Vehicle control method, electronic equipment, vehicle and storage medium

Abstract

The invention provides a vehicle control method, electronic equipment, a vehicle and a storage medium, the method is applied to the technical field of hybrid power vehicle control, and the method comprises the steps that under the condition that a high-voltage power-on instruction for the vehicle is received, a motor controller of the vehicle is controlled to execute a high-voltage power-on action, judging whether the motor controller is switched to a high-voltage power-on state or not within a preset duration; and under the condition that the motor controller is not switched to the high-voltage power-on state within the preset duration, the motor controller is controlled to be switched to the discharging state from the current state. According to the method, the motor controller can be separated from the current state where clamping stagnation possibly occurs, the motor controller is controlled to enter the controllable discharging state, and the safety of a high-voltage system can be effectively guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hybrid vehicle control, and more particularly, to a control method of a vehicle, an electronic device, a vehicle and a storage medium in the technical field of hybrid vehicle control. BACKGROUND

[0002] With the continuous improvement of the intelligentization and integration of new energy vehicles, the stable operation of the power system as the core control unit of the vehicle is directly related to the user experience of key scenes such as vehicle starting, driving and shutdown. The initialization state of the motor controller (MCU) is the basic link for the power system to complete self-checking and establish a high-voltage loop. The MCU usually needs to complete initialization and switch to the normal working state within a preset time to ensure the automatic execution of core functions such as high-voltage power-on and high-voltage power-off of the power system.

[0003] However, in the actual use of the vehicle, if the MCU is in an initialization state for a long time and cannot normally proceed, the overall state of the power system may be abnormal and stuck. This sticking directly causes the power system to lose automatic control ability, and further causes the vehicle to be unable to normally drive. SUMMARY

[0004] The present application provides a control method of a vehicle, an electronic device, a vehicle and a storage medium. The method can make the motor controller escape from the current state that may be stuck, and control the motor controller to enter a controllable discharge state, which can effectively ensure the safety of the high-voltage system.

[0005] In a first aspect, a control method of a vehicle is provided. The method includes: in the case of receiving a high-voltage power-on instruction of the vehicle, controlling a motor controller of the vehicle to perform a high-voltage power-on action; determining whether the motor controller switches to a high-voltage power-on state within a preset time length; and in the case that the motor controller does not switch to the high-voltage power-on state within the preset time length, controlling the motor controller to switch from a current state to a discharge state.

[0006] The technical solution can control the motor controller to perform the high-voltage power-on action to start the high-voltage loop activation process and provide a basis for subsequent operation of the high-voltage system, so as to ensure that the instruction is effectively executed. After the motor controller performs the high-voltage power-on action, it can be determined whether the motor controller switches to the high-voltage power-on state within a preset time period, so as to timely identify abnormal conditions in the power-on process, avoid a long-term uncertain state of the high-voltage system, and prevent the system from being stuck due to unsuccessful state switching of the motor controller by setting the preset time period. In the case where the motor controller does not switch to the high-voltage power-on state within the preset time period, the motor controller is controlled to switch from the current state to the discharge state, so as to make the motor controller escape from the current state where the motor controller may be stuck, and control the motor controller to enter the discharge state that can be controlled, so as to effectively ensure the safety of the high-voltage system and create conditions for subsequent reattempting of power-on or execution of power-off process, and improve the reliability of the power system.

[0007] In combination with the first aspect, in some implementations of the first aspect, the control of the motor controller to switch from the current state to the discharge state includes: determining whether the motor controller has switched to a fault state; in the case where the motor controller has switched to the fault state, if a preset condition is met, the motor controller is controlled to switch from the fault state to the discharge state; and in the case where the motor controller has not switched to the fault state, the motor controller is controlled to switch from the current state to the discharge state.

[0008] The technical solution can accurately distinguish between fault and non-fault scenarios by determining whether the motor controller has switched to a fault state, can provide a basis for subsequent differentiated processing, and can control the motor controller to switch to the discharge state in different ways according to different states of the motor controller. In the case where the motor controller has switched to the fault state, since the preset condition is used to determine the authenticity of the fault state, when the preset condition is met, it indicates that the fault state is a real state, so the motor controller can be controlled to switch from the fault state to the discharge state, which can avoid unnecessary discharge operation caused by false alarm and reduce invalid hardware loss and energy waste. In the case where the motor controller has not switched to the fault state, it indicates that the motor controller may be stuck in the current state and cannot switch to the high-voltage power-on state. By controlling the motor controller to switch from the current state to the discharge state, the motor controller can escape from the current state where the motor controller may be stuck, and the motor controller can enter the discharge state that can be controlled, so as to effectively ensure the safety of the high-voltage system and create conditions for subsequent reattempting of power-on or execution of power-off process, and improve the reliability of the power system.

[0009] In some implementation forms of the first aspect, in combination with the above implementation forms, if the preset condition is met, the motor controller is switched from the fault state to the discharging state, including: determining whether a first fault signal is received; wherein the first fault signal is consistent with the trigger signal of the fault state; in a case where the first fault signal is received, the motor controller is switched from the fault state to the discharging state.

[0010] The above technical solution can further confirm the authenticity of the fault state through signal consistency verification, avoid misjudgment caused by interference signals, false triggering, etc., and improve the accuracy of the judgment. In a case where the first fault signal is received, the motor controller is switched from the fault state to the discharging state, which can completely release the residual energy of the high-voltage loop, avoid the safety risk caused by the high-voltage residual in the fault state, and at the same time promote the motor controller to switch from the fault state to the safe state, laying a foundation for subsequent fault clearing and power system restart.

[0011] In some implementation forms of the first aspect, in combination with the above implementation forms, in a case where the motor controller is not switched to the fault state, the motor controller is switched from a current state to the discharging state, including: in a case where the motor controller is not switched to the fault state, obtaining a current voltage of the motor controller; based on the current voltage, the motor controller is switched from the current state to the discharging state.

[0012] The above technical solution, in a case where the motor controller is not switched to the fault state, by obtaining the current voltage of the motor controller, the current voltage environment of the motor controller can be known, which provides accurate judgment basis for subsequent discharging control and avoids further state jamming of the motor controller caused by misoperation; based on the current voltage, the motor controller is switched to the discharging state, which can effectively avoid safety risks and ensure the safety of the high-voltage system.

[0013] In some implementation forms of the first aspect, in combination with the above implementation forms, the discharging state includes a first discharging state and a second discharging state, the motor controller is instructed to perform a discharging action in the first discharging state, and the motor controller is instructed not to perform the discharging action in the second discharging state, based on the current voltage, the motor controller is switched from the current state to the discharging state, including: in a case where the current voltage is greater than or equal to a first preset voltage, the motor controller is switched from the current state to the first discharging state; in a case where the current voltage is less than the first preset voltage, the motor controller is switched from the current state to the second discharging state.

[0014] The technical solution can control the motor controller to enter different discharge states based on the size relationship between the current voltage of the motor controller and the first preset voltage, can realize control on different scenes, and ensures the integrity of the solution; in the case that the current voltage is greater than or equal to the first preset voltage, the motor controller can be controlled to switch from the current state to the first discharge state indicating the motor controller to perform a discharge action, which can ensure that the discharge action can be performed in time when there is residual high voltage in the high-voltage loop, completely eliminate the high-voltage hidden danger, and ensure the safety of the high-voltage system; in the case that the current voltage is less than the first preset voltage, the motor controller can be controlled to switch from the current state to the first discharge state indicating the motor controller not to perform a discharge action, which can terminate the state jamming of the motor controller by controlling the switching of the state of the motor controller in the scene without high voltage to be discharged, promote the normal flow of the state of the motor controller, at the same time, inform the motor controller that no action needs to be performed, ensure the logic closed loop, and reduce invalid power consumption.

[0015] With reference to the first aspect and the above implementation manners, in some implementation manners of the first aspect, the method further includes: determining whether the motor controller switches to the high-voltage power-on state within a preset time length, including: determining whether a high-voltage power-on completion signal sent by the motor controller is received within the preset time length; and in the case that the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, determining that the motor controller does not switch to the high-voltage power-on state within the preset time length.

[0016] With reference to the first aspect and the above implementation manners, in some implementation manners of the first aspect, after the motor controller is controlled to switch from the current state to the discharge state, the method further includes: in the case that the motor controller is in the discharge state, determining whether a second fault signal currently exists in the vehicle, and determining whether the current voltage of the motor controller is less than a second preset voltage; wherein the second fault signal is a fault signal in the vehicle preventing the motor controller from performing a high-voltage power-on action; in the case that it is determined that the second fault signal does not currently exist and the current voltage is less than the second preset voltage, the motor controller is controlled to switch from the discharge state to the initialization state, and the motor controller of the vehicle is controlled to perform a high-voltage power-on action again.

[0017] The technical solution can accurately determine whether the high-voltage power-on action of the motor controller can be continued to be controlled in the case that the motor controller is in the discharging state, by judging whether there is a signal preventing the motor controller from performing the high-voltage power-on action and whether the current voltage of the motor controller is less than the second preset voltage, thereby ensuring the safety and reliability of the restart of the power-on process. In the case that it is determined that there is no second fault signal and the current voltage is less than the second preset voltage, it is indicated that there is no fault in the vehicle to prevent the motor controller from performing the high-voltage power-on action, and there is no residual power in the high-voltage loop. At this time, the motor controller can be controlled to perform the high-voltage power-on action again. The motor controller is first controlled to switch from the discharging state to the initialization state, thereby providing a basis for the subsequent re-execution of the high-voltage power-on action of the motor controller, and further ensuring the safety and reliability of the power-on process.

[0018] In a second aspect, a control device of a vehicle is provided, which includes: a first control module configured to control a motor controller of the vehicle to perform a high-voltage power-on action in the case that a high-voltage power-on instruction of the vehicle is received; a judgment module configured to judge whether the motor controller switches to a high-voltage power-on state within a preset time length; and a second control module configured to control the motor controller to switch from a current state to a discharging state in the case that the motor controller does not switch to the high-voltage power-on state within the preset time length.

[0019] In combination with the second aspect, in some implementations of the second aspect, the second control module is specifically configured to: judge whether the motor controller has switched to a fault state; in the case that the motor controller has switched to the fault state, control the motor controller to switch from the fault state to the discharging state if a preset condition is met; and in the case that the motor controller has not switched to the fault state, control the motor controller to switch from the current state to the discharging state.

[0020] In combination with the second aspect and the above implementations, in some implementations of the second aspect, the second control module includes a first control unit, which is specifically configured to: judge whether a first fault signal is received; and in the case that the first fault signal is received, control the motor controller to switch from the fault state to the discharging state.

[0021] In combination with the second aspect and the above implementations, in some implementations of the second aspect, the second control module includes a second control unit, which is specifically configured to: in the case that the motor controller has not switched to the fault state, acquire a current voltage of the motor controller; and based on the current voltage, control the motor controller to switch from the current state to the discharging state.

[0022] In some implementations of the second aspect and the above implementations, in the second aspect, the discharge state includes a first discharge state and a second discharge state, the first discharge state indicating the motor controller to perform the discharge action, and the second discharge state indicating the motor controller not to perform the discharge action, and the second control unit is specifically configured to: in a case where the current voltage is greater than or equal to the first preset voltage, control the motor controller to switch from the current state to the first discharge state; and in a case where the current voltage is less than the first preset voltage, control the motor controller to switch from the current state to the second discharge state.

[0023] In some implementations of the second aspect and the above implementations, in the second aspect, the determination module is specifically configured to: determine whether a high-voltage power-on completion signal sent by the motor controller is received within a preset time length; and in a case where the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, determine that the motor controller has not switched to the high-voltage power-on state within the preset time length.

[0024] In some implementations of the second aspect and the above implementations, the device further includes a third control module, which is specifically configured to: in a case where the motor controller is in the discharge state, determine whether a second fault signal currently exists in the vehicle, and determine whether a current voltage of the motor controller is less than a second preset voltage; the second fault signal is a fault signal that prevents the motor controller from performing the high-voltage power-on action; and in a case where it is determined that the second fault signal does not currently exist and the current voltage is less than the second preset voltage, control the motor controller to switch from the discharge state to the initialization state, and control the motor controller of the vehicle to perform the high-voltage power-on action again.

[0025] In a third aspect, an electronic device is provided, including a memory and a processor. The memory is configured to store executable program code, and the processor is configured to call and run the executable program code from the memory, so that the electronic device executes the control method of the vehicle in the first aspect and any possible implementation of the first aspect.

[0026] In a fourth aspect, a vehicle is provided, including an electronic device configured to execute the method in the first aspect and any possible implementation of the first aspect.

[0027] In a fifth aspect, a computer program product is provided, including computer program code, which, when executed on a computer, causes the computer to execute the control method of the vehicle in the first aspect and any possible implementation of the first aspect.

[0028] In a sixth aspect, a non-transitory storage medium storing computer program code which, when run on a computer, causes the computer to perform the control method of the vehicle of the first aspect and any possible implementation of the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a schematic flow chart of a control method of a vehicle provided by an embodiment of the present application; Figure 2 is a schematic diagram of a state switching path of a motor controller provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of a control device of a vehicle provided by an embodiment of the present application; Figure 4 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solutions in the present application will be described in detail below with reference to the drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B: "and / or" in the text is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, and in addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0031] Hereinafter, the terms "first" and "second" are used only for descriptive purposes, and cannot be understood as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features.

[0032] With the continuous improvement of the intelligence and integration of new energy vehicles, the stable operation of the power system as the core control unit of the vehicle is directly related to the user experience of key scenes such as vehicle starting, driving and stopping, and the initialization state of the MCU is the basic link for the power system to complete self-checking and establish a high-voltage loop. The MCU usually needs to complete initialization and switch to the normal working state within a preset time to ensure the automatic execution of core functions such as high-voltage power on and high-voltage power off of the power system.

[0033] But in the actual use process, affected by low temperature environment, power fluctuation, control signal interference, software logic conflict or hardware failure and other factors, the overall state of the power system may appear abnormal stagnation, which is specifically manifested as that the motor MCU stays in the initialization state for a long time and cannot normally proceed, and this stagnation will directly lead to the loss of automatic control ability of the power system, which not only causes the user to be unable to normally start the vehicle, power interruption during driving or unable to power off after parking and other use troubles, but also may cause energy waste, circuit overheating and even safety hazards due to the continuous existence of high voltage, seriously affecting the user experience and the running reliability of the vehicle, therefore, it is urgent to solve the problem of high voltage control failure of the power system caused by the initialization state stagnation of the motor controller.

[0034] In order to solve the above technical problems, the embodiment of the application provides a control method of a vehicle, the execution subject of the method is a vehicle, specifically a vehicle control unit (VCU) in the vehicle. The method controls the motor controller to enter a discharge state from the current state in the case that the motor controller does not enter a high voltage power-on state within a preset time length, which can make the motor controller get rid of the current state that may occur stagnation, and control the motor controller to enter a controllable discharge state, which can effectively guarantee the safety of the high voltage system, and also create conditions for subsequent reattempting power-on or executing power-off process, and improve the reliability of the power system.

[0035] Figure 1 is a schematic flow chart of a control method of a vehicle provided by the embodiment of the application.

[0036] As shown in the example of Figure 1 , the method 100 comprises: Step 101, in the case that a high voltage power-on instruction of the vehicle is received, controlling the motor controller of the vehicle to perform a high voltage power-on action.

[0037] Step 102, judging whether the motor controller switches to a high voltage power-on state within a preset time length.

[0038] Step 103, in the case that the motor controller does not switch to the high voltage power-on state within the preset time length, controlling the motor controller to switch from the current state to a discharge state.

[0039] In the embodiment of the present application, in the case of receiving the high-voltage power-on instruction of the vehicle, the motor controller can be controlled to perform the high-voltage power-on action to start the high-voltage loop activation process, provide a basis for subsequent operation of the high-voltage system, and ensure that the instruction is effectively executed; after controlling the motor controller to perform the high-voltage power-on action, it can be judged whether the motor controller switches to the high-voltage power-on state within a preset time period, which can timely identify abnormal conditions in the power-on process, avoid the high-voltage system being in an uncertain state for a long time, and through the setting of the preset time period, a clear time standard is provided for state judgment to prevent the system from being stuck due to unsuccessful state switching of the motor controller; in the case of not switching to the high-voltage power-on state within the preset time period, the motor controller is controlled to switch from the current state to the discharge state, which can make the motor controller escape from the current state that may be stuck, and control the motor controller to enter the discharge state that can be controlled, which can effectively guarantee the safety of the high-voltage system, and also create conditions for subsequent reattempting power-on or executing power-off process, and improve the reliability of the power system.

[0040] The implementation of each step in the embodiment shown in the above Figure 1 The implementation of each step in the embodiment shown in the above In step 101, the high-voltage power-on instruction of the vehicle specifically refers to a control instruction for activating the high-voltage system of the vehicle (including high-voltage components such as power battery and motor controller), establishing a high-voltage loop, and switching the high-voltage system of the vehicle to a working state.

[0041] For example, the high-voltage power-on instruction of the vehicle can be initiated by the driver by starting the vehicle, or can be automatically triggered by the vehicle according to specific functional requirements. For example, after the driver steps on the brake pedal, the high-voltage power-on instruction of the vehicle is triggered by pressing the start button of the vehicle; or after the vehicle is troubleshooting, the high-voltage power-on instruction of the vehicle is automatically triggered when the function is reset.

[0042] Further, in the case of receiving the high-voltage power-on instruction of the vehicle, the vehicle control unit (VCU) will first complete the safety verification work of the power battery insulation detection and pre-charging, and after the safety verification is passed, it will control the high-voltage contactor to close and establish a complete high-voltage loop; then control the high-voltage components including the motor controller (MCU) in the vehicle to perform the high-voltage power-on action to switch to the high-voltage power-on state.

[0043] The high-voltage power-on state can also be referred to as "high-voltage state (high-voltage mode)", in which the high-voltage components have usually passed safety verification and have high-voltage inside, and at this time, various control instructions of the VCU can be received, such as driving instructions, power generation instructions, etc.

[0044] The motor controller can be controlled to perform the high-voltage power-on action by sending a high-voltage power-on instruction to the motor controller, so that the motor controller performs the high-voltage power-on action based on the high-voltage power-on instruction.

[0045] Specifically, after receiving the high-voltage power-on instruction sent by the VCU, the motor controller closes the internal high-voltage switch, completes self-diagnosis, and feeds back the status to the VCU. After confirming that all conditions are met, the VCU closes the main high-voltage contactor, and finally makes the motor controller switch to the high-voltage power-on state.

[0046] Further, the motor controller can generally include the following states: a sleep state, an initialization state, and a high-voltage power-on state.

[0047] The sleep state refers to a state in which the internal high-voltage loop of the motor controller is disconnected, the core circuit is not powered on, and no response is given to any work instructions (such as driving instructions and power generation instructions). It is also called "OFF state". In the sleep state, the motor controller only retains a very low-power wake-up detection function. In general, after the vehicle is turned off and the high-voltage power-on instruction is not received, the motor controller will be in the sleep state.

[0048] The initialization state refers to a transition state after the motor controller is woken up from the sleep state, and is a state between the sleep state and the high-voltage power-on state, also known as "INIT state". In the initialization state, the motor controller first connects the low-voltage power supply, performs self-diagnosis (detects whether the hardware and software are normal), and establishes communication connection with the VCU, while preparing for the pre-processes such as pre-charging and insulation detection of the high-voltage loop, to prepare for high-voltage power-on. In the initialization state, the motor controller has not established the high-voltage loop, and the motor controller cannot output power at this time.

[0049] The high-voltage power-on state refers to the working state when the motor controller is ready, which is the state after the initialization is completed and the vehicle high-voltage system verification is passed. In the high-voltage power-on state, the high-voltage switch in the motor controller is closed, and the high-voltage loop is established. At this time, the motor controller can receive the instructions from the VCU, such as driving instructions. If the driving instructions are received, the motor controller can control the motor to output torque according to the accelerator pedal signal.

[0050] It can be understood that when the vehicle does not trigger the high-voltage power-on instruction, the motor controller is generally in the sleep state to reduce power consumption. When the high-voltage power-on instruction sent by the VCU is received, the motor controller is woken up from the sleep state, switches to the initialization state, and completes the preparation work such as self-diagnosis and communication establishment. After the initialization is completed and the vehicle high-voltage system completes the safety verification such as insulation detection and pre-charging, the motor controller is controlled to switch from the initialization state to the high-voltage power-on state.

[0051] In step 102, after receiving the high-voltage power-on instruction sent by the VCU, the motor controller can generally switch to the high-voltage power-on state within a preset time length, and if the motor controller cannot switch to the high-voltage power-on state within the preset time length, it is generally possible that the motor controller has state jamming or other faults. In order to determine whether the motor controller has state jamming or other faults in time, the embodiments of the present application can determine whether the motor controller switches to the high-voltage power-on state within the preset time length.

[0052] In some embodiments, determining whether the motor controller switches to the high-voltage power-on state within the preset time length comprises: determining whether a high-voltage power-on completion signal sent by the motor controller is received within the preset time length; and in the case where the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, determining that the motor controller does not switch to the high-voltage power-on state within the preset time length.

[0053] The high-voltage power-on completion signal mentioned above refers to an execution completion signal of the high-voltage power-on action, which is used to represent whether the high-voltage power-on action of the motor controller is executed, and is also used to represent whether the motor controller has jumped out of the initialization state and successfully switched to the high-voltage power-on state.

[0054] It can be understood that after the motor controller switches states each time, it will send a signal representing the completion of state switching to the VCU, and if the VCU does not receive the signal representing the completion of state switching sent by the motor controller within a preset time length, it means that the motor controller may have state jamming in a certain state, such as the motor controller may be jammed in the initialization state.

[0055] Based on this, the embodiments of the present application can determine whether the motor controller switches to the high-voltage power-on state within the preset time length by determining whether the high-voltage power-on completion signal sent by the motor controller is received within the preset time length.

[0056] For example, the preset time length can be set according to actual conditions, such as if a large number of actual tests find that the VCU can generally receive the high-voltage power-on completion signal sent by the motor controller within 2 seconds of sending the high-voltage power-on instruction to the motor controller, the preset time length can be set to 2 seconds.

[0057] Further, in the case where the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, it means that the high-voltage power-on action of the motor controller is not executed, and the motor controller does not jump out of the initialization state, at this time, it may be because the motor controller is jammed in the initialization state and does not enter the high-voltage power-on state.

[0058] As described above, if the motor controller is stuck in the initialization state for a long time and does not enter the high-voltage power-on state, it may cause the power system to be unable to perform the high-voltage power-on action and the high-voltage power-off action.

[0059] It can be understood that the initialization state is a preparation state before high-voltage power-on, and the motor controller usually needs to perform self-diagnosis (i.e., detect whether the hardware and software are normal) in the initialization state, and establish a communication connection with the VCU, and at the same time, prepare the pre-processes such as pre-charging and insulation detection of the high-voltage loop. If the motor controller is stuck in the initialization state, it means that these preparation work may not be completed, and the VCU will judge that the vehicle high-voltage power-on condition is not met, and will not issue the subsequent high-voltage contactor closing instruction, so that the high-voltage loop cannot be established, and the VCU cannot perform the high-voltage power-on action.

[0060] The premise for the power system to perform the high-voltage power-off action is that the system state is clear and controllable, that is, usually in the case that the motor controller is in the high-voltage power-off state or the hibernation state, the high-voltage power-off action is performed. Specifically, in the case that the motor controller is in the high-voltage power-off state, the high-voltage loop is usually disconnected, and the residual energy is released before the power-off action is performed; in the case that the motor controller is in the hibernation state, since the motor controller itself has no high voltage, it can be directly maintained at low power consumption. If the motor controller is stuck in the initialization state, the motor controller has not established a complete high-voltage loop, and has not returned to the hibernation state, the VCU cannot determine the state of the motor controller, and cannot perform the high-voltage power-off action.

[0061] In step 103, as described above, in the case that the motor controller does not switch to the high-voltage power-on state within the preset time, it may be that the motor controller is stuck in the initialization state. In order to ensure the safety of the high-voltage system of the vehicle and the subsequent normal operation, active intervention can be performed for this case, and specifically, the motor controller can be controlled to switch from the current state to the discharge state to release the potential residual high voltage and avoid safety risks.

[0062] The above discharge state refers to a safety state entered by the motor controller in the case of high-voltage power-on failure, also known as "discharge mode". In the discharge state, the residual energy in the high-voltage loop can be actively released to return the high-voltage system to a low-voltage safe level.

[0063] Specifically, in the discharge state, the motor controller can quickly consume the residual high-voltage energy in the high-voltage capacitor and high-voltage line through the internal discharge loop, so that the voltage in the motor controller and the associated high-voltage loop is reduced to a safe range (such as below 12V), thereby reducing the risk of electric shock or short circuit caused by high-voltage residue.

[0064] Generally, there are two cases in which the motor controller fails to switch to the high-voltage power-on state. In the first case, the motor controller is in the process of initialization, and the vehicle triggers a fault protection due to an accident (such as a collision accident). At this time, the motor controller is usually prohibited from performing a high-voltage power-on action, resulting in a conflict in operation instructions (i.e., the motor controller does not know what operation to perform), which in turn causes the motor controller to fail to switch to the high-voltage power-on state. In the second case, the motor controller itself is in the process of initialization and appears to be "dead" (such as hardware failure, software exception, etc.), directly causing the state switching to stagnate and fail to jump out of the initialization state, i.e., to be stuck in the initialization state and fail to switch to the high-voltage power-on state.

[0065] Based on this, the embodiments of the present application can control the motor controller to switch from the current state to the discharge state in different ways according to the above two cases.

[0066] In some embodiments, the motor controller is controlled to switch from the current state to the discharge state, including: determining whether the motor controller has switched to a fault state; if the motor controller has switched to the fault state, controlling the motor controller to switch from the fault state to the discharge state if a preset condition is met; and the preset condition is used to determine the authenticity of the fault state; and if the motor controller has not switched to the fault state, controlling the motor controller to switch from the current state to the discharge state.

[0067] It can be understood that, taking the collision accident of the vehicle as an example, generally, the collision sensor in the vehicle will upload a collision signal to the related controller when detecting that the vehicle has collided, and the controller will also generate a collision fault code. In the process of initialization of the motor controller, self-diagnosis and fault detection are usually required, and the motor controller may read the collision fault code at this time. When the collision fault code is read, the motor controller is usually prohibited from performing a high-voltage power-on action, so the motor controller switches from the current state to the fault state.

[0068] That is, in the case where the motor controller reads the collision fault code, it will automatically switch to the fault state. At this time, because the motor controller is in the fault state, it cannot switch to the high-voltage power-on state.

[0069] If the motor controller itself "freezes" (such as hardware failure, software exception, etc.) during the initialization process, it will cause the high-voltage power-on action to be unable to continue to be executed, and then be stuck in the initialization state and unable to jump out autonomously. At this time, the motor controller cannot establish normal communication with the VCU due to "freezing", and the VCU cannot obtain its real state in real time, so it cannot issue targeted control instructions, causing the state of the motor controller to be stuck in the initialization state all the time. In addition, the motor controller cannot receive the instructions issued by the VCU, and cannot autonomously trigger state switching, i.e., cannot switch from the initialization state to the fault state.

[0070] Therefore, the embodiments of the present application can determine which of the two situations introduced in the above embodiments the current situation belongs to by judging whether the motor controller has switched to the fault state, and then control the motor controller to switch from the current state to the discharge state in different ways according to the specific situation that the high-voltage power-on state cannot be switched to at present.

[0071] Specifically, in the case where the motor controller has switched to the fault state, it is indicated that the motor controller cannot switch to the high-voltage power-on state at present due to a collision fault of the vehicle (i.e., belongs to the "first situation" in the above embodiments), and at this time the VCU can judge whether the preset condition is met, and in the case where the preset condition is met, control the motor controller to switch from the fault state to the discharge state.

[0072] The above preset condition is specifically used to determine the authenticity of the fault state, i.e., in the case where the preset condition is met, it is determined that the fault state of the motor controller is a real fault state, and otherwise, in the case where the preset condition is not met, it is determined that the fault state of the motor controller is a non-real fault state.

[0073] In some embodiments, if the preset condition is met, the motor controller is controlled to switch from the fault state to the discharge state, including: judging whether a first fault signal is received; wherein the first fault signal is consistent with the trigger signal of the fault state; and in the case where the first fault signal is received, the motor controller is controlled to switch from the fault state to the discharge state.

[0074] As described above, the collision sensor in the vehicle will generally upload a collision signal to the related controller when detecting that the vehicle has collided, and the controller will also generate a collision fault code, which can be received by the motor controller and also by the VCU.

[0075] Based on this, the VCU can judge whether a first fault signal consistent with the trigger signal of the fault state of the motor controller is received, and in the case where the first fault signal is received, it can be determined that the fault state entered by the motor controller is real, and then the motor controller can be controlled to switch from the fault state to the discharge state.

[0076] If the VCU does not receive the first fault signal, it indicates that the fault state entered by the motor controller is not real, and the motor controller is controlled to switch from the current false fault state to the initialization state, and a "fault invalid" signal is reported, and the fault code corresponding to the false fault is cleared, and then the initialization verification is re-executed according to the normal process. If there is no exception after re-initialization, the motor controller is allowed to respond to the high-voltage power-on command sent by the VCU subsequently.

[0077] The above method can further confirm the authenticity of the fault state through signal consistency verification by judging whether the first fault signal consistent with the trigger signal of the fault state is received, avoid misjudgment caused by interference signals, false triggering, and the like, and improve the accuracy of the judgment. In the case where the first fault signal is received, the motor controller is controlled to switch from the fault state to the discharge state, which can completely release the residual energy of the high-voltage loop, avoid the safety risk caused by the residual high voltage in the fault state, and promote the motor controller to switch from the fault state to the safe state, thereby laying a foundation for subsequent fault clearing and power system restart.

[0078] Further, in the case where the motor controller does not switch to the fault state, it indicates that the motor controller is currently unable to switch to the high-voltage power-on state due to its own state being stuck (i.e., belonging to the "second case" in the above embodiment), and at this time, the VCU can control the motor controller to switch from the fault state to the discharge state.

[0079] In some embodiments, in the case where the motor controller does not switch to the fault state, the motor controller is controlled to switch from the current state to the discharge state, including: in the case where the motor controller does not switch to the fault state, obtaining the current voltage of the motor controller; based on the current voltage, the motor controller is controlled to switch from the current state to the discharge state.

[0080] It can be understood that, as described above, if the motor controller does not switch to the fault state, it indicates that the current may be caused by the motor controller itself being stuck in the initialization state due to a fault, and unable to switch to the high-voltage power-on state. At this time, in order to ensure the safety of the high-voltage system, the motor controller can be controlled to switch from the current state to the discharge state.

[0081] Further, during the vehicle power-on process, the motor controller usually relies on the high-voltage power supply to complete the initialization. If the motor controller fails to detect an effective high-voltage bus voltage during the execution of the initialization, the motor controller can not be able to distinguish whether this situation is caused by the power battery being discharged or caused by the vehicle high-voltage system not being activated (i.e., the VCU not closing the main relay). In the absence of external coordination signals, to avoid triggering safety risks due to false triggering of power devices, the motor controller will remain in the initialization state and refuse to respond to high-power control requests.

[0082] If the VCU directly issues an instruction to enter the discharging state to the motor controller at this time, and the motor controller currently does not have a high-voltage environment and lacks a high-voltage power supply required to perform the discharging operation, neither the discharging operation nor the signal indicating the completion of the discharging operation can be sent to the VCU. In this case, the motor controller may be stuck in the initialization state due to state machine conflict or timeout protection, and thus cannot respond to any subsequent control instructions sent by the VCU, resulting in abnormal vehicle power function.

[0083] Based on this, the embodiments of the present application can first obtain the current voltage of the motor controller before the VCU issues a discharging-related instruction, and then control the motor controller to switch from the current state to the discharging state in different ways based on the current voltage of the motor controller.

[0084] The current voltage of the motor controller is used to represent the actual voltage level of the high-voltage loop, which can usually be obtained by an internal high-voltage sampling circuit, and can be collected by a voltage sensor.

[0085] The above method, by obtaining the current voltage of the motor controller, can know the real voltage environment of the motor controller under the condition that the motor controller has not switched to the fault state, providing accurate judgment basis for subsequent discharging control and avoiding further state sticking of the motor controller due to misoperation. Based on the current voltage, the motor controller is controlled to switch to the discharging state, which can effectively avoid safety risks and ensure the safety of the high-voltage system.

[0086] For example, whether the motor controller is currently in a high-voltage environment can be determined according to the high or low voltage value corresponding to the current voltage, so as to determine how to issue the discharging instruction to the motor controller.

[0087] In some embodiments, the discharging state includes a first discharging state and a second discharging state. The first discharging state indicates that the motor controller performs a discharging action, and the second discharging state indicates that the motor controller does not perform a discharging action. Based on the current voltage, the motor controller is controlled to switch from the current state to the discharging state, including: in the case that the current voltage is greater than or equal to a first preset voltage, the motor controller is controlled to switch from the current state to the first discharging state; and in the case that the current voltage is less than the first preset voltage, the motor controller is controlled to switch from the current state to the second discharging state.

[0088] The first discharging state refers to a real discharging state indicating that the motor controller performs a discharging action, and the second discharging state refers to a virtual safety state indicating that the motor controller does not need to discharge.

[0089] It can be understood that in the case that the motor controller has high voltage needs to be released, the motor controller can be controlled to enter the above-mentioned first discharge state, which can completely eliminate the residual high voltage and reduce the risk of electric shock and short circuit; in the case that the motor controller is in a state without high voltage to be discharged, in order to ensure the logic closed loop, the motor controller can be controlled to enter the above-mentioned second discharge state, which can avoid the state of the motor controller from being stuck, and by controlling the motor controller to switch to the second discharge state, the motor controller can be helped to jump out of the stuck initialization state.

[0090] For example, the above-mentioned first preset voltage can be set according to actual needs, for example, the above-mentioned first preset voltage can be set to 30V.

[0091] In the case that the above-mentioned current voltage is greater than or equal to the first preset voltage, it indicates that the motor controller has currently established a high voltage environment, and needs to perform a discharge action to release the potential residual high voltage and avoid safety risks. Therefore, the motor controller can be controlled to enter the first discharge state from the current state.

[0092] In the case that the above-mentioned current voltage is less than the first preset voltage, it indicates that the motor controller is currently not in a high voltage environment and has no high voltage to be discharged, in order to ensure the logic closed loop and avoid the state of the motor controller from being stuck, a state switching instruction can be issued to the motor controller, but at the same time the motor controller is informed that it does not need to perform a discharge action. Therefore, the motor controller can be controlled to enter the second discharge state from the current state.

[0093] For example, assuming that the preset time length is set to 2 seconds and the first preset voltage is set to 30V, in the case that the motor controller has not switched to the fault state but has not switched to the high voltage power-on state within 2 seconds, it indicates that the motor controller may be stuck in the initialization state. At this time, the current voltage of the motor controller can be obtained, if the current voltage of the motor controller is obtained as 200V, it indicates that the current motor controller has been in a high voltage environment, in order to ensure the safety of the vehicle, the VCU can issue an instruction to the motor controller to enter the first discharge state, and after receiving the instruction, the motor controller can start to perform a discharge action and report to the VCU that it has entered the discharge state; If the current voltage of the motor controller is obtained as 0V, it indicates that the current motor controller is not in a high voltage environment and has no high voltage to be discharged, in order to ensure the logic closed loop, the VCU can issue an instruction to the motor controller to enter the second discharge state, and after receiving the instruction, the motor controller can not perform a discharge action and directly report to the VCU that it has entered the discharge state.

[0094] The method can control the motor controller to enter different discharge states based on the size relationship between the current voltage of the motor controller and the first preset voltage, can realize control on different scenes, and ensures the integrity of the scheme; in the case that the current voltage is greater than or equal to the first preset voltage, the motor controller can be controlled to switch from the current state to the first discharge state indicating the motor controller to perform a discharge action, so that the discharge action can be performed in time when there is residual high voltage in the high-voltage loop, the high-voltage hidden danger can be completely eliminated, and the safety of the high-voltage system is ensured; in the case that the current voltage is less than the first preset voltage, the motor controller can be controlled to switch from the current state to the first discharge state indicating the motor controller not to perform a discharge action, so that in the scene without high voltage to be discharged, the state of the motor controller can be terminated by controlling the switching of the state of the motor controller, the state of the motor controller is promoted to flow normally, the motor controller is informed that no action needs to be performed, the logic closed loop is ensured, and the invalid power consumption is reduced.

[0095] Further, in the case that the motor controller is in the discharge state, it can be judged whether there is a fault signal in the vehicle at present, and in the case that there is no fault signal in the vehicle, since the power system has not successfully completed high-voltage power-on, the motor controller can be controlled again to perform a high-voltage power-on action to complete the high-voltage power-on of the power system.

[0096] In some embodiments, after the motor controller is controlled to switch from the current state to the discharge state, the method further comprises: in the case that the motor controller is in the discharge state, judging whether there is a second fault signal in the vehicle at present and whether the current voltage of the motor controller is less than a second preset voltage; wherein the second fault signal is a fault signal in the vehicle preventing the motor controller from performing a high-voltage power-on action; in the case that it is determined that there is no fault signal at present and the current voltage is less than the second preset voltage, the motor controller is controlled to switch from the discharge state to the initialization state, and the motor controller of the vehicle is controlled again to perform a high-voltage power-on action.

[0097] The second fault signal refers to any one or more fault signals in the vehicle preventing the motor controller from performing a high-voltage power-on action. The second fault signal can be the same as the first fault signal or different from the first fault signal.

[0098] For example, the second preset voltage can be set according to actual needs, such as 0 V.

[0099] Specifically, in the case that the motor controller is in the discharging state, it can be determined whether the condition for controlling the motor controller to perform the high-voltage power-on action again is met at present, so it can be determined whether the second fault signal exists in the vehicle at present and whether the current voltage of the motor controller is less than the second preset voltage. In the case that it is determined that no fault signal exists in the vehicle at present and the current voltage is less than the second preset voltage, it indicates that there is no fault signal preventing the motor controller from performing the high-voltage power-on action at present, and the motor controller has been discharged at present, so the motor controller can be controlled to switch from the discharging state to the initialization state, so as to control the motor controller to perform the high-voltage power-on action again.

[0100] In some embodiments, the motor controller is controlled to switch from the discharging state to the initialization state, and specifically, the motor controller can be controlled to recover from the discharging state to the state before entering the discharging state.

[0101] For example, if the motor controller enters the discharging state from the fault state, the motor controller can be controlled to recover from the discharging state to the fault state and then switch from the fault state to the initialization state; if the motor controller enters the discharging state from the initialization state, the motor controller can be directly controlled to switch from the discharging state to the initialization state.

[0102] Further, after the motor controller switches to the initialization state, the VCU can send the high-voltage power-on instruction to the motor controller again, so that the motor controller performs the high-voltage power-on action after receiving the high-voltage power-on instruction, and continues to perform the related steps of the above embodiments until the motor controller switches to the high-voltage power-on state.

[0103] The above method, in the case that the motor controller is in the discharging state, can accurately determine whether the motor controller can be controlled to perform the high-voltage power-on action again by determining whether the signal preventing the motor controller from performing the high-voltage power-on action exists in the vehicle at present and whether the current voltage of the motor controller is less than the second preset voltage, so as to ensure the safety and reliability of the restart of the power-on process; in the case that it is determined that no second fault signal exists at present and the current voltage is less than the second preset voltage, it indicates that there is no fault in the vehicle at present preventing the motor controller from performing the high-voltage power-on action, and there is no residual power in the high-voltage loop, so the motor controller can be controlled to perform the high-voltage power-on action again, and the motor controller is controlled to switch from the discharging state to the initialization state, which provides a basis for the motor controller to perform the high-voltage power-on action again, and further ensures the safety and reliability of the power-on process.

[0104] Figure 2 is a schematic diagram of a state switching path of a motor controller provided by an embodiment of the present application.

[0105] For example, Figure 2As shown, the states of the motor controller generally include: a first sleep state, a first initialization state, a fault state, a high-voltage power-on state, and a discharge state.

[0106] The first sleep state refers to a state in which the internal high-voltage loop of the motor controller is disconnected, the core circuit is not powered on, and no response is given to any work instructions (such as driving instructions, power generation instructions), also known as "first OFF mode".

[0107] The first initialization state refers to a transition state of the motor controller after being woken up from the sleep state, which is a state between the sleep state and the high-voltage power-on state, also known as "first INIT mode". In the initialization state, the motor controller will first connect the low-voltage power supply, perform self-diagnosis (detect whether the hardware and software are normal), and establish communication connection with the VCU, while preparing the pre-processes such as pre-charging and insulation detection of the high-voltage loop, to prepare for high-voltage power-on.

[0108] The fault state refers to a safe locking state entered by the motor controller after detecting a fault code (such as a collision fault code), also known as "Error mode".

[0109] The high-voltage power-on state refers to the working state of the motor controller when it is ready, which is the state after the initialization is completed and the vehicle high-voltage system verification is passed, also known as "high-voltage mode". In the high-voltage power-on state, the high-voltage switch of the motor controller is closed and the high-voltage loop is established, at this time the motor controller can receive the instructions of the VCU, such as driving instructions sent by the VCU, and can control the motor output torque according to the accelerator pedal signal.

[0110] The discharge state refers to a safe state entered by the motor controller due to abnormal state stagnation, also known as "discharge mode".

[0111] The states of the VCU generally include: a second sleep state, a second initialization state, a power-on state, a ready state, a running state, and a power-off state.

[0112] The second sleep state refers to a low-power standby state of the vehicle after the engine is turned off, which is the default state after the vehicle is stopped, also known as "OFF mode".

[0113] The second initialization state refers to a preparation state of the VCU after being woken up, performing self-checking and establishing system communication, also known as "second INIT mode".

[0114] The power-on state refers to a transition state of the VCU after the initialization is completed, which activates the vehicle high-voltage system, also known as "Power up mode".

[0115] Ready state refers to the state that the high-voltage system is activated successfully, the whole vehicle enters the standby state that can run, and waits for the operation instruction of the driver, also known as "ready mode".

[0116] Run state refers to the state that the operation instruction of the driver is received, and the power output of the whole vehicle is coordinated in real time, also known as "Run mode".

[0117] Power down state refers to the transition state that the VCU promotes the system to exit safely after the whole vehicle stops running (such as engine off, power-off request), also known as "Power down mode".

[0118] Specifically, in the case that the VCU is in the second sleep state, the low-voltage power supply is disconnected, and there is no instruction output, at this time the motor controller is in the first sleep state; In the case that the VCU is in the second initialization state, low-voltage wake-up is usually performed, self-initialization is performed, and low-voltage communication with the motor controller is established, at this time the motor controller is in the first initialization state; In the case that the VCU is in the power-on state, a high-voltage power-on instruction is usually issued, the high-voltage contactor is controlled to be closed, high-voltage pre-charging is completed, and the safety state of the high-voltage system is detected, at this time the motor controller is switched from the first initialization state to the high-voltage power-on state through the T1 path in the figure; Figure 2 In the case that the VCU is in the power-on state, a high-voltage power-on instruction is usually issued, the high-voltage contactor is controlled to be closed, high-voltage pre-charging is completed, and the safety state of the high-voltage system is detected, at this time the motor controller is switched from the first initialization state to the high-voltage power-on state through the T1 path in the figure; In the case that the VCU is in the ready state, the high-voltage system detection has passed, and the ready instruction can be issued to the motor controller to make the whole vehicle enter the standby state that can run, at this time the motor controller is in the high-voltage power-on state; In the case that the VCU is in the run state, the operation instruction sent by the driver can be received, and the power control instruction can be issued to the motor controller based on the operation instruction to coordinate the power output of the whole vehicle, at this time the motor controller is in the high-voltage power-on state; In the case that the VCU is in the power down state, the high-voltage power down instruction can be issued, the high-voltage contactor is controlled to be disconnected, and the motor controller is instructed to release the residual high voltage, at this time the motor controller starts to power down from the high-voltage power-on state.

[0119] For example, as shown in the figure, in the case that the motor controller (MCU in the figure) receives the high-voltage power-on instruction, it usually first enters the first initialization state through the T0 path from the first sleep state, and then enters the high-voltage power-on state through the T1 path from the first initialization state. Figure 2

[0120] ​In the case that the motor controller is in the first initialization state, if the motor controller detects a fault code, the motor controller enters the fault state from the first initialization state via the T2 path, and if an instruction to enter the discharge state sent by the VCU is received, the motor controller enters the discharge state from the fault state via the T5 path.

[0121] In the case that the motor controller is in the first initialization state, if the motor controller itself has a problem such as “freezing” (e.g., hardware failure, software exception, etc.) during the initialization process, the motor controller cannot jump out of the first initialization state, and if an instruction to enter the discharge state sent by the VCU is received, the motor controller enters the discharge state from the first initialization state via the T6 path.

[0122] In addition, in the case that the motor controller is in the discharge state, the VCU can continue to determine whether the conditions for controlling the motor controller to re-execute the high-voltage power-on action are met (i.e., whether the second fault signal exists in the vehicle and whether the current voltage of the motor controller is less than the second preset voltage), and in the case that the conditions for controlling the motor controller to re-execute the high-voltage power-on action are met, the VCU can send a state switching instruction to the motor controller according to the state of the motor controller before entering the discharge state, so that the motor controller performs state switching.

[0123] If the motor controller was in the fault state before entering the discharge state, in the case that the motor controller has completed the discharge action and there is no fault signal preventing the motor controller from executing the high-voltage power-on action (i.e., the current voltage is less than the second preset voltage and there is no second fault signal), an instruction is sent to the motor controller to restore to the fault state and switch from the fault state to the first initialization state. After receiving the instruction, the motor controller can switch from the discharge state to the fault state and enter the first initialization state from the fault state via the T3 path.

[0124] If the motor controller was in the initialization state before entering the discharge state, in the case that the motor controller has completed the discharge action and there is no fault signal preventing the motor controller from executing the high-voltage power-on action (i.e., the current voltage is less than the second preset voltage and there is no second fault signal), an instruction is sent to the motor controller to restore to the first initialization state. After receiving the instruction, the motor controller can enter the first initialization state from the discharge state via the T7 path.

[0125] In the case that the motor controller is in the high-voltage power-on state, if the VCU detects a fault signal preventing the motor controller from executing the high-voltage power-on action, the VCU can send an instruction to the motor controller to switch to the fault state. After receiving the instruction, the motor controller can enter the fault state from the high-voltage power-on state via the T4 path.

[0126] Figure 3 Fig. 1 is a schematic structural diagram of a control device of a vehicle according to an embodiment of the present application.

[0127] As shown in Fig. 1, the device 300 comprises: Figure 3 A first control module 301, configured to, in a case where a high-voltage power-on instruction of the vehicle is received, control a motor controller of the vehicle to perform a high-voltage power-on action.

[0128] A judgment module 302, configured to judge whether the motor controller switches to a high-voltage power-on state within a preset time length.

[0129] A second control module 303, configured to, in a case where the motor controller does not switch to the high-voltage power-on state within the preset time length, control the motor controller to switch from a current state to a discharge state.

[0130] In some embodiments, the second control module is specifically configured to: judge whether the motor controller has switched to a fault state; in a case where the motor controller has switched to the fault state, control the motor controller to switch from the fault state to the discharge state if a preset condition is met; and in a case where the motor controller has not switched to the fault state, control the motor controller to switch from the current state to the discharge state; wherein the preset condition is used to determine authenticity of the fault state.

[0131] In some embodiments, the second control module comprises a first control unit, which is specifically configured to: judge whether a first fault signal is received; wherein the first fault signal is consistent with a trigger signal of the fault state; and in a case where the first fault signal is received, control the motor controller to switch from the fault state to the discharge state.

[0132] In some embodiments, the second control module comprises a second control unit, which is specifically configured to: in a case where the motor controller has not switched to the fault state, acquire a current voltage of the motor controller; and based on the current voltage, control the motor controller to switch from the current state to the discharge state.

[0133] In some embodiments, the discharge state comprises a first discharge state and a second discharge state, the first discharge state instructs the motor controller to perform a discharge action, and the second discharge state instructs the motor controller not to perform the discharge action, and the second control unit is specifically configured to: in a case where the current voltage is greater than or equal to a first preset voltage, control the motor controller to switch from the current state to the first discharge state; and in a case where the current voltage is less than the first preset voltage, control the motor controller to switch from the current state to the second discharge state.

[0134] ​In some embodiments, the determining module is specifically configured to: determine whether a high-voltage power-on completion signal sent by the motor controller is received within a preset time length; and in a case where the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, determine that the motor controller has not switched to the high-voltage power-on state within the preset time length.

[0135] In some embodiments, the apparatus further includes a third control module, which is specifically configured to: in a case where the motor controller is in the discharging state, determine whether a second fault signal currently exists in the vehicle and determine whether a current voltage of the motor controller is less than a second preset voltage; wherein the second fault signal is a fault signal that prevents the motor controller from performing the high-voltage power-on action in the vehicle; and in a case where it is determined that the second fault signal does not currently exist and the current voltage is less than the second preset voltage, control the motor controller to switch from the discharging state to the initialization state, and control the motor controller of the vehicle to perform the high-voltage power-on action again.

[0136] Figure 4 FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application.

[0137] For example, as shown in FIG. 4, the electronic device 400 includes a memory 401 and a processor 402, wherein the memory 401 stores executable program code 4011, and the processor 402 is configured to invoke and execute the executable program code 4011 to perform a control method of a vehicle. Figure 4

[0138] In addition, an apparatus provided by an embodiment of the present application can include a memory and a processor, wherein the memory stores executable program code, and the processor is configured to invoke and execute the executable program code to perform a control method of a vehicle provided by an embodiment of the present application.

[0139] The embodiment can divide the apparatus into functional modules according to the above method examples, for example, corresponding to each functional module, or two or more functions can be integrated into one processing module, and the above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in the embodiment is illustrative, and is only a logical function division, and another division mode can be used in actual implementation.

[0140] In a case where each functional module is divided according to each function, the apparatus can further include a first control module, a determining module, and a second control module. It should be noted that all related contents of each step involved in the above method embodiments can be referred to the function description of the corresponding functional module, and will not be repeated here.

[0141] ​It should be understood that the apparatus provided by the embodiment is used to execute the vehicle control method described above, and thus the same effects as the implementation method described above can be achieved.

[0142] In the case of using the integrated unit, the apparatus can include a processing module, a storage module. When the apparatus is applied to a vehicle, the processing module can be used to control and manage the actions of the vehicle. The storage module can be used to support the vehicle to execute relevant program codes and data, etc.

[0143] The processing module can be a processor or a controller, which can implement or execute various exemplary logical blocks, modules and circuits shown in conjunction with the disclosure of the present application. The processor can also be a combination of computing functions, such as including one or more microprocessor combinations, combinations of digital signal processing (digital signal processing, DSP) and microprocessor, etc., and the storage module can be a memory.

[0144] In addition, the apparatus provided by the embodiment of the present application can be a chip, a component or a module, which can include a connected processor and a memory; wherein the memory is used to store instructions, when the processor calls and executes the instructions, the chip can execute the vehicle control method provided by the above-mentioned embodiment.

[0145] The embodiment also provides a vehicle, which includes an electronic device for executing the vehicle control method provided by the above-mentioned embodiment.

[0146] The embodiment also provides a non-volatile storage medium, which stores computer program codes, when the computer program codes run on a computer, the computer executes the above-mentioned related method steps to implement the vehicle control method provided by the above-mentioned embodiment.

[0147] The embodiment also provides a computer program product, when the computer program product runs on a computer, the computer executes the above-mentioned related steps to implement the vehicle control method provided by the above-mentioned embodiment.

[0148] The apparatus, non-volatile storage medium, computer program product or chip provided by the embodiment are used to execute the corresponding method provided above, and thus the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding method provided above, which will not be repeated here.

[0149] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is exemplified, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0150] In the embodiments provided in the present application, it should be understood that the disclosed device and method can be implemented in other ways. For example, the device embodiments described above are only illustrative, for example, the division of the modules or units is only a logical function division, and in actual implementation, there can be another division manner, for example, a plurality of units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed ones can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method of a vehicle, characterized by, The method comprises: In the case of receiving a high-voltage power-on instruction of the vehicle, controlling the motor controller of the vehicle to perform a high-voltage power-on action; Determine whether the motor controller switches to a high-voltage power-on state within a preset time length; In the case where the motor controller does not switch to a high-voltage power-on state within the preset time length, control the motor controller to switch from the current state to a discharge state.

2. The method of claim 1, wherein, The control of the motor controller from the current state to the discharge state comprises: Determine whether the motor controller has switched to a fault state; In the case where the motor controller has switched to a fault state, if a preset condition is met, control the motor controller to switch from the fault state to a discharge state; wherein the preset condition is used to determine the authenticity of the fault state; In the case where the motor controller does not switch to a fault state, control the motor controller to switch from the current state to a discharge state.

3. The method of claim 2, wherein, The control of the motor controller from the fault state to the discharge state if the preset condition is met comprises: Determine whether a first fault signal is received; wherein the first fault signal is consistent with the trigger signal of the fault state; In the case where the first fault signal is received, control the motor controller to switch from the fault state to the discharge state.

4. The method of claim 2, wherein, The control of the motor controller from the current state to the discharge state in the case where the motor controller does not switch to a fault state comprises: In the case where the motor controller does not switch to a fault state, obtain the current voltage of the motor controller; Based on the current voltage, control the motor controller to switch from the current state to the discharge state.

5. The method of claim 4, wherein, The discharge state comprises a first discharge state and a second discharge state, the first discharge state indicates that the motor controller performs a discharge action, and the second discharge state indicates that the motor controller does not perform a discharge action, and the control of the motor controller from the current state to the discharge state based on the current voltage comprises: In the case where the current voltage is greater than or equal to a first preset voltage, control the motor controller to switch from the current state to the first discharge state; In the case where the current voltage is less than the first preset voltage, control the motor controller to switch from the current state to the second discharge state.

6. The method of claim 1, wherein, The determination of whether the motor controller switches to a high-voltage power-on state within the preset time length comprises: Determine whether a high-voltage power-on completion signal sent by the motor controller is received within the preset time length; In the case where the high-voltage power-on completion signal sent by the motor controller is not received within the preset time length, it is determined that the motor controller does not switch to a high-voltage power-on state within the preset time length.

7. The method according to any one of claims 1 to 5, characterized in that, After the control of the motor controller from the current state to the discharge state, the method further comprises: In a case where the motor controller is in the discharging state, it is determined whether a second fault signal currently exists in the vehicle, and whether a current voltage of the motor controller is less than a second preset voltage; wherein the second fault signal is a fault signal that prevents the motor controller from performing a high-voltage power-on action in the vehicle; In a case where it is determined that the second fault signal currently does not exist and the current voltage is less than the second preset voltage, the motor controller is controlled to switch from the discharging state to an initialization state, and the motor controller of the vehicle is controlled again to perform the high-voltage power-on action.

8. An electronic device, comprising: The electronic device comprises: a memory for storing executable program code; a processor for calling and running the executable program code from the memory, so that the electronic device executes the method according to any one of claims 1 to 7.

9. A vehicle characterized by comprising: The vehicle comprises an electronic device for executing the method according to any one of claims 1 to 7.

10. A non-volatile storage medium, characterized by, The non-volatile storage medium stores a computer program, which, when executed, implements the method according to any one of claims 1 to 7.

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