Vehicle control method and device, processor and vehicle

Abstract

The invention discloses a vehicle control method and device, a processor and a vehicle, the vehicle comprises a low-voltage power supply system, a storage battery and an electricity load, and the method comprises the steps that current values of the storage battery at all moments are obtained; determining a first total discharge capacity of the storage battery from an initial moment when the low-voltage power supply system starts to work to a current moment according to the current value at each moment; judging whether the output power of the low-voltage power supply system meets the target power required by the electricity load or not based on the first total discharge capacity and the preset electric quantity of the storage battery; if the output power does not meet the target power, sending a broadcast signal to the electricity load; and after the electricity load receives the broadcast signal, the electricity power of the electricity load is limited to enter a load management mode. The technical problem that the risk of abnormal electric balance of the vehicle is high is solved.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a vehicle control method, apparatus, processor, and vehicle. Background Technology

[0002] Currently, when controlling a vehicle's electrical load, the relationship between the vehicle's remaining battery charge and a charge threshold is often used to determine whether to limit the electrical load. However, this method of limiting the load is limited only by the remaining battery charge and cannot effectively limit the electrical load in a timely manner, leading to a high risk of abnormal vehicle electrical balance.

[0003] There is currently no effective solution to the high risk of abnormal vehicle electrical balance mentioned above. Summary of the Invention

[0004] This invention provides a vehicle control method, device, processor, and vehicle to at least address the technical problem of high risk of vehicle electrical imbalance.

[0005] According to one aspect of the present invention, a vehicle control method is provided. The vehicle includes a low-voltage power supply system, a battery, and an electrical load. The method includes: acquiring the current value of the battery at various times; determining a first total discharge amount of the battery from the initial time when the low-voltage power supply system starts operating to the current time based on the current value at each time; determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and a preset charge level of the battery; if the output power does not meet the target power, sending a broadcast signal to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; and after receiving the broadcast signal, the electrical load restricts its own power consumption and enters a load management mode, thereby achieving the purpose of timely functional limitation of the electrical load and realizing the technical effect of reducing the risk of abnormal vehicle electrical balance.

[0006] Optionally, based on the first total discharge amount and the preset battery charge, determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load includes: determining the charge relationship between the first total discharge amount and the preset charge; and determining whether the output power meets the target power based on the charge relationship. Since the output power can be determined based on the aforementioned charge relationship, the purpose of determining whether the output power of the low-voltage power supply system can support the power consumption function of the electrical load is achieved, thereby improving the timeliness of functional limitation on the electrical load.

[0007] Optionally, the power relationship is used to indicate that the first total discharge is greater than or equal to the preset power under a preset weight, or the first total discharge is less than the preset power under a preset weight.

[0008] Optionally, determining whether the output power meets the target power based on the power relationship includes: in response to a power relationship indicating that the first total discharge is greater than or equal to a preset power under a preset weight, determining that the output power does not meet the target power; the method further includes: in response to a power relationship indicating that the first total discharge is less than a preset power under a preset weight, obtaining the current value of the battery at the next moment from the current moment; determining the second total discharge of the battery from the initial moment to the next moment based on the current value at the next moment; and determining whether the output power meets the target power based on the second total discharge and the preset power. Since it is possible to determine whether the output power meets the target power based on different power relationships, the purpose of determining whether the output power of the low-voltage power supply system can support the power consumption function of the electrical load is achieved, thereby realizing the technical effect of improving the timeliness of functional limitation of the electrical load.

[0009] Optionally, based on the current values ​​at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts operating to the current moment is determined, including: determining the previous total discharge amount of the first total discharge amount, wherein the previous total discharge amount is the total discharge amount of the battery from the initial moment to the previous moment; and determining the first total discharge amount based on the previous total discharge amount and the current values ​​at each moment. Since the total discharge amount of the battery from the initial moment to each moment can be determined based on the determined previous total discharge amount and the current values ​​at each moment, the purpose of determining the total discharge amount of the battery is achieved, thereby realizing the technical effect of improving the accuracy of determining the total discharge amount of the battery.

[0010] Optionally, determining the first total discharge amount based on the previous total discharge amount and the current values ​​at each moment includes: converting the current values ​​at each moment into charge to obtain the charge corresponding to the current value at each moment; and combining the charge corresponding to the current value at each moment with the corresponding previous total discharge amount to obtain the first total discharge amount. Since the total discharge amount can be obtained by combining the charge corresponding to the current value at each moment with the previous total discharge amount, the purpose of determining the total discharge amount of the battery is achieved, thereby improving the accuracy of determining the total discharge amount of the battery.

[0011] Optionally, if the output power does not meet the target power, a broadcast signal is sent to the host. After receiving the broadcast signal, the host outputs a prompt message, which prompts the controlled electrical load to enter load management mode. Because the host can output a prompt message after receiving the broadcast signal, it achieves the goal of prompting the controlled electrical load to enter load management mode, thereby improving the technical effect of vehicle-user interaction.

[0012] According to one aspect of the present invention, a control device for a vehicle is provided. The vehicle includes a low-voltage power supply system, a battery, an electrical load, a battery management controller, and a central controller. The device may include: a battery management controller, configured to determine a first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts operating to the current moment based on the current value of the battery at various times; a central controller, configured to determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and a preset charge level of the battery, and if the output power does not meet the target power, to send a broadcast signal to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; and an electrical load, configured to limit its own power consumption and enter a load management mode after receiving the broadcast signal.

[0013] According to another aspect of the present invention, a processor is also provided. The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method of the present invention.

[0014] According to another aspect of the embodiments of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the executable program, wherein the executable program executes the vehicle control method of various embodiments of the present invention during runtime.

[0015] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle control method of the present invention.

[0016] According to another aspect of the present invention, a computer program product is also provided, the computer program product including a computer program, wherein the computer program, when executed by a processor, implements the vehicle control method of the present invention.

[0017] According to another aspect of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the vehicle control method of the present invention.

[0018] According to another aspect of the embodiments of the present invention, the embodiments of this application also provide a computer program that, when executed by a processor, implements the vehicle control method described in the embodiments of the present invention.

[0019] In this embodiment of the invention, when controlling the vehicle, the current value of the battery at each moment is acquired; based on the current value at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment is determined; based on the first total discharge amount and the preset charge of the battery, it is determined whether the output power of the low-voltage power supply system meets the target power required by the electrical load; if the output power does not meet the target power, a broadcast signal is sent to the electrical load; after the electrical load receives the broadcast signal, it restricts its own power consumption and enters the load management mode. Since this embodiment of the invention can send a broadcast signal to the electrical load when it determines that the output power does not meet the target power based on the first total discharge amount and the preset charge, and the electrical load can restrict its own power consumption and enter the load management mode after receiving the broadcast signal, it achieves the purpose of timely functional limitation of the electrical load, thereby solving the technical problem of high risk of vehicle electrical balance abnormalities, and thus achieving the technical effect of reducing the risk of vehicle electrical balance abnormalities. Attached Figure Description

[0020] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0021] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of a method for determining insufficient output capacity of a DC-DC / generator based on the cumulative discharge of a battery, according to an embodiment of the present invention.

[0023] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of a vehicle according to an embodiment of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0027] According to an embodiment of the present invention, a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0028] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of the present invention. The vehicle includes a low-voltage power supply system, a battery, and electrical loads, such as... Figure 1 As shown, the method may include the following steps:

[0029] Step S101: Obtain the current value of the battery at each time point.

[0030] In the technical solution provided by step S101 of the present invention, the low-voltage power supply system may include a DC-to-DC converter (DCDC) / generator.

[0031] In this embodiment, the aforementioned battery may include a single battery or a battery pack. If the battery is a battery pack, the number of battery packs can be set according to the type of vehicle. That is, the number of battery packs in a small vehicle is less than the number of battery packs in a medium-sized vehicle, and the number of battery packs in a medium-sized vehicle is less than the number of battery packs in a large vehicle. For example, if it is a small vehicle, the number of battery packs can be 2; if it is a medium-sized vehicle, the number of battery packs can be 4. These values ​​are only illustrative and are not specifically limited.

[0032] In this embodiment, the electrical load may include any one or any combination of the following: refrigerator, air conditioner (Heating, Ventilation, and Air Conditioning, abbreviated as HVAC), seat heating system (Seat System with Warmth, abbreviated as SSW), seat massage system, ambient lighting, wireless charging pad, and rear entertainment equipment, etc., which are only examples and are not specifically limited.

[0033] In this embodiment, the aforementioned times can be used to represent various moments when the low-voltage power supply system is in operation. For example, if the moment when the power generation system starts operating is represented by T0, then 100ms after T0 is represented by T1, 200ms after T0 is represented by T2, and so on, with n*100ms after T0 represented by T... n This indicates that n can be any natural number; the numerical value here is only for illustrative purposes and is not specifically limited.

[0034] In this embodiment, if the current at time T0 is represented by I0, then the current 100ms after T0 is represented by I1, the current 200ms after T0 is represented by I2, and so on, with the current n*100ms after T0 represented by I... n This indicates that n can be any natural number; the numerical value here is only for illustrative purposes and is not specifically limited.

[0035] In this embodiment, the current value of the battery at each moment is acquired. Optionally, this embodiment detects whether the low-voltage power supply system receives a discharge from the battery. If a discharge from the battery is detected, the battery current is collected according to the current acquisition cycle after the low-voltage power supply system starts working, and the current value of the battery at each moment can be obtained.

[0036] Optionally, if the current acquisition period is 80ms, then after the low-voltage power supply system starts working at time T0, the current of the battery is acquired according to the current acquisition period of 80ms. That is, the current of the battery is acquired at time T1, 80ms after T0. The current value of the battery at time T1 can be obtained. The value here is only for illustrative purposes and is not specifically limited.

[0037] Optionally, if the current acquisition period is 105ms, then after the low-voltage power supply system starts working at time T0, the current of the battery is acquired according to the current acquisition period of 105ms. That is, the current of the battery is acquired at time T1, 105ms after T0. The current value of the battery at time T1 can be obtained. The value here is only for illustrative purposes and is not specifically limited.

[0038] Step S102: Based on the current at each moment, determine the first total discharge amount of the battery from the initial moment when it starts working from the low-voltage power supply system to the current moment.

[0039] In the technical solution provided by step S102 of the present invention, the initial time at which the low-voltage power supply system starts working can be represented by T0, and the current time can be represented by T... n express.

[0040] In this embodiment, the aforementioned first total discharge amount can be the cumulative discharge amount of a single battery from the initial time to the current time, or it can be the cumulative discharge amount of the battery pack from the initial time to the current time. For example, if the discharge amount at time T0 is represented by Q0, then the total discharge amount 100ms after T0 is represented by Q1, the total discharge amount 200ms after T0 is represented by Q2, and so on, the total discharge amount n*100ms after T0 is represented by Q... n This indicates that n can be any natural number; the numerical value here is only for illustrative purposes and is not specifically limited.

[0041] In this embodiment, after acquiring the current value of the battery at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment is determined based on the current value at each moment. Optionally, based on acquiring the current value of the battery at each moment, this embodiment can determine the charge corresponding to the current value at each moment; based on the charge corresponding to the current value at each moment and the corresponding previous total discharge amount, the first total discharge amount of the battery from the initial moment to the current moment can be determined, wherein the previous total discharge amount is the total discharge amount of the battery from the initial moment to the previous moment.

[0042] Optionally, based on the current values ​​at each time point, the amount of electricity corresponding to the current value at each time point can be determined. By combining the amount of electricity corresponding to the current value at each time point with the corresponding previous total discharge amount, the first total discharge amount of the battery from the initial time point to the current time point can be obtained.

[0043] Step S103: Based on the first total discharge amount and the preset battery charge, determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load.

[0044] In the technical solution provided in step S103 of the present invention, the electrical load is unrelated to the normal driving process of the vehicle. For example, the electrical load may be an air conditioner and / or a seat controller; this is merely an example and not a specific limitation.

[0045] In this embodiment, the aforementioned preset power C n It can be the rated capacity of a single battery or the rated capacity of a battery pack. This is just an example and is not specifically limited.

[0046] In this embodiment, after determining the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts operating to the current moment based on the current at each moment, it is determined whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset charge of the battery. Optionally, this embodiment, based on determining the first total discharge amount, can obtain the charge relationship between the first total discharge amount and the preset charge of the battery by comparing the first total discharge amount with the preset charge, thereby determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load.

[0047] Step S104: If the output power does not meet the target power, a broadcast signal is sent to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power.

[0048] In the technical solution provided by step S104 of the present invention, the broadcast signal can be used to indicate that the output power does not meet the target power.

[0049] In this embodiment, after determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset charge of the battery, if the output power does not meet the target power, a broadcast signal is sent to the electrical load. Optionally, in this embodiment, based on determining whether the output power meets the target power, if the output power does not meet the target power, a broadcast signal is sent to the electrical load, thereby achieving the purpose of prompting the electrical load that the output power does not meet the target power.

[0050] Optionally, if the output power meets the target power, there is no need to send broadcast signals to the electrical loads separately, and the process can continue to step S101 to obtain the current value of the battery at each time.

[0051] Step S105: After the electrical load receives the broadcast signal, it limits its own power consumption and enters the load management mode.

[0052] In the technical solution provided by step S105 of the present invention, the above-mentioned load management mode can be used to represent the mode of performing the power consumption function of the power load.

[0053] In this embodiment, if the output power does not meet the target power, a broadcast signal is sent to the electrical load. After the electrical load receives the broadcast signal, it limits its own power consumption to enter the load management mode. Optionally, in addition to sending a broadcast signal to the electrical load, this embodiment limits the electrical load's own power consumption to enter the load management mode after the electrical load receives the broadcast signal, thereby limiting the execution of the electrical load's power-consuming functions. This achieves the purpose of timely limiting the power consumption of the electrical load.

[0054] In steps S101 to S105 of this application, when controlling the vehicle, the current value of the battery at each moment is acquired; based on the current value at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment is determined; based on the first total discharge amount and the preset charge of the battery, it is determined whether the output power of the low-voltage power supply system meets the target power required by the electrical load; if the output power does not meet the target power, a broadcast signal is sent to the electrical load; after the electrical load receives the broadcast signal, it restricts its own power consumption and enters the load management mode. Since this embodiment of the invention can send a broadcast signal to the electrical load when it is determined that the output power does not meet the target power based on the first total discharge amount and the preset charge, and the electrical load can restrict its own power consumption and enter the load management mode after receiving the broadcast signal, it achieves the purpose of timely functional limitation of the electrical load, thereby solving the technical problem of high risk of vehicle electrical balance abnormalities, and thus achieving the technical effect of reducing the risk of vehicle electrical balance abnormalities.

[0055] The method described below for determining whether the output power of a low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset charge of the battery, in this embodiment, will be further described.

[0056] As an optional embodiment, step S103, based on the first total discharge amount and the preset charge of the battery, determines whether the output power of the low-voltage power supply system meets the target power required by the electrical load, including: determining the charge relationship between the first total discharge amount and the preset charge; and based on the charge relationship, determining whether the output power meets the target power.

[0057] In this embodiment, after determining the first total discharge amount of the battery from the initial moment when it starts working from the low-voltage power supply system to the current moment based on the current value at each moment, the electrical relationship between the first total discharge amount and the preset charge amount is determined. Optionally, in this embodiment, based on determining the first total discharge amount, the electrical relationship between the first total discharge amount and the preset charge amount of the battery can be obtained by comparing the first total discharge amount with the preset charge amount of the battery.

[0058] In this embodiment, after determining the electrical relationship between the first total discharge and the preset electrical quantity, it is determined whether the output power meets the target power based on this relationship. Optionally, based on the obtained electrical relationship, if the relationship indicates that the first total discharge is greater than or equal to the preset electrical quantity under a preset weight, it can be determined that the output power does not meet the target power; if the relationship indicates that the first total discharge is less than the preset electrical quantity under a preset weight, it can be determined that the output power meets the target power. Since the output power can be determined based on the electrical relationship, the purpose of determining whether the output power of the low-voltage power supply system can support the power consumption function of the electrical load is achieved, thereby improving the timeliness of functional limitation of the electrical load.

[0059] The above-described electrical quantity relationship of this embodiment will be further described below.

[0060] As an optional embodiment, the power quantity relationship is used to indicate that the first total discharge quantity is greater than or equal to the preset power quantity under a preset weight, or the first total discharge quantity is less than the preset power quantity under a preset weight.

[0061] In this embodiment, the preset weight can be, but is not limited to, 10%.

[0062] For example, given the current time is T2 and the first total discharge is Q2, consider the relationship between Q2 and 10%C. n For comparison, if Q2 is greater than or equal to 10%C n The relationship of the amount of electricity is that Q2 is greater than or equal to 10%C. n If Q2 is less than 10%C n Therefore, the relationship between the amounts of electricity is Q2 less than 10%C. n This is just an example and is not a specific limitation.

[0063] The method for determining whether the output power meets the target power based on the electrical quantity relationship described above in this embodiment will be further described below.

[0064] As an optional embodiment, determining whether the output power meets the target power based on the power relationship includes: in response to the power relationship indicating that the first total discharge is greater than or equal to a preset power under a preset weight, determining that the output power does not meet the target power; the method further includes: in response to the power relationship indicating that the first total discharge is less than the preset power under a preset weight, obtaining the current value of the battery at the next moment of the current moment; determining the second total discharge of the battery from the initial moment to the next moment based on the current value at the next moment; and determining whether the output power meets the target power based on the second total discharge and the preset power.

[0065] In this embodiment, after determining the electrical relationship between the first total discharge and the preset charge, in response to the electrical relationship indicating that the first total discharge is greater than or equal to the preset charge under a preset weight, it is determined that the output power does not meet the target power. Optionally, this embodiment, based on determining the electrical relationship, performs relationship identification on the electrical relationship. If the identification shows that the electrical relationship indicates that the first total discharge is greater than or equal to the preset charge under a preset weight, it can be determined that the output power does not meet the target power.

[0066] In this embodiment, if the current time is T0, then the next time is T1, the current at the next time is I1, and the second total discharge quantity at the next time is Q1; if the current time is T1, then the next time is T2, the current at the next time is I2, and the second total discharge quantity at the next time is Q2. This is only an example and is not specifically limited.

[0067] In this embodiment, in response to the power relationship indicating that the first total discharge amount is less than the preset power amount under the preset weight, the current value of the battery at the next moment is obtained at the current moment; based on the current value at the next moment, the second total discharge amount of the battery from the initial moment to the next moment is determined; and based on the second total discharge amount and the preset power amount, it is determined whether the output power meets the target power.

[0068] Optionally, this embodiment, based on the determined power relationship, performs relationship identification on the power relationship. If the identified power relationship indicates that the first total discharge is less than the preset power under a preset weight, then according to the current acquisition cycle, current is acquired from the battery at the next moment after the current moment to obtain the current value of the battery at the next moment. Based on the current value at the next moment, the power corresponding to the current value at the next moment can be determined. Based on the power value corresponding to the current at the next moment and the first total discharge, the second total discharge of the battery from the initial moment to the next moment can be determined. By comparing the second total discharge with the preset power of the battery, the power relationship between the second total discharge and the preset power of the battery can be obtained, thereby determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load. Since the output power can be determined based on different power relationships to determine whether the target power is met, the purpose of determining whether the output power of the low-voltage power supply system can support the power consumption function of the electrical load is achieved, thereby realizing the technical effect of improving the timeliness of functional limitation of the electrical load.

[0069] Optionally, if the relationship between the second total discharge and the preset battery charge indicates that the second total discharge is greater than or equal to the preset charge, then it is determined that the output power does not meet the target power, and broadcast signals are sent to the host and the electrical load respectively; after the host receives the broadcast signal, it outputs a prompt message, and after the electrical load receives the broadcast signal, it restricts its own power consumption to enter the load management mode.

[0070] Optionally, if the relationship between the second total discharge and the preset charge indicates that the second total discharge is less than the preset charge, then it is determined that the output power meets the target power, and the step of obtaining the current value of the battery at the next moment is continued. Based on the current value at the next moment, the third total discharge of the battery from the initial moment to the next moment is determined; and based on the third total discharge and the preset charge, it is determined whether the output power meets the target power. This is only an example and is not specifically limited.

[0071] The method described below for determining the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment based on the current value at each moment in this embodiment will be further described.

[0072] As an optional embodiment, step S102, determining the first total discharge amount of the battery from the initial moment when it starts working from the low-voltage power supply system to the current moment based on the current value at each moment, includes: determining the previous total discharge amount of the first total discharge amount, wherein the previous total discharge amount is the total discharge amount of the battery from the initial moment to the previous moment of each moment; and determining the first total discharge amount based on the previous total discharge amount and the current value at each moment.

[0073] In this embodiment, the aforementioned previous total discharge amount can be the total discharge amount of the battery from the initial time to the previous time. For example, if the current time is T2 and the first total discharge amount is Q2, then the previous time is T1 and the previous total discharge amount is Q1; if the current time is T3 and the first total discharge amount is Q3, then the previous time is T2 and the previous total discharge amount is Q2. This is only an example and is not specifically limited.

[0074] In this embodiment, after acquiring the current values ​​of the battery at various times, the previous total discharge value of the first total discharge value is determined. Optionally, in this embodiment, the previous total discharge value can be directly found from the historical total discharge values ​​according to the previous time corresponding to the previous total discharge value.

[0075] In this embodiment, after determining the previous total discharge amount, the first total discharge amount is determined based on the previous total discharge amount and the current values ​​at each time. Optionally, this embodiment can determine the first total discharge amount based on the previous total discharge amount and the charge corresponding to the current values ​​at each time. Since the first total discharge amount of the battery can be determined based on the determined previous total discharge amount and the charge corresponding to the current values ​​at each time, the purpose of determining the total discharge amount of the battery is achieved, thereby improving the accuracy of determining the total discharge amount of the battery.

[0076] The method for determining the first total discharge quantity based on the previous total discharge quantity and the current value at each moment in this embodiment will be further described below.

[0077] As an optional embodiment, determining the first total discharge amount based on the previous total discharge amount and the current value at each moment includes: converting the current value at each moment into an energy value to obtain the energy value corresponding to the current value at each moment; combining the energy value corresponding to the current value at each moment with the corresponding previous total discharge amount to obtain the first total discharge amount.

[0078] In this embodiment, after determining the previous total discharge amount of the first total discharge amount, the current value at each time moment is converted into a quantity to obtain the quantity corresponding to the current value at each time moment. Optionally, in this embodiment, the current value at each time moment is converted into a quantity according to a quantity conversion coefficient to obtain the quantity corresponding to the current value at each time moment, wherein the quantity conversion coefficient can be, but is not limited to, 0.1 / 3600.

[0079] In this embodiment, after converting the current value at each moment into charge, and obtaining the charge corresponding to the current value at each moment, the charge corresponding to the current value at each moment is combined with the previous total discharge amount to obtain the first total discharge amount. Optionally, this embodiment, based on obtaining the charge corresponding to the current value at each moment, sums the charge corresponding to the current value at each moment with the previous total discharge amount to obtain the first total discharge amount. Since the total discharge amount can be obtained by combining the charge corresponding to the current value at each moment with the previous total discharge amount, the purpose of determining the total discharge amount of the battery is achieved, thereby improving the technical effect of improving the accuracy of determining the total discharge amount of the battery.

[0080] Optionally, the first total discharge can be obtained by summing the charge corresponding to the current value at each moment with the previous total discharge, which can be calculated according to the following formula:

[0081] When the DC-DC / generator starts working, T0=0, let Q0=0;

[0082] At the current time T1, Q1 = Q0 + I * 0.1 / 3600;

[0083] At the current time T2, Q2 = Q1 + I * 0.1 / 3600;

[0084] And so on, with the current time being T. n At that time, Q n =Q n-1 +I*0.1 / 3600.

[0085] The method for controlling the vehicle described in this embodiment will be further described below.

[0086] As an optional implementation, if the output power does not meet the target power, a broadcast signal is sent to the host; after the host receives the broadcast signal, it outputs a prompt message, which is used to prompt the controlled electrical load to enter the load management mode.

[0087] In this embodiment, the above-mentioned prompt information can be used to prompt the controlled electrical load to enter the load management mode.

[0088] Optionally, if it is determined that the output power does not meet the target power, a broadcast signal is sent to the host. After the host receives the broadcast signal, it outputs a prompt message, thereby achieving the purpose of prompting the control of the electrical load to enter the load management mode, and thus realizing the technical effect of improving the interaction between the vehicle and the user.

[0089] For example, after the host receives the broadcast signal, it can directly output the prompt information to the display screen and then display the prompt information on the display screen; or, after the host receives the broadcast signal, it can also convert the prompt information into sound information and output it to the speaker, and then play the sound information in the form of sound through the speaker. This is only an example and is not a specific limitation.

[0090] In this embodiment of the invention, when controlling the vehicle, the current value of the battery at each moment is acquired; based on the current value at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment is determined; based on the first total discharge amount and the preset charge of the battery, it is determined whether the output power of the low-voltage power supply system meets the target power required by the electrical load; if the output power does not meet the target power, a broadcast signal is sent to the electrical load; after the electrical load receives the broadcast signal, it restricts its own power consumption and enters the load management mode. Since this embodiment of the invention can send a broadcast signal to the electrical load when it determines that the output power does not meet the target power based on the first total discharge amount and the preset charge, and the electrical load can restrict its own power consumption and enter the load management mode after receiving the broadcast signal, it achieves the purpose of timely functional limitation of the electrical load, thereby solving the technical problem of high risk of vehicle electrical balance abnormalities, and thus achieving the technical effect of reducing the risk of vehicle electrical balance abnormalities.

[0091] The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.

[0092] Currently, when controlling a vehicle's electrical load, the relationship between the vehicle's remaining battery charge and a charge threshold is often used to determine whether to limit the electrical load. However, this method of limiting the load is limited only by the remaining battery charge and cannot effectively limit the electrical load in a timely manner, leading to a high risk of abnormal vehicle electrical balance.

[0093] To address the aforementioned technical problems, this invention proposes a vehicle control method. When the output power fails to meet the target power based on a first total discharge quantity and a preset power quantity, a broadcast signal can be sent to the electrical load. Upon receiving the broadcast signal, the electrical load can limit its own power consumption and enter a load management mode. This achieves the goal of timely functional limitation of power-consuming equipment, thereby solving the technical problem of high risk of vehicle electrical imbalance and ultimately reducing the risk of vehicle electrical imbalance.

[0094] In this embodiment, by executing a DC-DC / generator output capacity insufficiency determination method based on the battery's cumulative discharge, if the output power fails to meet the target power, broadcast signals can be sent to both the control device and the power-consuming device. Then, upon receiving the broadcast signal, the control device can output a prompt message, and upon receiving the broadcast signal, the power-consuming device's power-consuming functions can be restricted. For example, Figure 2 This is a flowchart of a method for determining insufficient output capacity of a DC-DC / generator based on the cumulative discharge of a battery, according to an embodiment of the present invention. Figure 2 As shown, the method may include the following steps:

[0095] Step S201: Collect current data.

[0096] In the technical solution provided in step S201 of the present invention, the battery current I is continuously collected by an Electronic Battery Sensor (EBS) or a Battery Management System (BMS). The charging current of the battery is defined as I < 0, and the discharging current of the battery is defined as I > 0.

[0097] After collecting the current data, proceed to step S202 and calculate the cumulative discharge of the battery from the initial moment to the current moment according to the following formula:

[0098] At the current time T1, Q1 = Q0 + I * 0.1 / 3600;

[0099] At the current time T2, Q2 = Q1 + I * 0.1 / 3600;

[0100] And so on, with the current time being T. n At that time, Q n =Q n-1 +I*0.1 / 3600.

[0101] In the technical solution provided in step S202 of the present invention, when the DC-DC / generator starts working, the Communication Control Unit (CCU) starts the battery cumulative discharge Q calculation program: the collected I is calculated every 100ms. For example, if the start time of the DC-DC / generator is represented by T0, then the current at T0 is recorded as I0, and the cumulative discharge of the battery at this time is recorded as Q0; 100ms is recorded as T1, the current at T1 is recorded as I1, and the cumulative discharge of the battery at this time is recorded as Q1; 200ms is recorded as T2, the current at T2 is recorded as I2, and the cumulative discharge of the battery at this time is recorded as Q2, and so on, up to n*100ms is recorded as T... n T n The current at that time is denoted as I. n The cumulative discharge amount of the battery at this time is denoted as Q. n .

[0102] After calculating the cumulative discharge amount of the battery from the initial time to the current time according to the following formula, proceed to step S203 to determine whether the cumulative discharge amount is greater than or equal to 10%C. n .

[0103] If it is determined that the cumulative discharge is less than 10%C n Then return to step S202 and calculate the cumulative discharge of the battery from the initial time to the current time according to the following formula.

[0104] If it is determined that the cumulative discharge is greater than or equal to 10%C n If so, proceed to step S204 to determine that the DC-DC / generator output capacity is insufficient.

[0105] After determining that the DC-DC / generator output capacity is insufficient, proceed to steps S205 and S206, where a prompt message is output on the host, and functions such as limiting the air conditioning and seat entertainment loads are implemented to reduce the overall vehicle power consumption, so that the DC-DC / generator output power can meet the user's needs.

[0106] In the technical solution provided by step S205 of the present invention, a response is made after the relevant nodes of the vehicle receive the broadcast signal. Optionally, if the host receives the broadcast signal, it prompts the vehicle to enter the load management function; if the comfort and entertainment nodes such as air conditioning, seat heating and massage receive the broadcast signal, it restricts the entertainment function.

[0107] In this embodiment, when controlling the vehicle, the current value of the battery at each moment is acquired; based on the current value at each moment, the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment is determined; based on the first total discharge amount and the preset charge of the battery, it is determined whether the output power of the low-voltage power supply system meets the target power required by the electrical load; if the output power does not meet the target power, a broadcast signal is sent to the electrical load; after the electrical load receives the broadcast signal, it restricts its own power consumption and enters the load management mode. Since this embodiment of the invention can send a broadcast signal to the electrical load when it determines that the output power does not meet the target power based on the first total discharge amount and the preset charge, and the electrical load can restrict its own power consumption and enter the load management mode after receiving the broadcast signal, it achieves the purpose of timely functional limitation of the electrical load, thereby solving the technical problem of high risk of vehicle electrical balance abnormalities, and thus achieving the technical effect of reducing the risk of vehicle electrical balance abnormalities.

[0108] According to an embodiment of the present invention, a vehicle control device is also provided. It should be noted that this vehicle control device can be used to execute a vehicle control method according to one of the embodiments.

[0109] Figure 3 This is a schematic diagram of a vehicle control device according to an embodiment of the present invention. The vehicle may include a low-voltage power supply system, a battery, electrical loads, a battery management controller, and a central controller. Figure 3 As shown, the vehicle's control device 300 may include: a battery management controller 301, a central controller 302, and an electrical load 303.

[0110] The battery management controller 301 is used to determine the first total discharge amount of the battery from the initial moment when it starts working from the low-voltage power supply system to the current moment based on the current value of the battery at each moment.

[0111] The central controller 302 is used to determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset power of the battery, and to send a broadcast signal to the electrical load if the output power does not meet the target power, wherein the broadcast signal is used to indicate that the output power does not meet the target power.

[0112] Electrical load 303 is used to limit its own power consumption and enter load management mode after receiving a broadcast signal.

[0113] Optionally, the central controller 302 may include: a first determining module, used to determine the electrical relationship between the first total discharge amount and the preset electrical amount; and a judging module, used to judge whether the output power meets the target power based on the electrical relationship.

[0114] Optionally, the power relationship is used to indicate that the first total discharge is greater than or equal to the preset power under a preset weight, or the first total discharge is less than the preset power under a preset weight.

[0115] Optionally, the judgment module may include: a first determination submodule, configured to determine that the output power does not meet the target power in response to a first total discharge quantity indicating that the first total discharge quantity is greater than or equal to a preset quantity under a preset weight; the control device 300 of the vehicle may further include: an acquisition unit, configured to acquire the current value of the battery at the next moment in response to a first total discharge quantity indicating that the total discharge quantity is less than a preset quantity under a preset weight; a determination unit, configured to determine the second total discharge quantity of the battery from the initial moment to the next moment based on the current value at the next moment; and a judgment unit, configured to determine whether the output power meets the target power based on the second total discharge quantity and the preset quantity.

[0116] Optionally, the battery management controller 301 may include: a second determining module, configured to determine the previous total discharge amount of the first total discharge amount, wherein the previous total discharge amount is the total discharge amount of the battery from the initial time to the previous time of each time; and a third determining module, configured to determine the first total discharge amount based on the previous total discharge amount and the current value at each time.

[0117] Optionally, the third determining module may include: a conversion submodule, used to convert the current value at each time moment into an amount of electricity to obtain the amount of electricity corresponding to the current value at each time moment; and a combination submodule, used to combine the amount of electricity corresponding to the current value at each time moment and the corresponding previous total discharge amount to obtain the first total discharge amount.

[0118] Optionally, the vehicle control device 300 may further include: a transmitting unit, configured to send a broadcast signal to the host if the output power does not meet the target power; and an output unit, configured to output a prompt message after the host receives the broadcast signal, wherein the prompt message is used to prompt the controlled electrical load to enter the load management mode.

[0119] In this embodiment, a vehicle control device is provided. The vehicle includes a low-voltage power supply system, a battery, an electrical load, a battery management controller, and a central controller. The device may include: a battery management controller, used to determine the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment, based on the current value of the battery at various times; a central controller, used to determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset charge of the battery, and if the output power does not meet the target power, to send a broadcast signal to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; and an electrical load, used to limit its own power consumption and enter the load management mode after receiving the broadcast signal. Because this embodiment of the invention can send a broadcast signal to the electrical load when it is determined that the output power does not meet the target power based on the first total discharge amount and the preset charge, and the electrical load can limit its own power consumption and enter the load management mode after receiving the broadcast signal, it achieves the purpose of timely functional limitation of the electrical load, thereby solving the technical problem of high risk of vehicle electrical balance abnormalities and achieving the technical effect of reducing the risk of vehicle electrical balance abnormalities.

[0120] According to an embodiment of the present invention, a vehicle is also provided. Figure 4 This is a schematic diagram of a vehicle according to an embodiment of the present invention, such as... Figure 4 As shown, the vehicle 400 may include a memory 410 and a processor 420. The memory 410 is used to store an executable program; the processor 420 is used to run the executable program stored in the memory 410. When the executable program runs, it implements the vehicle control method of this application.

[0121] In this application, "multiple" refers to two or more.

[0122] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0123] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if present) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0124] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0125] Unless otherwise specified, all steps in this application may be performed sequentially or randomly. For example, the vehicle control method of this application may include steps S101 and S102, indicating that the vehicle control method of this application may include steps S101 and S102 performed sequentially, or it may include steps S102 and S101 performed sequentially. For example, the vehicle control method of this application may also include steps S103, S104, and S105, indicating that steps S103, S104, and S105 may be added to the method in any order. For example, the vehicle control method of this application may include steps S101, S102, S103, S104, and S105, or it may include steps S101, S103 and S102, S104 and S105, or it may include steps S104, S105, S103, S101, and S102, etc.

[0126] According to an embodiment of the present invention, a processor is also provided for running a program, wherein the program is executed by the processor to perform the vehicle control method of the embodiment.

[0127] According to an embodiment of the present invention, a computer program product is also provided, the computer program product including a computer program, wherein the computer program, when executed by a processor, implements the vehicle control method of the embodiment.

[0128] According to an embodiment of the present invention, a computer program product is also provided, including a non-volatile computer-readable storage medium for storing a computer program, which, when executed by a processor, implements the vehicle control method in the embodiment.

[0129] According to an embodiment of the present invention, a computer program is also provided, which, when executed by a processor, implements the vehicle control method of the embodiment.

[0130] According to another aspect of the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the vehicle control method described in the embodiment.

[0131] Computer-readable storage media, also known as computer storage media, may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. These propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable storage media can transmit, propagate, or transfer programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0132] The program code contained in a computer-readable storage medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, radio frequency, or any suitable combination thereof.

[0133] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: obtaining the current value of the battery at each moment; determining the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment based on the current value at each moment; determining whether the output power of the low-voltage power supply system meets the target power required by the electrical load based on the first total discharge amount and the preset charge of the battery; if the output power does not meet the target power, sending a broadcast signal to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; after the electrical load receives the broadcast signal, limiting its own power consumption and entering the load management mode.

[0134] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: determining the electrical relationship between the first total discharge and the preset electrical quantity; and based on the electrical relationship, determining whether the output power meets the target power.

[0135] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: in response to the power relationship indicating that the first total discharge is greater than or equal to the preset power under the preset weight, it is determined that the output power does not meet the target power; in response to the power relationship indicating that the first total discharge is less than the preset power under the preset weight, the current value of the battery at the next moment is obtained; based on the current value at the next moment, the second total discharge of the battery from the initial moment to the next moment is determined; and based on the second total discharge and the preset power, it is determined whether the output power meets the target power.

[0136] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: determining the previous total discharge amount of the first total discharge amount, wherein the previous total discharge amount is the total discharge amount of the battery from the initial time to the previous time of each time; determining the first total discharge amount based on the previous total discharge amount and the current value at each time.

[0137] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: converting the current value at each moment into an amount of electricity to obtain the amount of electricity corresponding to the current value at each moment; combining the amount of electricity corresponding to the current value at each moment with the corresponding previous total discharge amount to obtain the first total discharge amount.

[0138] Optionally, when the above computer program is executed by the processor, the program code implements the following steps: if the output power does not meet the target power, a broadcast signal is sent to the host; after the host receives the broadcast signal, a prompt message is output, wherein the prompt message is used to prompt the controlled electrical load to enter the load management mode.

[0139] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0140] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0141] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0142] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0143] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0144] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0145] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for controlling a vehicle, characterized in that, The vehicle includes a low-voltage power supply system, a battery, and an electrical load; the method includes: Obtain the current value of the battery at each time point; Based on the current values ​​at each moment, determine the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment; Based on the first total discharge amount and the preset charge of the battery, determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load; If the output power does not meet the target power, a broadcast signal is sent to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; After receiving the broadcast signal, the electrical load limits its own power consumption and enters load management mode.

2. The method according to claim 1, characterized in that, Based on the first total discharge amount and the preset charge of the battery, determine whether the output power of the low-voltage power supply system meets the target power required by the electrical load, including: Determine the electrical relationship between the first total discharge and the preset charge; Based on the aforementioned electrical quantity relationship, it is determined whether the output power meets the target power.

3. The method according to claim 2, characterized in that, The power relationship is used to indicate that the first total discharge is greater than or equal to the preset power under a preset weight, or the first total discharge is less than the preset power under the preset weight.

4. The method according to claim 2, characterized in that, Based on the aforementioned power relationship, determining whether the output power meets the target power includes: In response to the charge relationship indicating that the first total discharge is greater than or equal to the preset charge under the preset weight, it is determined that the output power does not meet the target power. The method further includes: in response to the power relationship indicating that the first total discharge is less than the preset power under the preset weight, obtaining the current value of the battery at the next moment at the current moment; determining the second total discharge of the battery from the initial moment to the next moment based on the current value at the next moment; and determining whether the output power meets the target power based on the second total discharge and the preset power.

5. The method according to claim 1, characterized in that, Based on the current values ​​at each moment, determine the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts operating to the current moment, including: Determine the previous total discharge amount of the first total discharge amount, wherein the previous total discharge amount is the total discharge amount of the battery from the initial time to the previous time of each time. The first total discharge amount is determined based on the previous total discharge amount and the current value at each moment.

6. The method according to claim 5, characterized in that, Based on the previous total discharge amount and the current values ​​at each moment, the first total discharge amount is determined, including: The current values ​​at each time point are converted into electrical quantities to obtain the electrical quantity corresponding to the current values ​​at each time point; The first total discharge amount is obtained by combining the current value corresponding to the charge at each time moment with the corresponding previous total discharge amount.

7. The method according to claim 1, characterized in that, The vehicle includes a host computer, and the method further includes: If the output power does not meet the target power, the broadcast signal is sent to the host. After receiving the broadcast signal, the host outputs a prompt message, which is used to prompt the electrical load to enter the load management mode.

8. A vehicle control system, characterized in that, The vehicle includes a low-voltage power supply system, a battery, electrical loads, a battery management controller, and a central controller. The battery management controller is used to determine the first total discharge amount of the battery from the initial moment when the low-voltage power supply system starts working to the current moment, based on the current value of the battery at each moment. The central controller is used to determine, based on the first total discharge amount and the preset charge of the battery, whether the output power of the low-voltage power supply system meets the target power required by the electrical load, and if the output power does not meet the target power, to send a broadcast signal to the electrical load, wherein the broadcast signal is used to indicate that the output power does not meet the target power; The electrical load is used to limit its own power consumption and enter load management mode after receiving the broadcast signal.

9. A processor, characterized in that, The processor is used to run a program, wherein the program, when run by the processor, executes the vehicle control method according to any one of claims 1 to 7.

10. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the executable program, wherein the executable program, when running, performs the vehicle control method according to any one of claims 1 to 7.

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