Limp enable circuit and vehicle

Abstract

The invention discloses a limp enable circuit and a vehicle, and the circuit comprises two limp enable modules which comprise a first limp enable module and a second limp enable module; the two enabling ends of the first limp enabling module are connected with the first safety state signal end and the false triggering protection end respectively, and the first limp enabling module is used for outputting a limp enabling signal under the condition that an ineffective signal of the first safety state signal and an ineffective signal of the false triggering protection signal are received; two enabling ends of the second limping enabling module are respectively connected with a second safety state signal end and a false triggering protection end; and the first limping enabling module and the second limping enabling module are connected with at least one high-side driving switch. According to the embodiment, redundant backup of the two limping enabling modules can be achieved, the problem of single-point failure is avoided, the adaptability and reliability of the limping function are improved, and the function safety requirement is met.

Description

Technical Field

[0001] This application relates to the field of electronic control technology, and in particular to a limp-walking power circuit and a vehicle. Background Technology

[0002] With the continuous development of the new energy vehicle sector, the functional safety of new energy vehicles has gradually attracted more attention. In terms of driving safety requirements, the fail-safe states that a vehicle enters when a malfunction occurs include limphome mode. In limphome mode, the vehicle will slow down and issue warning lights. When the vehicle malfunction disappears, it is necessary to exit the fail-safe state in a timely manner.

[0003] In related technologies, limp mode is typically triggered by the detection of various faults or anomalies, which lowers the safety status signal. This lowered safety status signal can then serve as the trigger signal for entering limp mode. However, this approach has certain drawbacks. For example, when using multiple limp control circuits for redundant control, because these circuits share the same safety status signal, a common cause exists. If an open circuit or other fault occurs in the circuit containing the safety status signal, it constitutes a single point of failure, preventing timely entry into limp mode and thus hindering the vehicle's functional safety requirements. Summary of the Invention

[0004] This application provides a limp-walking capability circuit and a vehicle, which can solve the problem of single-point failure in triggering limp-walking mode in related technologies.

[0005] In a first aspect, embodiments of this application provide a limp-action power circuit, the limp-action power circuit comprising:

[0006] Two limp-action power modules, including a first limp-action power module and a second limp-action power module;

[0007] The two enable terminals of the first limp-action enabling module are connected to the first safety status signal terminal and the false trigger protection terminal, respectively. The first limp-action enabling module is used to output a limp-action enabling signal when it receives an invalid signal of the first safety status signal and an invalid signal of the false trigger protection signal.

[0008] The two enable terminals of the second limp-action enabling module are connected to the second safety status signal terminal and the false trigger protection terminal, respectively. The second limp-action enabling module is used to output a limp-action enabling signal when it receives an invalid signal of the second safety status signal and an invalid signal of the false trigger protection signal.

[0009] The output terminals of the first limp-action power module and the second limp-action power module are connected to at least one high-side drive switch. The limp-action power signal is used to drive the high-side drive switch to turn on, and the high-side drive switch is used to drive the limp-action functional device.

[0010] In some embodiments, the limp-action power circuit further includes:

[0011] The power management module has a false trigger protection terminal connected to the first limp-action power module and the second limp-action power module. The first safety status signal terminal of the power management module is connected to the first limp-action power module, and the second safety status signal terminal of the power management module is connected to the second limp-action power module.

[0012] In some embodiments, the power supply terminal of the first limp power module is connected to the first DC input signal terminal, and the first limp power module is used to convert the first DC input signal into a first signal voltage;

[0013] The power supply terminal of the second limp-action power module is connected to the second DC input signal terminal; the second limp-action power module is used to convert the first DC input signal into a first signal voltage; wherein...

[0014] The first DC input signal and the second DC input signal are the battery voltages.

[0015] In some embodiments, the limp-walking capability module includes:

[0016] The latching circuit has its input terminal connected to either the first DC input signal terminal or the second DC input signal terminal. The latching circuit is used to maintain the latched output voltage at the output terminal when the voltage of the first DC input signal or the second DC input signal decreases.

[0017] The control circuit has its input terminal connected to the output terminal of the latch circuit. Its first enable terminal is connected to either the first safety status signal terminal or the second safety status signal terminal, and its second enable terminal is connected to the false trigger protection terminal. The control circuit converts the latched output voltage into a first signal voltage and outputs the first signal voltage when it receives an invalid signal from the first safety status signal and an invalid signal from the false trigger protection signal, or when it receives an invalid signal from the second safety status signal and an invalid signal from the false trigger protection signal.

[0018] In some embodiments, the latching circuit includes:

[0019] The first diode, the anode of the first diode is connected to either the first DC input signal terminal or the second DC input signal terminal;

[0020] The first transistor has its first terminal connected to the cathode of the first diode, and its second terminal connected to the control circuit.

[0021] The second transistor has its control terminal connected to the cathode of the first diode, its first terminal connected to the control terminal of the first transistor, and its second terminal connected to the reference terminal.

[0022] The first capacitor is connected between the first terminal of the first transistor and the reference terminal.

[0023] In some embodiments, the latch circuit further includes:

[0024] The anode of the second diode is connected to the second terminal of the first transistor, and the cathode of the second diode is connected to the control terminal of the second transistor.

[0025] In some embodiments, the control circuit includes:

[0026] The voltage regulator unit has its input terminal connected to the output terminal of the latch circuit. The voltage regulator unit is used to convert the latch output voltage of the latch circuit into the first signal voltage.

[0027] The third transistor has its first terminal connected to the output terminal of the voltage regulator unit and its second terminal connected to at least one high-side drive switch.

[0028] The control unit has a first enable terminal connected to either a first safety status signal terminal or a second safety status signal terminal, a second enable terminal connected to a false trigger protection terminal, and is connected between the control terminal and the reference terminal of the third transistor.

[0029] In some embodiments, the voltage regulator unit includes:

[0030] The fourth transistor has its first terminal connected to the output terminal of the latch circuit, its second terminal connected to the first terminal of the third transistor, and its control terminal connected to the first terminal of the fourth transistor.

[0031] A Zener diode, with its anode connected to the reference terminal and its cathode connected to the control terminal of the fourth transistor; wherein,

[0032] The breakdown voltage of the Zener diode is the sum of the first signal voltage and the on-state voltage drop of the fourth transistor.

[0033] In some embodiments, the control unit includes:

[0034] The fifth transistor has its first terminal connected to the control terminal of the third transistor and its second terminal connected to the reference terminal.

[0035] The anode of the second diode is connected to either the first or second safety state signal terminal, and the cathode of the second diode is connected to the control terminal of the fifth transistor.

[0036] The anode of the third diode is connected to the false trigger protection terminal, and the cathode of the second diode is connected to the control terminal of the fifth transistor.

[0037] In some embodiments, the limp-function module further includes:

[0038] The output acquisition circuit has its acquisition terminal connected to the output terminal of the control circuit, and its output terminal is connected to the microcontroller unit.

[0039] In some embodiments, the output acquisition circuit includes:

[0040] The voltage divider unit has its voltage divider terminals connected to the output terminals of the control circuit.

[0041] The first operational amplifier has its non-inverting input connected to the output of the voltage divider unit, its output connected to its inverting input, and its output connected to the microcontroller unit.

[0042] In some embodiments, the limp-function module further includes:

[0043] At least one fourth diode, the anode of which is connected to the output of the control circuit, and the cathode of which is connected to the corresponding high-side drive switch.

[0044] Secondly, embodiments of this application also provide a vehicle, which includes the limp-walking capability circuit as described in the first aspect.

[0045] The limp-walking capability circuit and vehicle provided in this application embodiment, by setting two limp-walking capability modules, can connect the two limp-walking capability modules to two safety status signal terminals respectively. For each limp-walking capability module, it only outputs a limp-walking capability signal when both the corresponding safety status signal and the false trigger protection signal are invalid signals, which can avoid the false triggering problem that is easy to occur when the safety status signal is controlled alone. Furthermore, since the two safety status signals are sent to the two limp-walking capability modules through two separate signal terminals, if a problem such as series resistance open circuit occurs in the circuit where one safety status signal is located, it will not affect the normal operation of the other limp-walking capability module. The two limp-walking capability modules can achieve mutual redundancy and backup, transforming a two-point failure fault into a multi-point failure fault, thereby avoiding single-point failure, improving the adaptability and reliability of the limp-walking function, and meeting functional safety requirements. Attached Figure Description

[0046] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments of this application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the module structure of a limp-function circuit provided in an embodiment of this application;

[0048] Figure 2 This is a schematic diagram of the module structure of a limp-function circuit provided in another embodiment of this application;

[0049] Figure 3 This is a schematic diagram of the module structure of the limp-function circuit provided in another embodiment of this application;

[0050] Figure 4 This is a schematic diagram of the module structure of the first limp-driving power circuit provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of the circuit structure of the first limp-function circuit provided in an embodiment of this application;

[0052] Figure 6 This is a schematic diagram of the circuit structure of the first limp-driving power circuit provided in another embodiment of this application;

[0053] Figure 7 This is a schematic diagram of the circuit structure of a limp-function circuit provided in another embodiment of this application.

[0054] In the attached image:

[0055] Limphome, Limp-off Power Module; SS1, First Safety Status Signal Terminal; SS2, Second Safety Status Signal Terminal; QST, False Trigger Protection Terminal; 10, Power Management Module; HSD, High-Side Drive Switch; IDH01, First DC Input Signal Terminal; IDH02, Second DC Input Signal Terminal; 20, Latch Circuit; 30, Control Circuit; 31, Voltage Regulator Unit; 32, Control Unit; 40, Output Acquisition Circuit; 41, Voltage Divider Unit; D1, First Diode; D2, Second Diode; D3, Third Diode; D4, Fourth Diode; Q1, First Transistor; Q2, Second Transistor; Q3, Third Transistor; Q4, Fourth Transistor; M5, Fifth Transistor; C1, First Capacitor; ZD, Zener Diode; U1, First Operational Amplifier; Limphome1, First Limp-off Power Module; Limphome2, Second Limp-off Power Module; MCU, Microcontroller Unit. Detailed Implementation

[0056] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0057] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0058] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0059] With the continuous development of the new energy vehicle sector, the functional safety of new energy vehicles has gradually attracted more attention. In terms of driving safety requirements, the fail-safe states that a vehicle enters when a malfunction occurs include limphome mode. In limphome mode, the vehicle will slow down and issue warning lights. When the vehicle malfunction disappears, it is necessary to exit the fail-safe state in a timely manner.

[0060] In related technologies, limp mode is typically triggered by the detection of various faults or anomalies, which lowers the safety status signal. This lowered safety status signal can then serve as the trigger signal for entering limp mode. However, this approach has certain drawbacks. For example, when using multiple limp control circuits for redundant control, because these circuits share the same safety status signal, a common cause exists. If an open circuit or other fault occurs in the circuit containing the safety status signal, it constitutes a single point of failure, preventing timely entry into limp mode and thus hindering the vehicle's functional safety requirements.

[0061] To address the aforementioned technical problems, this application provides a limp-walking power supply circuit and a vehicle. The limp-walking power supply circuit provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0062] Figure 1A schematic diagram of the module structure of a limp-walking power circuit according to an embodiment of this application is shown. The limp-walking power circuit includes two limp-walking power modules, namely a first limp-walking power module Limphome1 and a second limp-walking power module Limphome2.

[0063] The first limp-enabled module Limphome1 includes two enable terminals. One enable terminal is connected to the first safety status signal terminal SS1 to receive the first safety status signal, and the other enable terminal is connected to the false trigger protection terminal QST to receive the false trigger protection signal.

[0064] When the first limp-walking activation module Limphome1 receives a non-valid first safety status signal and a non-valid false trigger protection signal, it can output a limp-walking activation signal.

[0065] Under normal circumstances, the false trigger protection terminal QST can provide a valid false trigger protection signal. In this case, even if the first limp-mode enabling module Limphome1 receives an invalid first safety status signal, it will not falsely trigger and output a limp-mode enabling signal because the false trigger protection signal is valid. For example, the first safety status signal can be provided by a power management module, which can be an SBC (System Basic Chip) or a PMIC (Power Management Integrated Circuit). The first safety status signal can also be provided by other modules capable of anomaly detection. These modules can provide a valid first safety status signal when an anomaly is detected, using this valid signal as a trigger signal to enter limp-mode.

[0066] Taking the PMIC providing the first safety status signal as an example, when the PMIC is in standby mode, the PMIC will turn off the output of the first safety status signal. At this time, the first safety status signal can be regarded as an invalid signal. Since the false trigger protection terminal QST can still output the valid signal of the false trigger protection signal, the first limp-walking power module Limphome1 will not output the limp-walking power signal, thereby avoiding false triggering in standby mode.

[0067] When the PMIC is in normal mode, the PMIC outputs a high-level first safety status signal. At this time, the first safety status signal can be regarded as a valid signal. Since both the first safety status signal and the false trigger protection signal are valid signals, the first limp-walking power module Limphome1 will not output a limp-walking power signal, thereby avoiding false triggering in normal mode.

[0068] When the PMIC detects an abnormal state or receives a fault signal and enters failsafe mode, it can pull the first safety status signal low and shut down the output of the false trigger protection signal. That is, at this time, the first safety status signal is an invalid signal, the false trigger protection signal is also an invalid signal, and the first limp-walking enable module Limphome1 will output the limp-walking enable signal.

[0069] Correspondingly, when the PMIC detects that the fault has disappeared or receives a fault disappearance signal and exits the failsafe mode, it can pull up the first safety status signal and output a false trigger protection signal. At this time, both the first safety status signal and the false trigger protection signal are valid signals, and the first limp-walking power module Limphome1 will stop outputting the limp-walking power signal, thereby exiting the limp-walking mode.

[0070] The two enable terminals of the second limp-walking enable module Limphome2 can be connected to the second safety status signal terminal SS2 and the false trigger protection terminal QST, respectively, similar to the first limp-walking enable module Limphome1. The second limp-walking enable module Limphome2 can output a limp-walking enable signal when it receives a non-valid second safety status signal and a non-valid false trigger protection signal.

[0071] Taking a PMIC as an example, a PMIC may include a first safety status signal terminal SS1 providing a first safety status signal and a second safety status signal terminal SS2 providing a second safety status signal. By having two signal terminals output safety status signals separately, even if one safety status signal terminal malfunctions and cannot output an invalid signal, the other safety status signal terminal can still output an invalid signal normally. This allows one of the two limp-action modules to provide a limp-action capability signal to achieve normal operation of the limp-action function. In contrast, the method used in related technologies, where multiple limp-action control circuits are connected to the same safety status signal, results in multiple limp-action control circuits failing to receive the safety status signal when a series open circuit or other fault occurs in the circuit containing the safety status signal, thus causing a single point of failure and preventing the limp-action function from functioning. Compared to the implementation methods in the aforementioned related technologies, in this embodiment, the two limp-action capability modules (Limphome) do not share a common cause, avoiding the single point of failure problem and meeting the safety requirements of the limp-action function.

[0072] The output terminals of the first limp-powered power module Limphome1 and the second limp-powered power module Limphome2 can be connected to at least one high-side drive switch HSD. When the first limp-powered power module Limphome1 or the second limp-powered power module Limphome2 outputs a limp-powered power signal, the limp-powered power signal can drive the high-side drive switch HSD to turn on.

[0073] The high-side drive switch (HSD) can drive limp-function devices, which may include windshield wipers, brake lights, headlights, and other devices. By outputting a limp-function power signal, it can maintain the normal operation of the limp-function devices when the vehicle malfunctions, thus enabling the driver to drive the vehicle home or to a repair shop in fault mode.

[0074] In this embodiment, by setting two limphome modules, each limphome can be connected to a separate safety status signal terminal. For each limphome module, a limphome signal is only output when both the corresponding safety status signal and the false trigger protection signal are invalid, thus avoiding the false triggering problem that can easily occur when the safety status signal is controlled alone. Furthermore, since the two safety status signals are sent to the two limphome modules through separate signal terminals, if a series resistance open circuit or other problem occurs in the circuit containing one safety status signal, it will not affect the normal operation of the other limphome module. The two limphome modules can achieve mutual redundancy and backup, transforming a two-point failure into a multi-point failure, thereby avoiding single-point failures, improving the adaptability and reliability of the limphome function, and meeting functional safety requirements.

[0075] Please refer to Figure 2 In some embodiments, the above-described limp-power circuit may further include a power management module 10.

[0076] The power management module 10 can be an SBC or a PMIC. The false trigger protection terminal QST of the power management module 10 can be connected to the first limp home module Limphome1 and the second limp home module Limphome2. The power management module 10 can provide false trigger protection signals to the first limp home module Limphome1 and the second limp home module Limphome2 through the false trigger protection terminal QST.

[0077] The first safety status signal terminal SS1 of the power management module 10 is connected to the first limp-home power module Limphome1, and the power management module 10 can provide a first safety status signal to the first limp-home power module Limphome1 through the first safety status signal terminal SS1. Similarly, the second safety status signal terminal SS2 of the power management module 10 is connected to the second limp-home power module Limphome2, and the power management module 10 can provide a second safety status signal to the second limp-home power module Limphome2 through the second safety status signal terminal SS2.

[0078] Since the power management module 10 provides two safety status signals through two ports respectively, when an open circuit fault occurs in the circuit where one safety status signal is located, the circuit where the other safety status signal is located can operate normally. This enables one of the two limphome power modules to operate normally, avoiding the problem of a single point of failure caused by an open circuit fault in the circuit where a single safety status signal is located.

[0079] As an optional implementation, the power management module 10 can provide the false trigger protection signal by generating a stable DC voltage signal as the false trigger protection signal through an LDO (Low-dropout regulator) or other voltage generation unit included in the power management module 10. Since the LDO in the power management module 10 meets ASIL D safety standards, it can ensure a stable output of the false trigger protection signal. Compared to the implementation method in related technologies that uses a microcontroller unit (MCU) to provide control signals, this method can achieve the false trigger prevention function even when the MCU is in an uncontrollable state during a reset process or fault, solving the problem of the inability to implement limp-out functionality when the MCU is uncontrollable.

[0080] Please refer to Figure 3 In some embodiments, the power supply terminal of the first limp-walking power module Limphome1 can be connected to the first DC input signal terminal IDH01. The first limp-walking power module Limphome1 can convert the received first DC input signal into a first signal voltage. That is, the first limp-walking power module Limphome1 can realize the voltage conversion function, converting the signal voltage of the first DC input signal into a first signal voltage, which is the signal voltage of the limp-walking power signal.

[0081] Similarly, the power supply terminal of the second limp power module Limphome2 can be connected to the second DC input signal terminal IDH02, and the second limp power module Limphome2 can convert the received second DC input signal into the first signal voltage.

[0082] Taking the first limp-walk power module Limphome1 as an example, after receiving the first DC input signal, the first limp-walk power module Limphome1 can convert the first DC input signal into a first signal voltage. However, at this time, the first limp-walk power module Limphome1 will not directly output the first signal voltage. That is, the first limp-walk power module Limphome1 will not directly output the limp-walk power signal.

[0083] As described in the above embodiments, the first limp-walking power module Limphome1 only outputs the generated first signal voltage as the limp-walking power signal when both the corresponding safety status signal and the false trigger protection signal are invalid signals. Similarly, the second limp-walking power module Limphome2 is similar to the first limp-walking power module Limphome1; after converting the second DC input signal into the first signal voltage, it also only outputs the generated first signal voltage as the limp-walking power signal when both the corresponding safety status signal and the false trigger protection signal are invalid signals.

[0084] As an optional implementation, the aforementioned first and second DC input signals can be the battery voltage. The battery can be a low-voltage storage battery of the vehicle. For example, the first and second DC input signals can be IGN ignition wake-up signals (KL15 signal). When the user starts the vehicle, the first DC input signal terminal IDH01 and the second DC input signal terminal IDH02 can respectively provide the first and second DC input signals. Compared to the related art where an LDO chip is used to generate the power supply voltage for the limphome power module, this saves chip components and reduces circuit costs.

[0085] The first DC input signal and the second DC input signal can be the same IGN signal, that is, the first DC input signal terminal IDH01 and the second DC input signal terminal IDH02 are the same IGN signal terminal. Alternatively, the first DC input signal and the second DC input signal can be two separate IGN signals, that is, the first DC input signal terminal IDH01 and the second DC input signal terminal IDH02 are two different IGN signal terminals.

[0086] Please refer to Figure 4 In some embodiments, the limphome activating module described above may include a latching circuit 20 and a control circuit 30.

[0087] The input terminal of the latch circuit 20 can be connected to either the first DC input signal terminal IDH01 or the second DC input signal terminal IDH02. For example, if the limp-walking power module Limphome is the first limp-walking power module Limphome1, then the latch circuit 20 can be connected to the first DC input signal terminal IDH01. Conversely, the latch circuit 20 can be connected to the second DC input signal terminal IDH02.

[0088] The latch circuit 20 can receive a first DC input signal or a second DC input signal. When the first DC input signal or the second DC input signal is at a normal voltage, the latch circuit 20 can store energy through its internal capacitor. When the voltage of the first DC input signal or the second DC input signal drops, the latch circuit 20 can discharge through its internal capacitor to provide power for a short period of time and maintain the latched output voltage at the output terminal. That is, the latch circuit 20 can maintain the latched output voltage for a certain period of time when the voltage of the first DC input signal or the second DC input signal drops.

[0089] Under certain operating conditions, the signal voltage of the first or second DC input signal may fluctuate or drop. For example, during a cold start or slow charging / discharging of the vehicle, the battery voltage KL30_D may experience a short-term low voltage. Since the first or second DC input signal is generated based on the battery voltage KL30_D, its signal voltage may drop. If this voltage is directly used as the limp-action voltage, it may drop to an ineffective voltage, rendering the limp-action voltage ineffective and causing the limp-action function to fail. Furthermore, under certain fault conditions, the signal voltage of the first or second DC input signal may experience a gradual rise or fall, which can also lead to limp-action function failure. By latching the output signal voltage using the latching circuit 20, the output voltage can be kept stable even when the input signal voltage drops, thus preventing the limp-action function from failing due to voltage fluctuations.

[0090] The input terminal of the control circuit 30 can be connected to the output terminal of the latch circuit 20. The first enable terminal of the control circuit 30 can be connected to the first safety status signal terminal SS1 or the second safety status signal terminal SS2, and the second enable terminal of the control circuit 30 can be connected to the false trigger protection terminal QST.

[0091] Taking the first limp-walking power module Limphome1 as an example, the control circuit 30 can convert the latched output voltage from the latch circuit 20 into a first signal voltage after receiving it. When both the first safety status signal and the false trigger protection signal are invalid signals, the converted first signal voltage will be output as the signal voltage of the limp-walking power signal.

[0092] Accordingly, in the second limp-walking power module Limphome2, the control circuit 30 can output the converted first signal voltage as the signal voltage of the limp-walking power signal when both the second safety status signal and the false trigger protection signal are invalid signals.

[0093] Please refer to Figure 5 In some embodiments, the latching circuit 20 may include a first diode D1, a first transistor Q1, a second transistor Q2, and a first capacitor C1.

[0094] The anode of the first diode D1 can be connected to either the first DC input signal terminal IDH01 or the second DC input signal terminal IDH02. The first terminal of the first transistor Q1 is connected to the cathode of the first diode D1, and the second terminal of the first transistor Q1 is connected to the control circuit 30. The control terminal of the second transistor Q2 is connected to the cathode of the first diode D1, the first terminal of the second transistor Q2 is connected to the control terminal of the first transistor Q1, and the second terminal of the second transistor Q2 is connected to the reference terminal. The first capacitor C1 can be connected between the first terminal of the first transistor Q1 and the reference terminal.

[0095] The first diode D1 can limit the current direction from the first DC input signal terminal IDH01 or the second DC input signal terminal IDH02 to the latch circuit 20. When the voltage of the first DC input signal or the second DC input signal drops, the latch output voltage of the latch circuit 20 will not be affected by the first DC input signal or the second DC input signal.

[0096] Taking the limp-walking power module Limphome as the first limp-walking power module Limphome1 as an example, when the first DC input signal is normally input into the latch circuit 20, the first DC input signal can drive the first transistor Q1 to turn on. When the first transistor Q1 is turned on, the control terminal of the second transistor Q2 can be connected to the reference terminal, thereby turning on the second transistor Q2.

[0097] When the second transistor Q2 is turned on, the first DC input signal can be output to the control circuit 30, and at this time the first DC input signal can charge the first capacitor C1.

[0098] When the voltage of the first DC input signal drops, the first capacitor C1 can discharge, thereby maintaining the latched output voltage. Furthermore, due to the unidirectional current-limiting effect of the first diode D1, the control terminal voltage of the first transistor Q1 will not decrease with the decrease of the first DC input signal, thus achieving latching of the conduction state of the first transistor Q1.

[0099] As an optional implementation, based on the design requirement that the first transistor Q1 is turned on and the second transistor Q2 is turned off when the first DC input signal is a high-level signal, the first transistor Q1 can be an NPN transistor and the second transistor Q2 can be a PNP transistor. Alternatively, the first transistor Q1 and the second transistor Q2 can also be MOSFETs (Metal-Oxide-Semiconductor Field-Effect Transistors), and there are no restrictions on their use.

[0100] As an optional implementation, the first capacitor C1 can be disposed between the first terminal and the reference terminal of the first transistor Q1, or it can be disposed between the second terminal and the reference terminal of the first transistor Q1. The first capacitor C1 may also include two capacitors, which are respectively disposed between the first terminal and the reference terminal of the first transistor Q1 and between the second terminal and the reference terminal of the first transistor Q1.

[0101] In the above embodiments, resistors can also be provided between the various devices to serve as biasing or current limiting mechanisms. For example, a current-limiting resistor can be provided between the control terminal of the second transistor Q2 and the cathode of the first diode D1, a current-limiting resistor can be provided between the first terminal of the second transistor Q2 and the control terminal of the first transistor Q1, and a biasing circuit can be provided between the control terminal of the first transistor Q1 and the first terminal of the first transistor Q1.

[0102] Please continue to refer to Figure 5 In some embodiments, the latching circuit 20 may further include a second diode D2.

[0103] The anode of the second diode D2 is connected to the second terminal of the first transistor Q1, and the cathode of the second diode D2 is connected to the control terminal of the second transistor Q2.

[0104] Taking the limp-walk power module Limphome as an example, when the voltage of the first DC input signal drops, the first capacitor C1 can discharge briefly to maintain the output voltage. At this time, the second diode D2 can output the output voltage maintained by the first capacitor C1 to the control terminal of the first transistor Q1 so that the first transistor Q1 continues to be turned on.

[0105] Please refer to Figure 6 In some embodiments, the control circuit 30 may include a voltage regulator unit 31, a third transistor Q3, and a control unit 32.

[0106] The input terminal of the voltage regulator unit 31 can be connected to the output terminal of the latch circuit 20, and the voltage regulator unit 31 can convert the latch output voltage of the latch circuit 20 into the first signal voltage.

[0107] The first terminal of the third transistor Q3 can be connected to the output terminal of the voltage regulator unit 31, and the second terminal of the third transistor Q3 can be connected to at least one high-side drive switch HSD.

[0108] The first enable terminal of the control unit 32 can be connected to the first safety state signal terminal SS1 or the second safety state signal terminal SS2. The second enable terminal of the control unit 32 can be connected to the false trigger protection terminal QST. The control unit 32 can be connected between the control terminal and the reference terminal of the third transistor Q3.

[0109] Taking the limp-walking power module Limphome1 as an example, the first enable terminal of the control unit 32 can be connected to the first safety status signal terminal SS1, and the second enable terminal can be connected to the false trigger protection terminal QST. When both the first safety status signal and the false trigger protection signal are invalid signals, the control unit 32 can be turned on, connecting the control terminal of the third transistor Q3 to the reference terminal.

[0110] When the control terminal of the third transistor Q3 is connected to the reference terminal, the third transistor Q3 is turned on, and the first signal voltage after being regulated by the voltage regulator unit 31 is output to the corresponding high-side drive switch HSD, so that the high-side drive switch HSD is turned on and drives the corresponding limp function device to continue to operate, thereby realizing the limp function.

[0111] After the voltage regulator unit 31 regulates the output voltage of the latch circuit 20, the first signal voltage obtained is the turn-on voltage of the high-side drive switch HSD.

[0112] Since the third transistor Q3 remains in the on state when the control terminal is connected to the reference terminal, the third transistor Q3 can be a PNP type transistor.

[0113] Please refer to Figure 6 In some embodiments, the voltage regulator unit 31 may include a fourth transistor Q4 and a Zener diode ZD.

[0114] The first terminal of the fourth transistor Q4 is connected to the output terminal of the latch circuit 20, the second terminal of the fourth transistor Q4 is connected to the first terminal of the third transistor Q3, the control terminal of the fourth transistor Q4 is connected to the first terminal of the fourth transistor Q4, and the cathode of the Zener diode ZD is connected to the control terminal of the fourth transistor Q4.

[0115] It should be noted that a bias resistor is provided between the first terminal of the fourth transistor Q4 and the control terminal. When the output voltage of the latching circuit 20 is higher than the breakdown voltage of the Zener diode ZD, the voltage at the control terminal of the fourth transistor Q4 is clamped to the breakdown voltage of the Zener diode ZD. Since the first terminal of the fourth transistor Q4 is connected to the control terminal through the bias circuit, the voltage at the first terminal of the fourth transistor Q4 is also the breakdown voltage of the Zener diode ZD. Therefore, after the forward voltage drop of the fourth transistor Q4, the voltage at the second terminal of the fourth transistor Q4 is the difference between the breakdown voltage of the Zener diode ZD and the forward voltage drop of the fourth transistor Q4. Since the voltage at the second terminal of the fourth transistor Q4 is the first signal voltage output by the voltage regulator unit 31, the breakdown voltage of the Zener diode ZD can be obtained from the sum of the first signal voltage and the forward voltage drop of the fourth transistor Q4. For example, if the first signal voltage output by the voltage regulator unit 31 is required to be 5V and the forward voltage drop of the fourth transistor Q4 is 0.6V, then the breakdown voltage of the selected Zener diode ZD is 5.6V.

[0116] In the above embodiment, the fourth transistor Q4 is turned on when the control terminal voltage is the same as the first terminal voltage, so the fourth transistor Q4 can be an NPN type transistor.

[0117] In some embodiments, the control unit 32 may include a fifth transistor M5, a second diode D2, and a third diode D3.

[0118] The first terminal of the fifth transistor M5 is connected to the control terminal of the third transistor Q3, and the second terminal of the fifth transistor M5 is connected to the reference terminal. The anode of the second diode D2 is connected to either the first safety state signal terminal SS1 or the second safety state signal terminal SS2, and the cathode of the second diode D2 is connected to the control terminal of the fifth transistor M5. The anode of the third diode D3 is connected to the false trigger protection terminal QST, and the cathode of the second diode D2 is connected to the control terminal of the fifth transistor M5.

[0119] Taking the limp-walking power module Limphome1 as an example, the anode of the second diode D2 is connected to the first safety status signal terminal SS1. Taking the high-level signal of the first safety status signal and the high-level signal of the false trigger protection signal as examples, respectively, as valid signals.

[0120] like Figure 6As shown, the control unit 32 may further include a resistor connected between the control terminal and the reference terminal of the fifth transistor M5. Taking the limp-walking power module Limphome1 as an example, when both the first safety state signal terminal SS1 and the false trigger protection terminal QST output low-level signals, since the second diode D2 and the third diode D3 are reverse-biased and cut off, the resistor can play the role of charge discharge, pulling down the potential of the control terminal of the fifth transistor M5, so that the fifth transistor M5 becomes conductive.

[0121] The fifth transistor M5 can be a P-channel MOSFET. When the first safety state signal is high and the false trigger protection signal is low, the control terminal of the fifth transistor M5 can receive a high-level signal because the second diode D2 and the third diode D3 ensure that the two signals do not affect each other. At this time, the fifth transistor M5 is turned off, the control terminal of the third transistor Q3 is disconnected from the reference terminal, the third transistor Q3 is turned off, and the voltage regulator unit 31 is disconnected from the high-side drive switch HSD, that is, no limp-action power signal is output.

[0122] Similarly, when the first safety status signal is low and the false trigger protection signal is high, the control terminal of the fifth transistor M5 receives the high-level signal of the false trigger protection signal, the fifth transistor M5 is turned off, the third transistor Q3 is turned off, and the voltage regulator unit 31 is disconnected from the high-side drive switch HSD, that is, it does not output a limp-walking power signal. Therefore, when at least one of the first safety status signal and the false trigger protection signal is a high-level active signal, the first limp-walking power module Limphome1 does not output a limp-walking power signal.

[0123] Correspondingly, when both the first safety status signal and the false trigger protection signal are low-level signals, the fifth transistor M5 is turned on, connecting the control terminal of the third transistor Q3 to the reference terminal. At this time, the third transistor Q3 is turned on, outputting the first signal voltage from the voltage regulator unit 31 to the high-side drive switch HSD. That is, the first limp-action power module Limphome1 outputs the limp-action power signal.

[0124] Based on the above embodiments, the third transistor Q3 can be a PNP type transistor.

[0125] Please refer to Figure 6 In some embodiments, the aforementioned limphome function module may further include an output acquisition circuit 40.

[0126] The acquisition terminal of the output acquisition circuit 40 is connected to the output terminal of the control circuit 30, and the output terminal of the output acquisition circuit 40 is connected to the microcontroller unit (MCU). The output acquisition circuit 40 can output the acquired first signal voltage to the MCU to achieve voltage sampling of the limp-action power signal.

[0127] The microcontroller unit (MCU) can determine whether the corresponding limphome module is malfunctioning by receiving the sampled voltage signal. For example, when the limphome module outputs a limphome signal, the MCU should receive a high-level signal. If the MCU receives a low-level signal at this time, it indicates that the limphome module may have an open-circuit fault. Conversely, when the limphome module does not output a limphome signal, the MCU should receive a low-level signal. If the MCU receives a high-level signal, it indicates that the limphome module may have a short-circuit fault.

[0128] Based on the signals acquired during the above acquisition process, the Limphome self-test can be completed, and the presence of faults or abnormalities in the Limphome can be determined, thereby improving the failure coverage of the Limphome components.

[0129] It should be noted that during fault injection testing, a microcontroller unit (MCU) not in Failsafe mode or another MCU can be connected to the output of control circuit 30 to obtain the first signal voltage acquired by output acquisition circuit 40. In Limphome mode, the MCU can determine whether the limphome module is operating normally and outputting a limphome signal based on whether the acquired first signal voltage is a high-level signal. If the first signal voltage acquired by the MCU is a high-level signal, it indicates that the limphome module is outputting a limphome signal normally; if the first signal voltage acquired by the MCU is a low-level signal, it indicates that the limphome module is malfunctioning.

[0130] Besides the microcontroller unit (MCU), other logic circuits can be connected to the output of the control circuit 30 to determine the high and low level signals of the first signal voltage acquired by the output acquisition circuit 40. In fault injection testing, by identifying and judging the acquired signals, scenarios of component failure in the limphome dynamometer module can be identified and covered, improving the limphome dynamometer module component failure coverage.

[0131] The microcontroller unit (MCU) may include two acquisition terminals, which are respectively connected to the output acquisition circuit 40 in the first limp-action power module Limphome1 and the output acquisition circuit 40 in the second limp-action power module Limphome2.

[0132] In some embodiments, the output acquisition circuit 40 may include a voltage divider unit 41 and a first operational amplifier U1.

[0133] The voltage divider unit 41 may include two resistors connected in series. The voltage divider terminal of the voltage divider unit 41 is connected to the output terminal of the control circuit 30, the non-inverting input terminal of the first operational amplifier U1 is connected to the output terminal of the voltage divider unit 41, the output terminal of the first operational amplifier U1 is connected to the inverting input terminal of the first operational amplifier U1, and the output terminal of the first operational amplifier U1 is connected to the microcontroller unit MCU.

[0134] After the voltage divider unit 41 divides the output limp-action power signal, the follower built based on the first operational amplifier U1 can input the divided signal to the microcontroller unit (MCU). The MCU can determine the signal voltage of the limp-action power signal output by the limp-action power circuit based on the received sampling signal.

[0135] In the above embodiments, the high input impedance and low output impedance of the first operational amplifier U1 can play a role in impedance isolation, thereby ensuring that the sampling port of the microcontroller unit (MCU) and the output path of the limp-action power signal do not interfere with each other.

[0136] Please continue to refer to Figure 6 In some embodiments, the limphome activating module may further include at least one fourth diode D4, the anode of which is connected to the output of the control circuit 30, and the cathode of which is connected to the corresponding high-side drive switch HSD.

[0137] The fourth diode D4 can limit the flow of the limp power signal from the limp power module Limphome to the corresponding high-side drive switch HSD, thereby preventing the current at the control terminal of any high-side drive switch HSD from flowing back into the limp power module Limphome, thus achieving mutual independence between the various high-side drive switches HSD.

[0138] In the above embodiments, current-limiting resistors, bias resistors, and other electronic devices that enhance circuit robustness can also be adaptively set between the various devices, and no restrictions are imposed here.

[0139] Please refer to Figure 7 In the vehicle's control system, the limp-walking power signal output by the first limp-walking power module Limphome1 or the second limp-walking power module Limphome2 can be output to each high-side drive switch (HSD) to control various electronic controllers (ECU), lighting lamps (Lamp), windshield wipers (Wiper), and other limp-walking functional devices.

[0140] like Figure 7As shown, taking the first limp-walking power module Limphome1 as an example, the output terminal of the first limp-walking power module Limphome1 is LIMP_OUT1. LIMP_OUT1 can be connected to multiple high-side drive switches (HSDs) through multiple unidirectional diodes to send limp-walking power signals to each high-side drive switch (HSD), so that each high-side drive switch is turned on and drives the corresponding limp-walking functional device to operate.

[0141] It should be noted that the microcontroller unit (MCU) may also include multiple enable signal terminals, such as MCU_EN1, MCU_EN2, MCU_EN3, etc. Each enable signal terminal can be connected to the corresponding high-side drive switch (HSD) via a unidirectional diode. Taking the high-side drive switch (HSD) connected to MCU_EN1 as an example, when at least one of the microcontroller unit (MCU) or the first limp-action enable module (Limphome1) outputs an enable signal, the high-side drive switch (HSD) is turned on, and the corresponding electronic control unit (ECU) can operate normally. That is, either the microcontroller unit (MCU) or the first limp-action enable module (Limphome1) can control the high-side drive switch (HSD) to turn on. Furthermore, since a diode is provided between the microcontroller unit (MCU) and the high-side drive switch (HSD), and a diode is also provided between the first limp-action power module (Limphome1) and the high-side drive switch (HSD), when one of the MCU and the first limp-action power module (Limphome1) provides a high-level enable signal, the diode between the other and the high-side drive switch (HSD) is reverse-biased, thereby preventing the high-level signal from flowing back into the MCU or the first limp-action power module (Limphome1), thus providing device protection.

[0142] Similarly, as Figure 7 As shown, the output terminal of the second limp-home power module Limphome2, LIMP_OUT2, can also be connected to multiple high-side drive switches (HSDs) via multiple unidirectional diodes. That is, when one of the microcontroller unit (MCU), the first limp-home power module Limphome1, or the second limp-home power module Limphome2 provides a high-level enable signal, the corresponding high-side drive switch (HSD) can be turned on in response to the enable signal to drive the corresponding limp-home functional device. Furthermore, the microcontroller unit (MCU), the first limp-home power module Limphome1, and the second limp-home power module Limphome2 do not interfere with each other. When one of them provides a high-level enable signal, the diodes between the other two and the high-side drive switches (HSDs) are reverse-biased and cut off, providing reverse-bias protection.

[0143] As an optional implementation, among the multiple high-side drive switches (HSDs) included in the vehicle, some HSDs are connected to limp-function devices such as the electronic control unit (ECU), lamps, and wipers, while others are connected to non-limp-function devices. For example... Figure 7 As shown, the high-side drive switch HSD connected to the enable signal terminal MCU_EN4 of the microcontroller unit (MCU) is used to control non-limp-out functional devices. Therefore, the output terminals of the first limp-out power module Limphome1 and the second limp-out power module Limphome2 are not connected to this high-side drive switch HSD.

[0144] For the high-side drive switch (HSD) that drives non-limp-out functional devices, since the first limp-out power module Limphome1 and the second limp-out power module Limphome2 are not connected to the high-side drive switch HSD, only the microcontroller unit (MCU) is connected to it. Therefore, when the MCU provides an enable or disable signal to the high-side drive switch HSD, it is not affected by the output signals of the first limp-out power module Limphome1 and the second limp-out power module Limphome2. In this case, a unidirectional diode does not need to be installed between the MCU and the high-side drive switch HSD.

[0145] This application also provides a vehicle that may include the limp-walking capability circuit described in the above embodiments.

[0146] The functional blocks shown in the above block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, etc. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored on a machine-readable medium or transmitted over a transmission medium or communication link via data signals carried on a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. Code segments can be downloaded via computer networks such as the Internet, intranets, etc.

[0147] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0148] This document uses specific examples to illustrate the principles and implementation methods of this application. The examples are provided only to help understand the methods and core ideas of this application. The above are merely optional implementation methods of this application. It should be noted that due to the limitations of written expression, and the existence of an infinite number of specific structures, those skilled in the art can make various improvements, modifications, or variations without departing from the principles of this application, and can also combine the above technical features in an appropriate manner. These improvements, modifications, variations, or combinations, or the direct application of the concept and technical solution of this application to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A limp enable circuit, comprising: The limp enable circuit comprises: Two limp enable modules, including a first limp enable module and a second limp enable module; Two enable terminals of the first limp enable module are connected with a first safety state signal terminal and a false trigger protection terminal respectively, and the first limp enable module is configured to output a limp enable signal in the case of receiving a non-valid signal of the first safety state signal and a non-valid signal of the false trigger protection signal; Two enable terminals of the second limp enable module are connected with a second safety state signal terminal and the false trigger protection terminal respectively, and the second limp enable module is configured to output a limp enable signal in the case of receiving a non-valid signal of the second safety state signal and a non-valid signal of the false trigger protection signal; An output terminal of the first limp enable module and an output terminal of the second limp enable module are connected with at least one high-side drive switch, and the limp enable signal is configured to drive the high-side drive switch to be turned on, and the high-side drive switch is configured to drive a limp function device.

2. The limp enable circuit of claim 1, wherein, The limp enable circuit further comprises: A power management module, the false trigger protection terminal of the power management module is connected with the first limp enable module and the second limp enable module, the first safety state signal terminal of the power management module is connected with the first limp enable module, and the second safety state signal terminal of the power management module is connected with the second limp enable module.

3. The limp enable circuit of claim 1, wherein, A power supply terminal of the first limp enable module is connected with a first direct current input signal terminal, and the first limp enable module is configured to convert the first direct current input signal into a first signal voltage; A power supply terminal of the second limp enable module is connected with a second direct current input signal terminal, and the second limp enable module is configured to convert the first direct current input signal into a first signal voltage; wherein, The first direct current input signal and the second direct current input signal are a battery voltage of a battery.

4. The limp enable circuit of claim 3, wherein, The limp enable module comprises: A latch circuit, an input terminal of the latch circuit is connected with the first direct current input signal terminal or the second direct current input signal terminal, and the latch circuit is configured to maintain a latch output voltage of an output terminal in the case of voltage reduction of the first direct current input signal or the second direct current input signal; A control circuit, an input terminal of the control circuit is connected with an output terminal of the latch circuit, a first enable terminal of the control circuit is connected with the first safety state signal terminal or the second safety state signal terminal, and a second enable terminal of the control circuit is connected with a false trigger protection terminal; the control circuit is configured to convert the latch output voltage into a first signal voltage, and output the first signal voltage in the case of receiving a non-valid signal of the first safety state signal and a non-valid signal of the false trigger protection signal, or receiving a non-valid signal of the second safety state signal and a non-valid signal of the false trigger protection signal.

5. The limp enable circuit of claim 4, wherein, The latch circuit comprises: A first diode, an anode of the first diode is connected with the first direct current input signal terminal or the second direct current input signal terminal; a first transistor, a first end of the first transistor being connected with a cathode of the first diode, a second end of the first transistor being connected with the control circuit; a second transistor, a control end of the second transistor being connected with the cathode of the first diode, a first end of the second transistor being connected with a control end of the first transistor, a second end of the second transistor being connected with a reference end; a first capacitor, the first capacitor being connected between the first end of the first transistor and the reference end.

6. The limp enable circuit of claim 5, wherein, The latch circuit further comprises: a second diode, an anode of the second diode being connected with the second end of the first transistor, a cathode of the second diode being connected with the control end of the second transistor.

7. The limp enable circuit of claim 4, wherein, The control circuit comprises: a voltage stabilizing unit, an input end of the voltage stabilizing unit being connected with an output end of the latch circuit, the voltage stabilizing unit being configured to convert a latch output voltage output by the latch circuit into a first signal voltage; a third transistor, a first end of the third transistor being connected with an output end of the voltage stabilizing unit, a second end of the third transistor being connected with at least one high-side drive switch; a control unit, a first enable end of the control unit being connected with the first safety state signal end or the second safety state signal end, a second enable end of the control unit being connected with the false trigger protection end, the control unit being connected between a control end of the third transistor and a reference end.

8. The limp enable circuit of claim 7, wherein, The voltage stabilizing unit comprises: a fourth transistor, a first end of the fourth transistor being connected with the output end of the latch circuit, a second end of the fourth transistor being connected with the first end of the third transistor, a control end of the fourth transistor being connected with the first end of the fourth transistor; a voltage stabilizing diode, an anode of the voltage stabilizing diode being connected with the reference end, a cathode of the voltage stabilizing diode being connected with the control end of the fourth transistor; wherein, a breakdown voltage of the voltage stabilizing diode is a sum of the first signal voltage and a conduction voltage drop of the fourth transistor.

9. The limp enable circuit of claim 7, wherein, The control unit comprises: a fifth transistor, a first end of the fifth transistor being connected with the control end of the third transistor, a second end of the fifth transistor being connected with the reference end; a second diode, an anode of the second diode being connected with the first safety state signal end or the second safety state signal end, a cathode of the second diode being connected with the control end of the fifth transistor; a third diode, an anode of the third diode being connected with the false trigger protection end, a cathode of the third diode being connected with the control end of the fifth transistor.

10. The limp enable circuit of claim 4, wherein, The limp enable module further comprises: an output acquisition circuit, an acquisition end of the output acquisition circuit being connected with an output end of the control circuit, an output end of the output acquisition circuit being connected with a micro control unit.

11. The limp enable circuit of claim 10, wherein, The output acquisition circuit comprises: a voltage dividing unit, a voltage dividing end of the voltage dividing unit being connected with the output end of the control circuit; A first operational amplifier, an output terminal of the first operational amplifier is connected with the output terminal of the voltage dividing unit, an input terminal of the first operational amplifier is connected with the output terminal of the first operational amplifier, and an output terminal of the first operational amplifier is connected with the micro control unit.

12. The limp enable circuit of claim 4, wherein, The limp-home enabling module further comprises: At least one fourth diode, an anode of the fourth diode is connected with the output terminal of the control circuit, and a cathode of the fourth diode is connected with the corresponding high-side drive switch.

13. A vehicle characterized by comprising: The vehicle comprises the limp-home enabling circuit according to any one of claims 1-12.

Images