Vehicle control method and device and vehicle

Abstract

The invention provides a vehicle control method and device and a vehicle. According to the method, when it is detected that a starting switch of the vehicle is switched to an Off gear, power-off waiting is executed till the vehicle meets power-off conditions or the vehicle is restarted successfully, and the power-off conditions include that the vehicle speed of the vehicle is reduced to a preset vehicle speed or the execution duration of power-off waiting reaches a preset duration; the execution of the power-off waiting comprises the steps of keeping the high-voltage loop of the vehicle closed, controlling the high-voltage loop of the vehicle to be disconnected under the condition that the vehicle meets the power-off condition, and controlling the vehicle to run based on the received control signal under the condition that the vehicle is successfully restarted, so that the power-off waiting is executed under the condition that the starting switch of the vehicle is mistakenly closed. The controllability of the vehicle in the power-off waiting period can be effectively guaranteed, and then the running safety of the vehicle can be effectively guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicles, in particular to a vehicle control method and device and vehicle. BACKGROUND

[0002] An electric vehicle is usually configured with a start switch, such as a mechanical key or a one-key start button. If the start switch is mistakenly turned off due to misoperation of the driver or other personnel during high-speed driving of the vehicle, the motor will not be able to continue to work, thereby causing the vehicle to lose power and rapidly decelerate. At the same time, after the start switch is mistakenly turned off, the steering system will also stop working, and after a certain period of time, the low-voltage system of the vehicle is also turned off, causing the brake light to fail to light up during the vehicle sliding process, greatly increasing the risk of being rear-ended by a following vehicle.

[0003] Therefore, it is necessary to provide a vehicle control method to ensure the running safety of the vehicle after the start switch of the vehicle is mistakenly turned off. SUMMARY

[0004] To solve the above technical problems, the present application provides a vehicle control method, device and vehicle to solve the problem that the running safety of the vehicle cannot be ensured after the start switch of the vehicle is mistakenly turned off in the prior art.

[0005] To achieve the above technical purposes, the embodiments of the present application provide the following technical solutions: In a first aspect, the present specification provides a vehicle control method applied to a vehicle controller of a vehicle, and the method comprises: When it is detected that the start switch of the vehicle is switched to the Off gear, power-off waiting is performed until the vehicle meets a power-off condition or the vehicle restarts successfully, wherein the power-off condition comprises that the vehicle speed of the vehicle is reduced to a preset vehicle speed or the execution time length of the power-off waiting reaches a preset time length, and the power-off waiting comprises keeping the high-voltage loop of the vehicle closed; In the case where the vehicle meets the power-off condition, the high-voltage loop of the vehicle is controlled to be disconnected; In the case where the vehicle restarts successfully, the vehicle is controlled to run based on a received control signal.

[0006] In an embodiment, the power-off waiting further comprises: The torque request corresponding to the throttle signal of the vehicle is cleared, and the gear of the vehicle is controlled to remain unchanged at the current gear.

[0007] In an embodiment, the method further comprises: In the case where the vehicle meets the power-off condition, the gear of the vehicle is controlled to be switched to the neutral gear.

[0008] In an embodiment, the vehicle further comprises a fuel cell, and the power-off condition further comprises: a purge procedure of the fuel cell is performed to be completed, and the preset time length is greater than or equal to a maximum execution time length of the purge procedure of the fuel cell.

[0009] In an embodiment, during execution of the purge procedure of the fuel cell, at least one of the following reminding operations is further performed: controlling an instrument of the vehicle to display a purge progress of the fuel cell; generating reminding information for prompting not to turn off a low-voltage control switch of the vehicle; controlling a turn signal of the vehicle to flash at a preset frequency.

[0010] In an embodiment, during execution of the purge procedure of the fuel cell, the following operations are further included: when it is detected that the low-voltage control switch of the vehicle is turned off, acquiring a current residual capacity of a low-voltage storage battery of the vehicle; wherein, in a case where the low-voltage control switch is turned off, the low-voltage storage battery supplies power to the vehicle controller, and in a case where the low-voltage control switch is turned on, the low-voltage storage battery and a DC-DC converter of the vehicle supply power to the vehicle controller, the DC-DC converter being configured to perform power conversion on high-voltage power output by a power battery of the vehicle to supply power to the vehicle controller, the low-voltage storage battery and a controller of the fuel cell; when the current residual capacity is less than or equal to a preset capacity, controlling a high-voltage loop of the vehicle to be disconnected.

[0011] In an embodiment, during execution of the power-off waiting, the following operations are further included: when it is detected that the vehicle meets a start condition, sequentially controlling a plurality of target components of the vehicle to enter an enabled state until all the target components enter the enabled state, or a current component fails to be enabled, the current component being a target component that is currently controlled to enter the enabled state among the target components; in a case where all the target components enter the enabled state, determining that the vehicle is successfully restarted; in a case where the current component fails to be enabled, determining that the vehicle fails to be restarted.

[0012] In an embodiment, the start condition comprises: the start switch is switched to a Start gear, and an accelerator opening degree of the vehicle is 0.

[0013] In a second aspect, an embodiment of the present specification provides a vehicle control device applied to a vehicle controller of a vehicle, the device comprising: The first processing module is configured to perform power-off waiting when it is detected that the start switch of the vehicle is switched to the Off gear, until the vehicle meets a power-off condition or the vehicle is successfully restarted; wherein the power-off condition comprises that the vehicle speed of the vehicle is reduced to a preset vehicle speed or the execution time length of the power-off waiting reaches a preset time length, and the execution of the power-off waiting comprises keeping the high-voltage loop of the vehicle closed; The second processing module is configured to control the high-voltage loop of the vehicle to be disconnected when the vehicle meets the power-off condition. The third processing module is configured to control the vehicle to operate based on the received control signal when the vehicle is successfully restarted.

[0014] In a third aspect, the embodiments of the present specification provide a vehicle comprising a vehicle controller, wherein the vehicle controller is configured to implement the vehicle control method according to any one of the above.

[0015] In a fourth aspect, the embodiments of the present specification provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is configured to implement the vehicle control method according to any one of the above when executed by a processor.

[0016] In a fifth aspect, the embodiments of the present specification provide a computer program product or a computer program, wherein the computer program product comprises a computer program stored in a computer readable storage medium, and the processor of the computer device reads the computer program from the computer readable storage medium, and the processor implements the vehicle control method according to any one of the above when executing the computer program.

[0017] As can be seen from the above technical solutions, the embodiments of the present application provide a vehicle control method, device and vehicle. The method is applied to a vehicle controller of a vehicle. When it is detected that the start switch of the vehicle is switched to the Off gear, power-off waiting is performed until the vehicle meets a power-off condition or the vehicle is successfully restarted. The power-off condition comprises that the vehicle speed of the vehicle is reduced to a preset vehicle speed or the execution time length of the power-off waiting reaches a preset time length. The execution of the power-off waiting comprises keeping the high-voltage loop of the vehicle closed. When the vehicle meets the power-off condition, the high-voltage loop of the vehicle is controlled to be disconnected. When the vehicle is successfully restarted, the vehicle is controlled to operate based on the received control signal. Thus, in the case that the start switch of the vehicle is mistakenly closed, the controllability of the vehicle during the power-off waiting can be effectively ensured by performing the power-off waiting, and the operation safety of the vehicle can be effectively ensured. BRIEF DESCRIPTION OF DRAWINGS

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0019] Figure 1 This is a flowchart illustrating a vehicle control method provided for implementation of this specification.

[0020] Figure 2 This is a schematic diagram of the structure of a high-voltage circuit for a vehicle, provided for the implementation of this specification.

[0021] Figure 3 This is a schematic diagram of the structure of a low-voltage circuit for a vehicle, provided for the implementation of this specification.

[0022] Figure 4 A flowchart illustrating another vehicle control method provided for embodiments of this specification.

[0023] Figure 5 This is a schematic diagram of a vehicle control device provided for embodiments of this specification. Detailed Implementation

[0024] Unless otherwise defined, the technical or scientific terms used in the embodiments of this specification shall have the ordinary meaning understood by one of ordinary skill in the art to which this specification pertains. The terms "first," "second," and similar terms used in the embodiments of this specification do not indicate any order, quantity, or importance, but are merely used to avoid confusion of constituent elements.

[0025] Unless the context otherwise requires, throughout this specification, "a plurality of" means "at least two," and "including" is interpreted as open-ended or encompassing, that is, "including, but not limited to." In the description of this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiment," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with that embodiment or example is included in at least one embodiment or example of this specification. The illustrative representations of the above terms do not necessarily refer to the same embodiment or example.

[0026] The technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this specification.

[0027] SUMMARY As described in the background section, electric vehicles are typically equipped with a start switch, such as a mechanical key or a push-button start. If the start switch is accidentally turned off due to driver or other personnel's misoperation while the vehicle is traveling at high speed, the motor will not be able to continue working, causing the vehicle to lose power and decelerate rapidly. At the same time, after the start switch is accidentally turned off, the steering system will also stop working, and after a certain period of time, the vehicle's low-voltage system will also be shut off, causing the brake lights to fail to illuminate during the vehicle's coasting process, greatly increasing the risk of being rear-ended by other vehicles.

[0028] Therefore, it is necessary to provide a vehicle control method to ensure the operational safety of the vehicle after the vehicle's start switch is accidentally turned off.

[0029] To address the issue of unreliable vehicle safety when the ignition switch is accidentally turned off in traditional methods, this application provides a vehicle control method. This method involves executing a power-off wait when the ignition switch is detected to be switched to the Off position, until the vehicle meets the power-off conditions or successfully restarts. The power-off conditions include the vehicle speed decreasing to a preset speed or the power-off wait duration reaching a preset duration. Executing the power-off wait includes maintaining the vehicle's high-voltage circuit closed, controlling the high-voltage circuit to disconnect when the power-off conditions are met, and controlling vehicle operation based on received control signals when the vehicle successfully restarts. Therefore, by executing the power-off wait when the ignition switch is accidentally turned off, the controllability of the vehicle during the power-off wait period can be effectively guaranteed, thereby ensuring vehicle operational safety.

[0030] Based on the above inventive concept, the vehicle control scheme provided in the embodiments of this specification will be described exemplarily below.

[0031] Exemplary method This specification provides a vehicle control method, executed by the vehicle's overall controller, such as... Figure 1 As shown, the vehicle control method in this embodiment includes: S101. When the start switch of the vehicle is detected to be switched to the Off position, a power-down wait is performed until the vehicle meets the power-down conditions or the vehicle restarts successfully; wherein, the power-down conditions include the vehicle speed decreasing to a preset speed or the power-down wait duration reaching a preset duration, and the power-down wait includes keeping the high-voltage circuit of the vehicle closed.

[0032] Specifically, the vehicle can be an electric vehicle, and the vehicle's start switch can be a mechanical key or a push-button start. During vehicle operation, the status of the vehicle's start switch can be monitored in real time. When the start switch is detected to be switched to the Off position, a power-off waiting process can be initiated. This power-off waiting process can include keeping the vehicle's high-voltage circuit closed. Thus, even when the start switch is switched to the Off position, the vehicle can still maintain a high-voltage state, ensuring that the vehicle's steering and braking systems remain operational. In other words, during the power-off waiting process, the vehicle remains under control.

[0033] Optionally, taking electric vehicles, including those with fuel cells, as an example, the vehicle's high-voltage circuit can be as follows: Figure 2 As shown, the system includes a power battery, a power battery distribution cabinet, and a vehicle high-voltage distribution cabinet. The power battery distribution cabinet includes a main positive contactor, a main negative contactor, and a pre-charge branch. The pre-charge branch is connected in parallel with the main positive contactor and includes a pre-charge contactor and a pre-charge resistor. The vehicle high-voltage distribution cabinet includes a first DC-DC converter (Direct Current to Direct Current Converter), a second DC-DC converter, a first DC-AC converter (Direct Current to Alternating Current Converter), and a second DC-AC converter. The first DC-DC converter is connected to the fuel cell, the second DC-DC converter is connected to the low-voltage battery, the first DC-AC converter is connected to the steering motor, and the second DC-AC converter is connected to the brake air compressor. Additionally, the high-voltage distribution cabinet is connected to the MCU (Motor Controller Unit). Therefore, with the high-voltage circuit closed, the power battery and / or fuel cell can supply power to the low-voltage battery, steering motor, brake air compressor, and MCU. Simultaneously, bidirectional energy flow between the power battery and the fuel cell can be achieved.

[0034] During the process of keeping the vehicle's high-voltage circuit closed, the main positive contactor, main negative contactor, and pre-charge contactor in the high-voltage circuit remain closed.

[0035] During the power-down waiting process, it is also possible to determine in real time whether the vehicle meets the power-down conditions or whether the vehicle has restarted successfully. If the vehicle does not meet the power-down conditions and has not restarted successfully, the power-down waiting process can continue. If the vehicle meets the power-down conditions or restarts successfully, the power-down waiting process will end.

[0036] In practice, the power-down conditions may include the vehicle speed decreasing to a preset speed, or the power-down waiting time reaching a preset duration, where the preset duration can be the maximum executable duration of the power-down waiting.

[0037] The preset speed can be set according to actual needs; for example, it can be 0.

[0038] The preset duration can be determined based on the required duration of operations that the vehicle needs to perform after the start switch is switched to the Off position. For example, for vehicles containing fuel cells, the operations that need to be performed after the start switch is switched to the Off position may include purging the fuel cell. In addition, the power-down waiting execution duration that can ensure vehicle safety can be determined based on the vehicle's historical operating data under different operating conditions, and this power-down waiting execution duration can be used as the preset duration.

[0039] Additionally, if the driver discovers the ignition switch has been accidentally turned off after it has been switched to the Off position, they can switch it back to the Start position to restart the vehicle. During the power-off waiting process, if the ignition switch is detected to be in the Start position, it can determine whether the vehicle meets the starting conditions. If the conditions are met, the system enables various target components within the vehicle, thereby restarting the vehicle. It is understandable that if the vehicle does not meet the power-off conditions and restarting fails, the driver can switch the ignition switch back to the Start position to restart the vehicle until the power-off conditions are met or the vehicle restarts successfully.

[0040] S102. When the vehicle meets the power-off conditions, control the high-voltage circuit of the vehicle to be disconnected.

[0041] Specifically, when the vehicle meets the power-off conditions, the high-voltage circuit of the vehicle can be disconnected, that is, the main positive contactor, the main negative contactor, and the pre-charge contactor in the high-voltage circuit can be disconnected to allow the vehicle to lose high voltage. If a feedback signal indicating high-voltage circuit disconnection is received within a first preset disconnection time, the high-voltage circuit disconnection action is completed. If no feedback signal indicating high-voltage circuit disconnection is received within the first preset disconnection time, an alarm message indicating contactor adhesion can be generated to remind relevant personnel to maintain the contactors in the high-voltage circuit.

[0042] Understandably, disconnecting the high-voltage circuit of a vehicle also cuts off the power to various high-voltage components (such as the motor, battery, fuel cell, steering system, and braking system) to ensure that these components cease operation when the vehicle is de-energized, preventing accidental current or voltage damage to personnel or equipment. Furthermore, cutting off the power also allows the vehicle to enter a safe, stationary state, facilitating maintenance or fault diagnosis.

[0043] In addition, if the vehicle does not meet the power-down conditions, the power-down waiting process can be continuously executed, and during the power-down waiting process, it can be determined whether the vehicle meets the power-down conditions or whether the vehicle has been successfully restarted.

[0044] S103. If the vehicle restarts successfully, control the vehicle to run based on the received control signal.

[0045] Specifically, once the vehicle restarts successfully, the power-down waiting process can be terminated, and the vehicle will resume normal operation. The vehicle can then be controlled based on the received control signals, which may include steering signals, braking signals, throttle signals, etc.

[0046] In addition, if the vehicle fails to restart, the power-down waiting process can continue, and during the power-down waiting process, the system can continuously determine whether the vehicle meets the power-down conditions or whether the vehicle has restarted successfully.

[0047] Therefore, the solution of this application implements a power-down waiting process when the vehicle's start switch is detected to be switched to the Off position, until the vehicle meets the power-down conditions or the vehicle restarts successfully. The power-down conditions include the vehicle speed decreasing to a preset speed or the power-down waiting period reaching a preset duration. Implementing the power-down waiting process includes maintaining the vehicle's high-voltage circuit closed, controlling the high-voltage circuit to open when the vehicle meets the power-down conditions, and controlling the vehicle's operation based on the received control signal when the vehicle restarts successfully. Thus, in the event of a mistakenly turned off start switch, the power-down waiting process effectively ensures the controllability of the vehicle during the power-down waiting period, thereby effectively guaranteeing the vehicle's operational safety. Furthermore, the method of this application allows for improved vehicle operational safety when the start switch is mistakenly turned off simply by updating the vehicle controller software, without altering the hardware structure of the vehicle's high and low voltage circuits.

[0048] In one feasible implementation, the power-down wait further includes: Clear the torque request corresponding to the throttle signal of the vehicle, and control the vehicle to maintain the current gear position.

[0049] Specifically, performing a power-off wait can also include clearing the torque request corresponding to the vehicle's throttle signal. That is, during the power-off wait process, the vehicle loses power and decelerates rapidly, thereby effectively ensuring the vehicle's operational safety after the vehicle's start switch is mistakenly turned off.

[0050] Simultaneously, the power-off waiting function can also include maintaining the vehicle's gear in the current gear position, which is the gear the vehicle is in when the ignition switch is switched to the Off position. Therefore, in the event of an accidental ignition switch being turned off, the vehicle can decelerate more quickly due to the mechanical resistance of the drive system and potential engine braking, thus further improving vehicle operational safety after the ignition switch has been accidentally turned off.

[0051] Furthermore, after the vehicle's start switch is switched to the Off position, if the vehicle restarts successfully when the vehicle speed is greater than 0, the vehicle can directly output power according to the throttle opening, thereby quickly restoring the vehicle's power and reducing the risk of vehicle driving.

[0052] In one feasible implementation, it also includes: When the vehicle meets the power-off conditions, control the vehicle to switch to neutral.

[0053] Specifically, if the vehicle fails to restart or restarts unsuccessfully when the power-off conditions are met, the high-voltage circuit of the vehicle is disconnected when the power-off conditions are met, and the vehicle's gear is switched to neutral. Thus, the vehicle's safety can be effectively guaranteed when it is restarted after being powered off.

[0054] In one feasible implementation, the vehicle further includes a fuel cell, and the power-off condition further includes: The purging process of the fuel cell has been completed, and the preset duration is greater than or equal to the maximum execution duration of the purging process of the fuel cell.

[0055] Specifically, in vehicles that include fuel cells, the power-off condition may also include the completion of the fuel cell purging process. In practice, when the start switch is switched to the Off position, the fuel cell receives a shutdown command and executes the purging process.

[0056] During the purging process, the vehicle needs to continuously supply high-voltage electricity. Therefore, the preset duration of the power-off waiting period can be greater than or equal to the maximum execution time of the fuel cell purging process. That is, when the power-off waiting period reaches the preset duration and the high-voltage circuit of the vehicle is disconnected, the fuel cell purging process can be guaranteed to be completed.

[0057] In addition, if the power-off waiting time does not reach the preset time, but the vehicle speed decreases to the preset speed and the fuel cell purging process is completed, the vehicle is determined to meet the power-off conditions, and the high-voltage circuit of the vehicle is disconnected.

[0058] Therefore, in the case of a vehicle including a fuel cell, by performing a power-off waiting process, the effective execution of the fuel cell purging process can be ensured, thereby avoiding the impact of abnormal interruption of the fuel cell purging process on the working performance of the fuel cell, and thus ensuring the vehicle's power performance and operational safety.

[0059] Understandably, during the power-down waiting process, the connection status of the charging gun can also be detected. If the charging gun is detected being inserted before the preset power-down waiting time has been reached, it is further determined whether the vehicle speed has decreased to the preset speed and whether the fuel cell purging process has been completed. If the vehicle speed has decreased to the preset speed and the fuel cell purging process has been completed, the vehicle is determined to meet the power-down conditions. If the vehicle speed has not decreased to the preset speed and / or the fuel cell purging process has not been completed, the vehicle is determined to not meet the power-down conditions until the power-down waiting time reaches the preset time, or the vehicle speed has decreased to the preset speed and the fuel cell purging process has been completed.

[0060] In one feasible implementation, during the purging process of the fuel cell, at least one of the following reminder operations is also performed: The instrument panel of the vehicle controls the purging progress of the fuel cell; Generate a reminder message to indicate that the low-voltage control switch of the vehicle should not be turned off; Control the vehicle's turn signals to flash at a preset frequency.

[0061] Specifically, during the fuel cell purging process, a reminder operation can be performed. This reminder operation can include controlling the vehicle's instrument panel to display the fuel cell purging progress. This allows personnel performing vehicle maintenance or other tasks in the driver's cab to determine whether maintenance can be performed, thus preventing electric shock during the purging process and ensuring personnel safety. Additionally, personnel can determine whether the vehicle is under high voltage based on the purging progress, facilitating appropriate vehicle control. Optionally, the instrument panel can display only the fuel cell purging progress without showing vehicle speed, battery level, or other information, ensuring effective display of the purging progress.

[0062] The reminder operation may also include generating a reminder message and sending the reminder message to the vehicle's alarm device. The alarm device may include the vehicle's display screen, and may also include the vehicle's audio equipment, etc., to remind relevant personnel not to turn off the vehicle's low-voltage control switch through the reminder message. The vehicle's low-voltage control switch can be used to control the on / off of the low-voltage circuit.

[0063] Optionally, the vehicle's low-voltage circuit can be as follows: Figure 3 As shown, the system includes a first low-voltage module, a second low-voltage module, and a low-voltage control switch connected in series. The first low-voltage module includes a low-voltage battery, a vehicle controller, and an instrument panel connected in parallel. The second low-voltage module includes a second DC-DC converter, a DC-DC controller, a first DC-AC controller, a second DC-AC controller, an FCU (Fuel Cell Unit) controller, and an MCU controller connected in parallel. The DC-DC controller controls the operation of the second DC-DC converter, the first DC-AC controller controls the operation of the first DC-AC converter, the second DC-AC controller controls the operation of the second DC-AC converter, the MCU controller controls the operation of the MCU, and the FCU controller controls the operation of the FCU. When the low-voltage control switch is closed, the power battery can supply power to the low-voltage battery, vehicle controller, and instruments via the second DC-DC converter. When the low-voltage control switch is open, the power battery cannot supply power to the low-voltage battery, vehicle controller, and instruments; it can only supply power to the vehicle controller and instruments via the low-voltage battery. If the low-voltage battery is not powerful enough to support the vehicle controller until the fuel cell purging process is completed, the fuel cell purging process will not be completed, thus compromising the fuel cell's performance and consequently the vehicle's power performance and operational safety.

[0064] Therefore, by generating reminder messages to remind relevant personnel not to turn off the vehicle's low-pressure control switch, the risk of abnormal interruption of the fuel cell purging process can be effectively reduced.

[0065] Additionally, the alert function can include controlling the vehicle's turn signals to flash at a preset frequency. For example, all four turn signals can be controlled to flash at a preset frequency. This flashing of the turn signals alerts personnel outside the vehicle's cab that the vehicle is undergoing fuel cell purging, i.e., the vehicle is in a high-voltage state. This prevents personnel from shutting off the low-voltage control switch, which could abnormally interrupt the fuel cell purging process and ensure the fuel cell's performance. Simultaneously, it prevents personnel from performing vehicle maintenance or other tasks during fuel cell purging, thus ensuring personnel safety.

[0066] In one feasible implementation, the process of performing the fuel cell purging procedure further includes: When the low-voltage control switch of the vehicle is detected to be open, the current remaining charge of the low-voltage battery of the vehicle is obtained; wherein, when the low-voltage control switch is open, the low-voltage battery supplies power to the vehicle controller; when the low-voltage control switch is closed, the low-voltage battery and the vehicle's DC-DC converter supply power to the vehicle controller simultaneously. The DC-DC converter is used to convert the high-voltage electricity output from the vehicle's power battery to power the vehicle controller, the low-voltage battery, and the controller of the fuel cell. When the current remaining power is less than or equal to a preset power, the high-voltage circuit of the vehicle is disconnected.

[0067] Specifically, the vehicle's DC-DC converter is used to convert the high-voltage electricity output from the power battery into DC-DC power to supply power to the vehicle controller, low-voltage battery, and FCU controller.

[0068] Specifically, considering that the high-voltage circuit is closed during the fuel cell purging process, when the low-voltage control switch is open, the circuit supplying power to the vehicle controller, low-voltage battery, and instruments via the DC-DC converter is disconnected. At this time, power can only be supplied to the vehicle controller and instruments via the low-voltage battery, and simultaneously, the FCU controller is powered via the DC-DC converter. When the low-voltage control switch is closed, the circuit supplying power to the vehicle controller, low-voltage battery, and instruments via the DC-DC converter is closed. At this time, power can be supplied to the vehicle controller, FCU controller, and instruments simultaneously via the low-voltage battery and the DC-DC converter, and the low-voltage battery can also be charged via the DC-DC converter.

[0069] by Figure 3 Taking the low-voltage circuit shown as an example, the vehicle's DC-DC converter can be... Figure 3 The second DC-DC converter is used in this system. When the low-voltage control switch is open, the vehicle controller and instruments can only be powered by the low-voltage battery, and the main battery cannot charge the low-voltage battery through the second DC-DC converter. At this time, the main battery can power the DC-DC controller, the first DC-AC controller, the second DC-AC controller, the FCU controller, and the MCU controller through the second DC-DC converter. When the low-voltage control switch is closed, the low-voltage battery and the second DC-DC converter can simultaneously power the vehicle controller, instruments, DC-DC controller, first DC-AC controller, second DC-AC controller, FCU controller, and MCU controller, and the main battery can charge the low-voltage battery through the second DC-DC converter.

[0070] During implementation, if the low-voltage control switch of the vehicle is detected to be disconnected during the purging process of the fuel cell, the current remaining power of the low-voltage battery can be obtained. If the current remaining power is less than or equal to the preset power, the low-voltage battery can no longer supply power to the vehicle controller. At this time, the vehicle controller can control the high-voltage circuit of the vehicle to disconnect, so as to avoid the vehicle's safety being affected by the inability to control the vehicle to reduce the high voltage after the vehicle controller stops working.

[0071] If the remaining charge is greater than the preset charge, the fuel cell purging process can continue until the vehicle meets the power-off conditions, or the remaining charge of the low-voltage battery is less than or equal to the preset charge. This ensures the effective execution of the fuel cell purging process even if the low-voltage control switch is accidentally turned off, thereby effectively guaranteeing the working performance of the fuel cell.

[0072] In one feasible implementation, the process of performing the power-down wait further includes: When the vehicle is detected to meet the start-up conditions, multiple target components of the vehicle are sequentially controlled to enter the enabled state until all target components are in the enabled state, or the current component fails to be enabled. The current component is the target component that is currently controlled to enter the enabled state among all the target components. If all the target components are enabled, the vehicle is considered to have restarted successfully. If the current component fails to enable, the vehicle restart is determined to have failed.

[0073] Specifically, during the power-down waiting process, it is possible to detect in real time whether the vehicle meets the starting conditions. If the vehicle does not meet the starting conditions, it is possible to continuously detect whether the vehicle meets the power-down or starting conditions until the vehicle meets the starting conditions or the vehicle meets the power-down conditions.

[0074] If the vehicle meets the startup conditions, multiple target components of the vehicle can be sequentially controlled to enter the enabled state. These target components can include critical components used in vehicle operation, such as steering components, braking components, and motors. For any target component, an enable signal can be sent to it to control it to enter the enabled state. If the target component enters the enabled state within the corresponding preset enable time, the next target component can be controlled to enter the enabled state. If the target component fails to enter the enabled state within the corresponding preset enable time, i.e., the enable fails, the vehicle restart is determined to have failed. In this case, the enable signals of various high-voltage components in the vehicle (such as the first DC-DC converter, the second DC-DC converter, the MCU, the first DC-AC converter, the second DC-AC converter, etc.) can be cut off, and a power-down waiting process can be initiated. If all target components enter the enabled state within the corresponding preset enable time, the vehicle restart is determined to have succeeded, and the vehicle operation can be controlled according to the received control signals, thereby effectively ensuring the safe and efficient operation of the vehicle after restarting.

[0075] Optionally, if the braking component is a pneumatic braking component, during the process of controlling the braking component to enter the enabled state, the current braking air pressure of the braking component can also be acquired. If the current braking air pressure is greater than or equal to a preset air pressure, it indicates that the braking component is in the enabled state, and the next target component is controlled to enter the enabled state. If the current braking air pressure is less than the preset air pressure, an enable signal is sent to the braking component, causing the air pump to start working. If the braking air pressure of the braking component reaches the preset air pressure within the corresponding preset enable time, it indicates that the braking component has entered the enabled state. If the braking air pressure of the braking component does not reach the preset air pressure within the corresponding preset enable time, it indicates that the braking component has failed to be enabled. If the braking component is a non-pneumatic braking component, it is not necessary to control the braking component to be enabled.

[0076] In one feasible implementation, the activation conditions include: The start switch is switched to the Start position, and the throttle opening of the vehicle is 0.

[0077] Specifically, when determining whether a vehicle meets the starting conditions, the starting switch can be switched to the Start position, and the throttle opening can be set to 0. This ensures the safety of the vehicle upon successful restart. When starting the vehicle, the starting switch can be switched from the ACC position to the ON position and then to the Start position. If the starting switch is accidentally turned off, the torque request corresponding to the throttle signal is cleared, causing the vehicle to decelerate quickly. If the driver discovers that the starting switch has been accidentally turned off, they can switch it back to the Start position. At this point, the vehicle is in a high-voltage state and has a gear, allowing for rapid starting when the starting conditions are met, enabling the vehicle to drive normally.

[0078] Understandably, when the start switch is switched to the Start position, if the vehicle speed is 0, the starting conditions can also include the vehicle being in neutral, the vehicle not being plugged into the charging gun, and the brake pedal opening being greater than 0, thereby further improving the operational safety when the vehicle restarts successfully.

[0079] In addition, when the start switch is detected to be switched to the Start position, it can also be determined whether the emergency power-down trigger condition or the fault power-down trigger condition is met. If either the emergency power-down trigger condition or the fault power-down trigger condition is met, it is determined that the starting condition is not met, so as to ensure the safe and reliable operation of the vehicle after a successful restart. The emergency power-down trigger condition can include thermal runaway, vehicle collision, etc. The fault power-down trigger condition can include the failure of components in the vehicle that affect the normal operation of the vehicle.

[0080] Optionally, during vehicle operation, if the emergency power-down trigger condition is met, the power to non-power-related components (such as air conditioning) in the vehicle's high-voltage components can be cut off, and the vehicle can be switched to neutral. At this time, if the vehicle speed is 0, the high-voltage circuit of the vehicle is disconnected. If the vehicle speed is greater than 0, the high-voltage circuit of the vehicle can be disconnected when the speed decreases to 0 or when the time interval between the current moment and the target moment reaches a preset time interval. The target moment can be the moment when the emergency power-down trigger condition is met. If a feedback signal indicating high-voltage circuit disconnection is received within the second preset disconnection time, the high-voltage circuit disconnection action is completed. If no feedback signal indicating high-voltage circuit disconnection is received within the second preset disconnection time, an alarm message indicating contactor adhesion can be generated to remind relevant personnel to maintain the contactors in the high-voltage circuit. The second preset disconnection time can be less than the first preset disconnection time.

[0081] In addition, if the fault power-down triggering conditions are met during vehicle operation, a power-down wait can be executed until the vehicle meets the power-down conditions, at which point the high-voltage circuit controlling the vehicle will be disconnected.

[0082] The implementation process of the vehicle control method of this application will be described in detail below through an optional embodiment. For example... Figure 4 As shown, the vehicle control method may include: S401, The vehicle is in the starting state; S402. Determine whether the vehicle meets the power-down trigger condition; if it does, proceed to step S403; if it does not, continue to proceed to step S402. S403. Determine whether the vehicle meets the emergency power-down trigger condition; if it does, proceed to step S404; if it does not, proceed to step S410; wherein, when the vehicle experiences thermal runaway or a collision, it is determined that the emergency power-down trigger condition is met; when a component affecting the normal operation of the vehicle malfunctions, it is determined that the fault power-down trigger condition is met; when the vehicle's start switch is switched to the Off position or the vehicle is parked and the charging gun is plugged in, it is determined that the normal power-down trigger condition is met. S404: Disconnect the power to non-power-related components in the vehicle and control the vehicle to switch to neutral. S405. Determine whether the vehicle speed is 0 or whether the waiting time has reached t1. If yes, proceed to step S406; otherwise, proceed to step S405. Wherein, t1 is the preset time interval between the current time and the target time, and the target time is the time determined to meet the emergency power-down trigger condition. S406, The high-voltage circuit controlling the vehicle is disconnected; S407. Determine whether no feedback signal of high voltage circuit disconnection is received within the second preset disconnection time. If yes, proceed to step S408; otherwise, proceed to step S409. S408. Generate alarm information to characterize contactor adhesion; S409. Perform other power-down related operations to complete the power-down process; S410, execute power-down wait; S411. Determine whether the power-off conditions are met. If yes, proceed to step S412; otherwise, proceed to step S414. The power-off conditions include the execution time of the power-off waiting period reaching the preset time, or the vehicle speed is 0 and the fuel cell purging process is completed and the charging gun is inserted, or the vehicle speed is 0 and the fuel cell purging process is completed and the vehicle's start switch is switched to the Off position. S412, The high-voltage circuit controlling the vehicle is disconnected; S413. Determine whether no feedback signal of high voltage circuit disconnection is received within the first preset disconnection time. If yes, proceed to step S408; otherwise, proceed to step S409. S414. Determine whether the vehicle meets the starting conditions. If yes, proceed to step S415; otherwise, proceed to step S411. Wherein, when the current vehicle speed is greater than 0, the starting conditions include: the emergency power-off trigger condition and the fault power-off trigger condition are not met, the starter switch is switched to the Start position, and the throttle opening is 0. When the current vehicle speed is equal to 0, the starting conditions also include: the vehicle is in neutral, and the brake pedal opening is continuously greater than 0. S415, Enable steering components; S416. Determine whether the steering component is working normally within t2. If yes, proceed to step S417; otherwise, proceed to step S411. Wherein, t2 is the preset enable duration corresponding to the steering component. S417. Determine whether the brake air pressure is lower than the preset air pressure. If yes, proceed to step S418; otherwise, proceed to step S420. S418, Control the operation of the air pump; S419. Determine whether the brake air pressure has reached the preset air pressure within t3. If yes, proceed to step S420; otherwise, proceed to step S411. Wherein, t3 is the preset enable duration corresponding to the brake component. S420, Control motor enable; S421. Determine whether the motor is working normally within t4. If yes, proceed to step S401; otherwise, proceed to step S411. Wherein, t4 is the preset enable duration for the motor.

[0083] Exemplary apparatus In one exemplary embodiment of this specification, a vehicle control device is also provided, applied to a vehicle controller, such as... Figure 5 As shown, the device includes: The first processing module 501 is used to perform a power-down wait when it detects that the vehicle's start switch has been switched to the Off position, until the vehicle meets the power-down conditions or the vehicle restarts successfully; wherein, the power-down conditions include the vehicle speed decreasing to a preset speed or the execution time of the power-down wait reaching a preset time, and the execution of the power-down wait includes keeping the high-voltage circuit of the vehicle closed. The second processing module 502 is used to control the high-voltage circuit of the vehicle to disconnect when the vehicle meets the power-off conditions. The third processing module 503 is used to control the operation of the vehicle based on the received control signal when the vehicle restarts successfully.

[0084] In one feasible implementation, the power-down wait further includes: Clear the torque request corresponding to the throttle signal of the vehicle, and control the vehicle to maintain the current gear position.

[0085] In one feasible implementation, the second processing module 502 is further configured to: When the vehicle meets the power-off conditions, control the vehicle to switch to neutral.

[0086] In one feasible implementation, the vehicle further includes a fuel cell, and the power-off condition further includes: The purging process of the fuel cell has been completed, and the preset duration is greater than or equal to the maximum execution duration of the purging process of the fuel cell.

[0087] In one feasible implementation, a fourth processing module is further included, the fourth processing module being used for: During the purging process of the fuel cell, at least one of the following reminder operations is also performed: The instrument panel of the vehicle controls the purging progress of the fuel cell; Generate a reminder message to indicate that the low-voltage control switch of the vehicle should not be turned off; Control the vehicle's turn signals to flash at a preset frequency.

[0088] In one feasible implementation, the fourth processing module, during the purging process of the fuel cell, is further configured to: When the low-voltage control switch of the vehicle is detected to be open, the current remaining charge of the low-voltage battery of the vehicle is obtained; wherein, when the low-voltage control switch is open, the low-voltage battery supplies power to the vehicle controller; when the low-voltage control switch is closed, the low-voltage battery and the vehicle's DC-DC converter supply power to the vehicle controller simultaneously. The DC-DC converter is used to convert the high-voltage electricity output from the vehicle's power battery to power the vehicle controller, the low-voltage battery, and the controller of the fuel cell. When the current remaining power is less than or equal to a preset power, the high-voltage circuit of the vehicle is disconnected.

[0089] In one feasible implementation, the first processing module 501 is further configured to: When the vehicle is detected to meet the start-up conditions, multiple target components of the vehicle are sequentially controlled to enter the enabled state until all target components are in the enabled state, or the current component fails to be enabled. The current component is the target component that is currently controlled to enter the enabled state among all the target components. If all the target components are enabled, the vehicle is considered to have restarted successfully. If the current component fails to enable, the vehicle restart is determined to have failed.

[0090] In one feasible implementation, the activation conditions include: The start switch is switched to the Start position, and the throttle opening of the vehicle is 0.

[0091] The vehicle control device provided in this embodiment belongs to the same concept as the vehicle control method provided in the above embodiments of this application. It can execute the vehicle control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects for executing the vehicle control method. Technical details not described in detail in this embodiment can be found in the specific processing content of the vehicle control method provided in the above embodiments of this application, and will not be repeated here.

[0092] Exemplary vehicle In one exemplary embodiment of this specification, a vehicle is also provided, including a vehicle controller for performing the vehicle control method as described in any of the above embodiments.

[0093] Exemplary computer program product and storage medium In addition to the methods and devices described above, the vehicle control methods provided in the embodiments of this specification can also be computer program products, which include computer program instructions that, when executed by a processor, cause the processor to perform the steps in the vehicle control methods according to various embodiments of this specification as described in the "Exemplary Methods" section above.

[0094] The computer program product can be written in any combination of one or more programming languages ​​to perform the operations of the embodiments of this specification. The programming languages ​​include object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages.

[0095] Furthermore, embodiments of this specification also provide a computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor of the steps in the vehicle control methods according to various embodiments of this specification as described in the "Exemplary Methods" section above.

[0096] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this specification can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0097] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0098] The embodiments described above are merely illustrative of several implementation methods outlined in this specification. While the descriptions are specific and detailed, they should not be construed as limiting the scope of the solutions provided in this specification. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this specification, and these all fall within the scope of protection of this specification. Therefore, the scope of protection for this patent should be determined by the appended claims.

Claims

1. A vehicle control method, characterized in that, A vehicle controller applied to a vehicle, the method comprising: When the vehicle's start switch is detected to be switched to the Off position, a power-down wait is performed until the vehicle meets the power-down conditions or the vehicle restarts successfully; wherein, the power-down conditions include the vehicle speed decreasing to a preset speed or the power-down wait duration reaching a preset duration, and the power-down wait includes keeping the vehicle's high-voltage circuit closed; When the vehicle meets the power-off conditions, the high-voltage circuit of the vehicle is disconnected. If the vehicle restarts successfully, the vehicle is controlled to operate based on the received control signals.

2. The method according to claim 1, characterized in that, The power-down wait also includes: Clear the torque request corresponding to the throttle signal of the vehicle, and control the vehicle to maintain the current gear position.

3. The method according to claim 2, characterized in that, Also includes: When the vehicle meets the power-off conditions, control the vehicle to switch to neutral.

4. The method according to claim 1, characterized in that, The vehicle also includes a fuel cell, and the power-off conditions also include: The purging process of the fuel cell has been completed, and the preset duration is greater than or equal to the maximum execution duration of the purging process of the fuel cell.

5. The method according to claim 4, characterized in that, During the purging process of the fuel cell, at least one of the following reminder operations is also performed: The instrument panel of the vehicle controls the purging progress of the fuel cell; Generate a reminder message to indicate that the low-voltage control switch of the vehicle should not be turned off; Control the vehicle's turn signals to flash at a preset frequency.

6. The method according to claim 4, characterized in that, The process of performing the purging procedure for the fuel cell also includes: When the low-voltage control switch of the vehicle is detected to be open, the current remaining charge of the low-voltage battery of the vehicle is obtained; wherein, when the low-voltage control switch is open, the low-voltage battery supplies power to the vehicle controller; when the low-voltage control switch is closed, the low-voltage battery and the vehicle's DC-DC converter supply power to the vehicle controller simultaneously. The DC-DC converter is used to convert the high-voltage electricity output from the vehicle's power battery to power the vehicle controller, the low-voltage battery, and the controller of the fuel cell. When the current remaining battery power is less than or equal to a preset battery power, the high-voltage circuit of the vehicle is disconnected.

7. The method according to any one of claims 1 to 6, characterized in that, The process of performing the power-down wait also includes: When the vehicle is detected to meet the start-up conditions, multiple target components of the vehicle are sequentially controlled to enter the enabled state until all target components are in the enabled state, or the current component fails to be enabled. The current component is the target component that is currently controlled to enter the enabled state among all the target components. If all the target components are enabled, the vehicle is considered to have restarted successfully. If the current component fails to enable, the vehicle restart is determined to have failed.

8. The method according to claim 7, characterized in that, The activation conditions include: The start switch is switched to the Start position, and the throttle opening of the vehicle is 0.

9. A vehicle control device, characterized in that, A vehicle controller applied to a vehicle, the device comprising: The first processing module is used to perform a power-down wait when it detects that the vehicle's start switch has been switched to the Off position, until the vehicle meets the power-down conditions or the vehicle restarts successfully; wherein, the power-down conditions include the vehicle speed decreasing to a preset speed or the power-down wait duration reaching a preset duration, and the power-down wait includes keeping the vehicle's high-voltage circuit closed; The second processing module is used to control the high-voltage circuit of the vehicle to disconnect when the vehicle meets the power-off conditions. The third processing module is used to control the vehicle to operate based on the received control signals when the vehicle restarts successfully.

10. A vehicle, characterized in that, It includes a vehicle controller, which is used to perform the vehicle control method as described in any one of claims 1 to 8.

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