a stop. Furthermore, a fault prompt message is issued to facilitate timely vehicle maintenance. This avoids the problem of the main controller controlling the motor according to erroneous first status information, causing the vehicle speed to differ significantly from the driver's desired speed, and avoids the problem of the main controller continuing to control the motor to accelerate after the driver releases the accelerator, thereby improving the safety of vehicle operation. Furthermore, if a communication failure occurs between the main controller and the secondary controller, the main controller issues a fault prompt message and controls the motor to decelerate until the vehicle speed drops to zero, bringing the vehicle to a stop. In this way, when a communication failure occurs between the main controller and the auxiliary controller and the main controller cannot compare the first state information with the third state information, the vehicle can be stopped, thereby further improving the safety of vehicle operation.

[0044] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 is a flow chart of a vehicle control method provided by an embodiment of the present invention;

[0047] Figure 2 is a flow chart of another vehicle control method provided by an embodiment of the present invention;

[0048] Figure 3 is a flow chart of another vehicle control method provided by an embodiment of the present invention;

[0049] Figure 4is a flow chart of another vehicle control method provided by an embodiment of the present invention;

[0050] Figure 5 It is a circuit structure diagram of a vehicle control system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] An embodiment of the present invention provides a vehicle control method. The vehicle includes a main controller and an auxiliary controller. The main controller is connected to the auxiliary controller. The vehicle control method is executed by the main controller.

[0054] Figure 1 This is a flow chart of a vehicle control method provided by an embodiment of the present invention, with reference to Figure 1 , the vehicle control method includes:

[0055] S101 : Periodically or in real time obtain first status information of a detection device connected to a main controller.

[0056] Among them, the main controller is the controller that controls the operation of the motor. The vehicle's battery is connected to the power conversion circuit through the main contactor, and the power conversion circuit is connected to the motor to provide voltage for the motor. The main controller can control the power conversion circuit and the main contactor to control the operation of the motor. The main controller is connected to the battery management system in the vehicle, and the main controller is connected to the electronic control unit (ECU) or the vehicle control unit (VCU). The main controller is connected to the vehicle's detection device, which is a device that obtains or reflects the vehicle's status. The detection device may include acceleration and brake pedals, etc. The main controller is connected to the auxiliary controller, and the auxiliary controller is connected to the vehicle's detection device.

[0057] Specifically, when the main controller is operating, it can periodically or in real time obtain first state information of the detection device. The first state information includes whether the detection device is turned on and the degree to which the detection device is turned on. It can also include parameter information detected by the detection device. For example, if the detection device is an accelerator, the first state information may include whether the accelerator is pressed, that is, whether it is turned on, and may also include the depth to which the accelerator is pressed, that is, the degree to which the accelerator is turned on.

[0058] S102. Periodically send first communication information to the auxiliary controller through the serial port; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions, and second status information of the main controller.

[0059] The main controller is connected to the auxiliary controller via a serial port.

[0060] Specifically, when the primary controller is operating, it can obtain the baud rate of the communication bus transmitted from the vehicle controller, etc. Since the secondary controller may not be connected to the vehicle controller, the primary controller sends the baud rate to the secondary controller. If the secondary controller does not receive the first communication information sent by the primary controller, the secondary controller can remain silent, that is, it will not communicate with the primary controller and will not receive or send information via the communication bus, thereby avoiding affecting bus communication.

[0061] For the same detection device, the connection method between the main controller and the detection device may be different from the connection method between the auxiliary controller and the detection device. For example, the number or resistance value of the resistors passed during connection may be different. By sending calibration parameters to the auxiliary controller, the auxiliary controller can calibrate the parameters of the detection device collected by the auxiliary controller according to the calibration parameters, and then send them to the main controller. This can avoid large errors between the parameters of the detection device obtained by the main controller from the auxiliary controller and the parameters of the detection device collected by the main controller itself, thereby affecting the control of the vehicle, thereby improving the accuracy of vehicle control.

[0062] The main controller can send an activation command to the auxiliary controller, so that the auxiliary controller starts normal operation after receiving the activation command. Before receiving the activation command, the auxiliary controller can remain silent, that is, not communicate with the main controller to avoid affecting the operation of the main controller.

[0063] The second status information of the primary controller is used to indicate whether the primary controller is ready, ie, whether it is ready to communicate with the secondary controller. In this way, the secondary controller can determine whether to communicate with the primary controller based on the second status information.

[0064] S103. Obtain second communication information sent by the auxiliary controller; wherein the second communication information includes third state information of the detection device obtained by the auxiliary controller and fourth state information of the auxiliary controller.

[0065] After the auxiliary controller is powered on, it periodically or in real time obtains third state information of the detection device. The third state information includes whether the detection device is enabled and the degree to which the detection device is enabled. It may also include parameter information detected by the detection device. For example, if the detection device is an accelerator, the third state information may include whether the accelerator is depressed, i.e., whether it is enabled, and may also include the depth to which the accelerator is depressed, i.e., the degree to which the accelerator is enabled.

[0066] Specifically, after the main controller sends the first communication information to the auxiliary controller, and the auxiliary controller determines that the main controller is ready based on the second status information in the first communication information, the auxiliary controller sends the second communication information to the main controller. The main controller obtains the second communication information and can obtain the third status information of the detection device obtained by the auxiliary controller, thereby facilitating the main controller to compare the first status information of the detection device collected by the main controller with the third status information sent by the auxiliary controller, determine whether the first status information collected by the main controller is correct, and verify the collected information. This allows the motor to be better controlled based on the first status information, thereby improving the accuracy of motor control.

[0067] The fourth status information is used to indicate whether the auxiliary controller is ready, that is, whether it is ready to communicate with the main controller. In this way, the main controller can determine whether to continue communicating with the auxiliary controller based on the fourth status information.

[0068] S104: When a collection fault is determined according to the first state information and the third state information, the motor driving the vehicle is stopped and a fault prompt message is issued.

[0069] Specifically, the main controller compares the first state information of the detection device collected by the main controller with the third state information sent by the auxiliary controller. If the difference between the first state information and the third state information is large, the main controller determines that a collection fault has occurred and stops the operation of the motor driving the vehicle, that is, cuts off the main contactor between the battery and the power conversion circuit, and no longer outputs a pulse width modulation signal to the power conversion circuit, causing the motor to stop rotating, and controls the electromagnetic brake to brake, so that the vehicle stops. In addition, a fault prompt message is issued to facilitate timely maintenance of the vehicle. In this way, it can avoid the problem that the main controller controls the operation of the motor according to the erroneous first state information, causing the speed of the vehicle to differ significantly from the driver's expected speed, and avoids the problem that the main controller still controls the motor to accelerate after the driver releases the accelerator, causing a major safety hazard, thereby improving the safety of vehicle operation.

[0070] S105. When a communication failure occurs with the auxiliary controller, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

[0071] Specifically, when a communication failure occurs between the main controller and the auxiliary controller, that is, when the main controller and the auxiliary controller cannot communicate, or when a communication error occurs, a fault prompt message is issued, and the motor is controlled to decelerate until the vehicle speed is reduced to zero and the vehicle stops. In this way, when a communication failure occurs between the main controller and the auxiliary controller and the main controller is unable to compare the first state information with the third state information, the vehicle can be controlled to stop. This avoids the problem that when the main controller is unable to compare the first state information with the third state information, the main controller controls the motor operation according to the erroneous first state information, causing the vehicle speed to differ significantly from the driver's expected speed. It also avoids the problem that after the driver releases the accelerator, the main controller still controls the motor to accelerate, causing a major safety hazard, thereby improving the safety of vehicle operation.

[0072] It should be noted that this embodiment does not limit the execution order of step S105. As long as the main controller determines that there is a communication failure with the auxiliary controller, step S105 can be executed. Figure 1 FIG. 4 shows a case where step S105 is executed after step S104 , but this is not limiting.

[0073] The technical solution of this embodiment is to provide a main controller and a secondary controller in a vehicle. The main controller periodically or in real time obtains first status information of a detection device connected to the main controller, periodically sends first communication information to the secondary controller via a serial port, and obtains second communication information sent by the secondary controller. The second communication information includes third status information of the detection device obtained by the secondary controller. The main controller compares the first status information of the detection device collected by the main controller with the third status information sent by the secondary controller. If the first status information and the third status information differ significantly, the main controller determines that a data acquisition failure has occurred, stops the motor driving the vehicle, and controls the electromagnetic brake to apply braking, bringing the vehicle to a stop. Furthermore, a fault prompt is issued, facilitating timely vehicle maintenance. This prevents the main controller from controlling the motor according to erroneous first status information, causing the vehicle speed to differ significantly from the driver's desired speed. It also prevents the main controller from controlling the motor to accelerate after the driver releases the accelerator, thereby improving vehicle safety. Furthermore, if a communication failure occurs between the main controller and the secondary controller, the main controller issues a fault prompt and controls the motor to decelerate until the vehicle speed drops to zero, bringing the vehicle to a stop. In this way, when a communication failure occurs between the main controller and the auxiliary controller and the main controller cannot compare the first state information with the third state information, the vehicle can be stopped, thereby further improving the safety of vehicle operation.

[0074] On the basis of the above technical solutions, Figure 2 is a flow chart of another vehicle control method provided by an embodiment of the present invention. Figure 2 , the vehicle control method includes:

[0075] S201 : Periodically or in real time obtain first status information of a detection device connected to a main controller.

[0076] S202. Periodically send first communication information to the auxiliary controller through the serial port; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions, and second status information of the main controller.

[0077] S203. Acquire second communication information sent by the auxiliary controller; wherein the second communication information includes third state information of the detection device acquired by the auxiliary controller and fourth state information of the auxiliary controller.

[0078] S204: When a collection fault is determined according to the first state information and the third state information, the motor driving the vehicle is stopped and a fault prompt message is issued.

[0079] S205: When a communication failure occurs with the auxiliary controller, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

[0080] S206: When the main controller is performing a firmware upgrade and the auxiliary controller issues a fault prompt message, it issues a power-on prompt message.

[0081] Specifically, when the main controller is performing a firmware upgrade, it cannot continue to communicate with the auxiliary controller. The auxiliary controller will determine that there is a fault in the main controller, and the auxiliary controller will mistakenly send a fault prompt message. It will also control the main contactor between the battery and the power conversion circuit to disconnect, causing the motor to stop, and control the electromagnetic brake to brake, so that the vehicle stops. The main controller sends a power-on prompt message to allow the vehicle to be powered on again. After powering on, the main controller can continue to perform the firmware upgrade, and the main controller will not send the first communication information to the auxiliary controller. The auxiliary controller will be silent and will no longer mistakenly send a fault prompt message. In this way, when the vehicle stops, the driver can clearly understand the reason for the parking and the handling method, which is conducive to improving the user experience.

[0082] Optionally, when the main controller is undergoing a firmware upgrade and the auxiliary controller issues a fault prompt message, the main controller may also issue a prompt message indicating that the auxiliary controller is malfunctioning, so that the driver can clearly understand the reason for the vehicle stopping.

[0083] Based on the above technical solutions, optionally, the first state information includes first sub-information and second sub-information; and the third state information includes third sub-information and fourth sub-information.

[0084] Optionally, when a collection fault is determined based on the first state information and the third state information, the motor driving the vehicle is stopped and a fault prompt message is issued, including:

[0085] Step a1: When the first sub-information and the third sub-information obtained for a first preset number of consecutive times are different, the motor driving the vehicle is stopped and a fault prompt message is issued; wherein the first sub-information and the third sub-information are used to indicate whether the detection device is turned on.

[0086] For example, the first and third sub-information are both switch quantities, i.e., digital quantities, such as 1 indicating that the detection device is on and 0 indicating that the detection device is not on; or, alternatively, 1 indicating that the detection device is not on and 0 indicating that the detection device is on. The first preset number is greater than or equal to 2. For example, the detection device is an accelerator. When the first and third sub-information obtained by the main controller both indicate that the accelerator is pressed, the main controller controls the motor to operate. When the first and third sub-information obtained by the main controller both indicate that the accelerator is not pressed, the main controller controls the motor not to operate.

[0087] Specifically, if the first sub-information obtained a first preset number of times is different from the third sub-information, indicating a fault in the primary controller and / or the secondary controller, the vehicle's motor is stopped and a fault warning message is issued to prevent the primary controller from controlling the motor based on the erroneous first sub-information. Setting the first preset number of times can reduce judgment errors and avoid misjudgments.

[0088] Step a2: When the difference between the second sub-information and the fourth sub-information obtained a second preset number of times is greater than a preset difference threshold, the motor driving the vehicle is stopped and a fault prompt message is issued; wherein the second sub-information and the fourth sub-information are used to represent the degree of activation of the detection device.

[0089] For example, the second and fourth sub-information are both analog quantities, such as voltage values. The second and fourth sub-information are used to represent the degree of activation of the detection device. For example, if the detection device is an accelerator, the second and fourth sub-information represent the depth to which the accelerator is depressed. The main controller can control the motor speed based on the second sub-information.

[0090] Specifically, the acquisition channels of the primary and secondary controllers are independent, and there's no guarantee that the analog quantities captured by the two acquisition channels are identical. Furthermore, there may be a time difference between the primary controller collecting the second sub-information of the detection device and the secondary controller receiving the fourth sub-information of the detection device. By setting a preset difference threshold, errors in the second and fourth sub-information caused by the acquisition channel or acquisition time, which could lead to misjudgments, can be avoided. If the difference between the second and fourth sub-information acquired a second preset number of times is greater than the preset difference threshold, indicating a significant difference between the second and fourth sub-information, this indicates a fault in the primary and / or secondary controllers. The vehicle's motor will then be stopped, and a fault warning message will be issued to prevent the primary controller from controlling the motor based on erroneous second sub-information.

[0091] When the values of the second sub-information and the fourth sub-information are large, the preset difference threshold can be set to be large; when the values of the second sub-information and the fourth sub-information are small, the preset difference threshold can be set to be small.

[0092] On the basis of the above technical solutions, Figure 3 This is a flow chart of another vehicle control method provided by an embodiment of the present invention. Optionally, refer to Figure 3 , the vehicle control method includes:

[0093] S301. After a first preset time period after the start of the power-on self-test phase, periodically send first communication information to the auxiliary controller through the serial port; wherein the first preset time period is greater than the power-on self-test time period of the main controller and the power-on self-test time period of the auxiliary controller.

[0094] When the vehicle is just powered on, the main controller and auxiliary controller perform a power-on self-test.

[0095] Specifically, by sending the first communication information to the auxiliary controller after a first preset duration has elapsed since the start of the power-on self-test phase, it is possible to avoid situations where the primary controller mistakenly determines that a communication failure has occurred with the auxiliary controller if the auxiliary controller is not ready and cannot provide the second communication information. Furthermore, the first preset duration is greater than both the primary and auxiliary controller power-on self-test durations, ensuring that communication begins only after both the primary and auxiliary controllers are ready. This ensures synchronization between the primary and auxiliary controllers and improves control accuracy.

[0096] S302. Periodically send first communication information to the auxiliary controller through the serial port; wherein the first communication information includes the communication bus baud rate, calibration parameters, activation instructions and second status information of the main controller.

[0097] S303. Acquire second communication information sent by the auxiliary controller; wherein the second communication information includes third state information of the detection device acquired by the auxiliary controller and fourth state information of the auxiliary controller.

[0098] S304: When a collection fault is determined according to the first state information and the third state information, the motor driving the vehicle is stopped and a fault prompt message is issued.

[0099] S305: After each transmission of the first communication information, if no second communication information is received from the auxiliary controller after a second preset time period, it is determined that a communication failure with the auxiliary controller has occurred, a fault prompt message is issued, and the speed of the vehicle is controlled to be reduced to zero;

[0100] Alternatively, the port status of the heartbeat port connecting the auxiliary controller and the main controller is periodically obtained. If the port status obtained for the third preset number of times remains unchanged, a fault prompt message is issued and the vehicle speed is controlled to be reduced to zero.

[0101] Specifically, after each time the first communication information is sent, if the second communication information sent by the auxiliary controller is not received after the second preset time period, it is determined that the communication is lost or the communication has timed out, and it is determined that there is a communication failure with the auxiliary controller, then a fault prompt message is issued and the vehicle speed is controlled to be reduced to zero.

[0102] The main controller is further connected to the heartbeat port of the auxiliary controller via the heartbeat port of the main controller. The main controller controls the voltage of the heartbeat port of the main controller to periodically flip the voltage level, and the auxiliary controller controls the voltage of the heartbeat port of the auxiliary controller to periodically flip the voltage level. That is, the voltage of the heartbeat port switches between high and low levels. The port state includes a high level and a low level. The third preset number is an integer greater than 1.

[0103] The main controller can monitor the port status of the heartbeat port of the auxiliary controller. If the port status obtained for the third preset number of times remains unchanged, it is determined that the port level has not flipped, and a fault prompt message is issued, and the vehicle speed is controlled to be reduced to zero.

[0104] For example, when the main controller powers on and performs self-test, the main controller obtains the port status of the heartbeat port of the auxiliary controller as the first port status of the heartbeat port of the auxiliary controller. When the main controller operates normally, the main controller continues to obtain the port status of the heartbeat port of the auxiliary controller. If the port status obtained for the third consecutive preset number of times remains unchanged, it is determined that the port level has not flipped, and a fault prompt message is issued, and the vehicle speed is controlled to be reduced to zero.

[0105] Optionally, the step of the main controller controlling the port level flipping of the heartbeat port is the step with the lowest priority among all steps executed by the main controller, which can avoid the main controller controlling the port level flipping of the heartbeat port affecting the control of the motor.

[0106] Optionally, the step in which the auxiliary controller controls the port level flipping of the heartbeat port is the lowest priority step among all the steps executed by the auxiliary controller, which can avoid the auxiliary controller controlling the port level flipping of the heartbeat port affecting the parameter collection of the detection device and the communication with the main controller.

[0107] S306: When the main controller is performing a firmware upgrade and the auxiliary controller issues a fault prompt message, it issues a power-on prompt message.

[0108] Based on the above technical solutions, optionally, the vehicle control method further includes:

[0109] Step b1: When the first target speed received from the vehicle's electronic control unit is different from the second target speed sent by the auxiliary controller, and the motor speed directions corresponding to the first target speed and the second target speed are the same, if the absolute value of the first target speed is greater than the absolute value of the second target speed, the motor operation is controlled according to the second target speed.

[0110] Step b2: If the absolute value of the first target speed is smaller than the absolute value of the second target speed, the motor is controlled to operate according to the first target speed.

[0111] Specifically, in some embodiments, the electronic control unit of the vehicle may also be connected to the auxiliary controller, and the electronic control unit of the vehicle will send a speed command to the main controller and the auxiliary controller, then the main controller receives the first target speed, the auxiliary controller receives the second target speed, and sends the second target speed to the main controller. The main controller compares the received first target speed with the second target speed. If the first target speed and the second target speed are in the same direction, the motor operation is controlled according to the target speed with the smaller absolute value of the first target speed and the second target speed. In this way, when there is an error in the speed command received by the main controller and the auxiliary controller, the speed command with less impact on the power system can be used to control the motor operation, which is conducive to improving the accuracy of vehicle control.

[0112] Step b3: When the first target speed received from the vehicle's electronic control unit is different from the second target speed sent by the auxiliary controller, and the motor speed directions corresponding to the first target speed and the second target speed are different, a fault prompt message is issued and the vehicle is controlled to stop running.

[0113] Specifically, the main controller compares the received first target speed and the second target speed. If the directions of the first target speed and the second target speed are different, it is impossible to determine which target speed to use to control the operation of the motor. A fault prompt message is issued and the vehicle is controlled to stop running. This can avoid the problem of using a target speed with a large error to control the operation of the motor, which may lead to a greater safety hazard.

[0114] Based on the above technical solutions, optionally, the vehicle control method further includes:

[0115] When fault information or a restricted movement instruction is obtained from any one of the vehicle's electronic control unit, battery management system, and auxiliary controller, the vehicle is controlled to stop running.

[0116] Specifically, when a vehicle malfunctions, the electronic control unit or battery management system will send fault information or a movement restriction instruction to the main controller, or it may send fault information or movement restriction instructions to the auxiliary controller. The auxiliary controller may send the fault information or movement restriction instruction to the main controller or directly control the vehicle to stop running. Regardless of where the main controller receives the fault information or movement restriction instruction, it will stop the vehicle. In this way, when either the main controller or the auxiliary controller receives the fault information or movement restriction instruction, it can control the vehicle to stop running, thereby improving vehicle driving safety.

[0117] An embodiment of the present invention further provides a vehicle control method, which is executed by an auxiliary controller. Figure 4 This is a flow chart of another vehicle control method provided by an embodiment of the present invention, with reference to Figure 4 , the vehicle control method includes:

[0118] S401 : periodically or in real time obtain third state information of the detection device.

[0119] Specifically, after the auxiliary controller is powered on, the auxiliary controller periodically or in real time obtains third state information of the detection device. The third state information includes whether the detection device is turned on and the degree to which the detection device is turned on. It may also include parameter information detected by the detection device. For example, if the detection device is an accelerator, the third state information may include whether the accelerator is pressed, that is, whether it is turned on, and may also include the depth to which the accelerator is pressed, that is, the degree to which the accelerator is turned on.

[0120] S402: After the vehicle is powered on, if the vehicle does not receive the first communication information sent by the main controller, the vehicle is in a silent state; wherein the first communication information includes the communication bus baud rate, calibration parameters, activation instructions and second state information of the main controller.

[0121] Specifically, when the auxiliary controller does not receive the first communication information sent by the main controller, the auxiliary controller is in a silent state. The auxiliary controller will not communicate with the main controller and may also perform fault diagnosis and fault handling, that is, it will not control the vehicle to stop. This can prevent the auxiliary controller from communicating with the main controller when the main controller is not ready, and prevent the auxiliary controller from mistakenly determining a communication failure with the main controller when the main controller is not ready and unable to communicate. This can prevent the auxiliary controller from mistakenly controlling the vehicle to stop, thereby improving the reliability and accuracy of vehicle control.

[0122] S403. After receiving the first communication information each time, send the second communication information to the main controller; wherein the second communication information includes the third state information of the detection device obtained by the auxiliary controller and the fourth state information of the auxiliary controller.

[0123] Specifically, after the main controller sends the first communication information to the auxiliary controller, and the auxiliary controller determines that the main controller is ready based on the second status information in the first communication information, the auxiliary controller sends the second communication information to the main controller. The main controller obtains the second communication information and can obtain the third status information of the detection device obtained by the auxiliary controller, thereby facilitating the main controller to compare the first status information of the detection device collected by the main controller with the third status information sent by the auxiliary controller, determine whether the first status information collected by the main controller is correct, and verify the collected information. This allows the motor to be better controlled based on the first status information, thereby improving the accuracy of motor control.

[0124] The fourth status information is used to indicate whether the auxiliary controller is ready, that is, whether it is ready to communicate with the main controller. In this way, the main controller can determine whether to continue communicating with the auxiliary controller based on the fourth status information.

[0125] The second communication information may further include the status of the port connecting the auxiliary controller to the main contactor, so that the main controller can obtain the control status of the auxiliary controller over the main contactor. The second communication information may further include the status of the port connecting the auxiliary controller to the electromagnetic brake, so that the main controller can obtain the control status of the auxiliary controller over the electromagnetic brake.

[0126] S404. When a communication failure occurs with the main controller, a main controller failure message is sent through the communication bus, and the vehicle is controlled to stop; wherein the main controller failure message includes the failure time, failure type and failure level of the main controller.

[0127] Specifically, when a communication failure occurs between the auxiliary controller and the main controller—that is, when communication between the auxiliary controller and the main controller is impossible or an error occurs—the auxiliary controller sends a fault message to the main controller via the communication bus and stops the vehicle. Furthermore, the auxiliary controller can determine the main controller's fault time and fault type, which can include communication loss or timeout. Since fault types correspond to fault levels, the auxiliary controller can determine the fault level based on the fault type. This facilitates the vehicle's electronic control unit and other systems to determine the main controller's fault time, fault type, and fault level based on the main controller's fault message.

[0128] In this way, when a communication failure occurs between the auxiliary controller and the main controller, and the main controller is unable to compare the first state information with the third state information, the vehicle can be stopped by, for example, disconnecting the main contactor between the battery and the power conversion circuit to de-energize the motor, and the electromagnetic brake can also be controlled to apply braking. This avoids the situation where the main controller cannot compare the first state information with the third state information, and controls the motor to operate according to the erroneous first state information, causing the vehicle speed to differ significantly from the driver's desired speed. It also avoids the situation where the main controller continues to control the motor to accelerate after the driver releases the accelerator, causing a significant safety hazard, thereby improving vehicle operation safety.

[0129] Based on the above technical solutions, optionally, after receiving the first communication information each time, sending the second communication information to the main controller includes:

[0130] After receiving the first communication information sent by the main controller, the third state information is calibrated according to the calibration parameters, and the calibrated third state information and fourth state information are sent to the main controller.

[0131] Specifically, for the same detection device, the connection method between the main controller and the detection device may differ from the connection method between the auxiliary controller and the detection device. For example, the number or resistance value of the resistors passed through during the connection may be different. By calibrating the third state information according to the calibration parameters in the first communication information and then sending the calibrated third state information to the main controller, it is possible to avoid a large error between the detection device parameters obtained by the main controller from the auxiliary controller and the detection device parameters collected by the main controller itself, thereby affecting vehicle control. In this way, the accuracy of vehicle control can be further improved, thereby enhancing the safety and reliability of the vehicle.

[0132] Based on the above technical solutions, optionally, when a communication failure occurs with the main controller, a main controller failure message is sent through the communication bus, and the vehicle is controlled to stop, including:

[0133] After each second communication message is sent, if the first communication message sent by the main controller is not received after a second preset time period, it is determined that the main controller is faulty, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop;

[0134] Alternatively, the port status of the heartbeat port connecting the main controller and the auxiliary controller is periodically obtained. If the port status obtained for the third preset number of times remains unchanged, the main controller is determined to be faulty, a main controller fault message is sent, and the vehicle is controlled to stop.

[0135] Specifically, after the auxiliary controller sends the second communication information each time, if the first communication information sent by the main controller is not received after the second preset time period, it is determined that the communication is lost or the communication has timed out, and it is determined that there is a communication failure with the main controller, then a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop.

[0136] The heartbeat port of the primary controller is connected to the heartbeat port of the secondary controller. The primary controller controls the voltage of the heartbeat port of the primary controller to periodically flip the voltage level, and the secondary controller controls the voltage of the heartbeat port of the secondary controller to periodically flip the voltage level. That is, the voltage of the heartbeat port switches between high and low levels. The port states include high and low levels. The third preset number is an integer greater than 1.

[0137] The auxiliary controller monitors the status of the heartbeat port of the primary controller. If the port status of the primary controller remains unchanged for a third preset number of consecutive times, the auxiliary controller determines that the port level has not flipped. This determines that the primary controller has failed, issues a primary controller failure message, and stops the vehicle. This allows for timely detection of primary controller failures, preventing the primary controller from accelerating the motor even after the driver releases the accelerator, potentially causing a significant safety hazard. This improves vehicle safety.

[0138] Based on the above technical solutions, optionally, the vehicle control method further includes:

[0139] When fault information or a movement restriction instruction is obtained from any one of the vehicle's electronic control unit, battery management system, and main controller, the vehicle is controlled to stop running.

[0140] Specifically, when a vehicle malfunctions, the electronic control unit or battery management system will send a fault message or a movement restriction instruction to the main controller, or it may send a fault message or movement restriction instruction to the auxiliary controller. The auxiliary controller may send the fault message or movement restriction instruction to the main controller, or it may directly control the vehicle to stop running. Alternatively, the main controller may send the fault message or movement restriction instruction to the auxiliary controller, so that no matter where the auxiliary controller receives the fault message or movement restriction instruction, it will stop the vehicle. In this way, when either the main controller or the auxiliary controller receives a fault message or movement restriction instruction, it can control the vehicle to stop running, thereby improving the safety of vehicle driving.

[0141] The embodiment of the present invention further provides a vehicle control system, Figure 5 This is a circuit diagram of a vehicle control system provided by an embodiment of the present invention, with reference to Figure 5 , the vehicle control system includes: a main controller 110 and an auxiliary controller 120, the main controller 110 is connected to the auxiliary controller 120;

[0142] The main controller 110 is configured to periodically or in real time obtain first status information of a detection device 210 connected to the main controller 110; periodically send first communication information to the auxiliary controller 120 via a serial port; obtain second communication information sent by the auxiliary controller 120; and when a collection fault is determined based on the first status information and the third status information, stop the motor driving the vehicle and issue a fault prompt message; when a communication fault occurs with the auxiliary controller 120, issue a fault prompt message and control the vehicle speed to be reduced to zero; wherein the first communication information includes the communication bus baud rate, calibration parameters, activation instructions, and the second status information of the main controller; and the second communication information includes the third status information of the detection device obtained by the auxiliary controller and the fourth status information of the auxiliary controller.

[0143] The auxiliary controller 120 is used to periodically or in real time obtain the third state information of the detection device 210; after the vehicle is powered on, it is in a silent state when the first communication information sent by the main controller is not received; after each time the first communication information is received, the second communication information is sent to the main controller 110; when a communication failure occurs with the main controller, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop; wherein, the main controller fault message includes the fault time, fault type and fault level of the main controller 110.

[0144] The vehicle control system has the same beneficial effects as the vehicle control method provided by any embodiment of the present invention, and will not be described in detail here.

[0145] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0146] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that: The vehicle includes a main controller and an auxiliary controller, the main controller is connected to the auxiliary controller, and the vehicle control method is executed by the main controller; The vehicle control method comprises: periodically or in real time acquiring first status information of a detection device connected to the main controller; Periodically sending first communication information to the auxiliary controller through the serial port; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions and second status information of the main controller; Acquire second communication information sent by the auxiliary controller; wherein the second communication information includes third state information of the detection device acquired by the auxiliary controller and fourth state information of the auxiliary controller; When a collection fault is determined according to the first state information and the third state information, stopping the motor driving the vehicle and issuing a fault prompt message; When a communication failure occurs with the auxiliary controller, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

2. The method according to claim 1, characterized in that The method further comprises: When the main controller is performing a firmware upgrade and the auxiliary controller issues a fault prompt message, it issues a power-on prompt message.

3. The method according to claim 1, characterized in that The first status information includes first sub-information and second sub-information; the third status information includes third sub-information and fourth sub-information; When a collection fault is determined according to the first state information and the third state information, stopping the motor driving the vehicle and issuing a fault prompt message includes: When the first sub-information and the third sub-information obtained a first preset number of times are different, stopping the motor driving the vehicle and issuing a fault prompt message; wherein the first sub-information and the third sub-information are used to indicate whether the detection device is turned on; When the difference between the second sub-information and the fourth sub-information obtained for a second preset number of times is greater than a preset difference threshold, the motor driving the vehicle is stopped and a fault prompt message is issued; wherein, the second sub-information and the fourth sub-information are used to characterize the degree of opening of the detection device.

4. The method according to claim 1, wherein The periodically sending the first communication information to the auxiliary controller through the serial port includes: After a first preset time period after the start of the power-on self-test phase, periodically sending the first communication information to the auxiliary controller through the serial port; wherein the first preset time period is greater than the power-on self-test time period of the main controller and the power-on self-test time period of the auxiliary controller; When a communication failure occurs with the auxiliary controller, issuing a fault prompt message and controlling the speed of the vehicle to be reduced to zero includes: After each transmission of the first communication information, if no second communication information sent by the auxiliary controller is received after a second preset time period, it is determined that a communication failure with the auxiliary controller has occurred, a fault prompt message is issued, and the speed of the vehicle is controlled to be reduced to zero; Alternatively, the port status of the heartbeat port connecting the auxiliary controller and the main controller is periodically obtained. If the port status obtained for a third consecutive preset number of times remains unchanged, a fault prompt message is issued and the speed of the vehicle is controlled to be reduced to zero.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: When a first target speed received from an electronic control unit of the vehicle is different from a second target speed sent by the auxiliary controller, and the motor speeds corresponding to the first target speed and the second target speed are in the same direction, if an absolute value of the first target speed is greater than an absolute value of the second target speed, controlling the motor to operate according to the second target speed; If the absolute value of the first target speed is less than the absolute value of the second target speed, controlling the motor to operate according to the first target speed; When the first target speed received from the vehicle's electronic control unit is different from the second target speed sent by the auxiliary controller, and the motor speed directions corresponding to the first target speed and the second target speed are different, a fault prompt message is issued and the vehicle is controlled to stop running.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: When fault information or a movement restriction instruction is obtained from any one of the electronic control unit, the battery management system and the auxiliary controller of the vehicle, the vehicle is controlled to stop running.

7. A vehicle control method, characterized in that: The vehicle includes a main controller and an auxiliary controller, the main controller is connected to the auxiliary controller, and the vehicle control method is executed by the auxiliary controller; The vehicle control method comprises: Periodically or in real time, obtaining third state information of the detection device; After the vehicle is powered on, when the vehicle does not receive the first communication information sent by the main controller, it is in a silent state; wherein the first communication information includes the communication bus baud rate, calibration parameters, activation instructions and the second state information of the main controller; After receiving the first communication information each time, sending second communication information to the main controller; wherein the second communication information includes the third state information of the detection device obtained by the auxiliary controller and the fourth state information of the auxiliary controller; When a communication failure occurs with the main controller, a main controller failure message is sent through the communication bus, and the vehicle is controlled to stop; wherein the main controller failure message includes the failure time, failure type and failure level of the main controller.

8. The method according to claim 7, characterized in that The step of sending second communication information to the main controller after receiving the first communication information each time includes: After receiving the first communication information sent by the main controller, the third state information is calibrated according to the calibration parameters, and the calibrated third state information and the fourth state information are sent to the main controller.

9. The method according to claim 7, characterized in that When a communication failure occurs with the main controller, a main controller failure message is sent via a communication bus, and the vehicle is stopped, including: After each transmission of the second communication information, if the first communication information sent by the main controller is not received after a second preset time period, it is determined that the main controller is faulty, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop; Alternatively, the port status of the heartbeat port connecting the main controller and the auxiliary controller is periodically obtained. If the port status obtained for the third preset number of times remains unchanged, the main controller is determined to be faulty, a main controller fault message is issued, and the vehicle is controlled to stop.

10. A vehicle control system, characterized in that: include: a main controller and an auxiliary controller, wherein the main controller is connected to the auxiliary controller; The main controller is used to periodically or in real time obtain first status information of a detection device connected to the main controller; Periodically sending first communication information to the auxiliary controller through the serial port; obtaining second communication information sent by the auxiliary controller; when determining a collection fault based on the first state information and the third state information, stopping the motor driving the vehicle and issuing a fault prompt; when a communication fault occurs with the auxiliary controller, issuing a fault prompt and controlling the speed of the vehicle to be reduced to zero; wherein the first communication information includes a communication bus baud rate, calibration parameters, activation instructions, and the second state information of the main controller; and the second communication information includes the third state information of the detection device obtained by the auxiliary controller and the fourth state information of the auxiliary controller; The auxiliary controller is used to periodically or in real time obtain the third status information of the detection device; after the vehicle is powered on, when the first communication information sent by the main controller is not received, it is in a silent state; after each receipt of the first communication information, it sends a second communication information to the main controller; when a communication failure occurs with the main controller, a main controller fault message is sent through the communication bus, and the vehicle is controlled to stop; wherein, the main controller fault message includes the fault time, fault type and fault level of the main controller.

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