Battery pack falling method, device and equipment based on environment recognition and storage medium

Abstract

The invention discloses a battery pack falling-off method, device and equipment based on environment recognition and a storage medium, relates to the technical field of battery safety management, and discloses a battery pack falling-off method based on environment recognition, which comprises the following steps: acquiring environment data, battery temperature, smoke concentration and battery pack pressure; determining a target early warning grade according to any one of the battery temperature, the smoke concentration and the battery pack pressure; according to the target early warning level and the environmental data, determining whether the battery pack meets a preset safe falling condition; and when the battery pack meets the preset safe falling condition, the battery pack is controlled to be separated from the vehicle. Safety falling control of the battery pack based on environment identification and multi-parameter early warning is realized, and safety management of the battery is guaranteed.

Description

Technical Field

[0001] This application relates to the field of battery safety management technology, and in particular to a method, apparatus, device and storage medium for battery pack detachment based on environmental identification. Background Technology

[0002] During operation or parking, the power battery packs of new energy vehicles operate under high energy density, high load, and prolonged periods. In extreme cases, this can lead to dangerous signs such as a rapid increase in temperature or pressure, or the release of flammable gases, potentially triggering thermal runaway. Once thermal runaway occurs, the temperature spreads rapidly and may cause the battery pack casing to rupture or emit flames, posing a serious threat to the vehicle, occupants, and the surrounding environment. In dense traffic environments, urban underground spaces, highways, and scenarios near flammable areas, thermal runaway not only endangers the vehicle itself but also creates significant third-party risks.

[0003] Given the aforementioned safety context, traditional technologies generally rely on monitoring single signals such as battery temperature or smoke to trigger protective actions. Some solutions use cooling structures to slow down temperature rise, others use mechanical structures to detach the battery pack from the vehicle, and still others rely solely on manual emergency procedures performed by occupants. However, these traditional methods are all based on fixed thresholds and single-path judgments, failing to adequately assess safety conditions in complex environments, thus making it difficult to ensure effective handling in dangerous situations.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a method, apparatus, device, and storage medium for battery pack detachment based on environmental identification, aiming to solve the technical problem of difficulty in ensuring the effective disposal of battery packs in dangerous situations.

[0006] To achieve the above objectives, this application proposes a battery pack detachment method based on environmental recognition, the method comprising: Acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; The target warning level is determined based on any one of the battery temperature, the smoke concentration, and the battery pack pressure. Determine whether the battery pack meets the preset safe detachment conditions based on the target warning level and the environmental data; When the battery pack meets the preset safety detachment conditions, the battery pack is controlled to detach from the vehicle.

[0007] In addition, to achieve the above objectives, this application also proposes a battery pack detachment device based on environmental recognition, the battery pack detachment device based on environmental recognition includes: a data acquisition module, used to acquire environmental data, battery temperature, smoke concentration and battery pack pressure; The rating module is used to determine the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure. The condition determination module is used to determine whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data; A battery pack detachment module is used to control the battery pack to detach from the vehicle when the battery pack meets preset safety detachment conditions.

[0008] In addition, to achieve the above objectives, this application also proposes a battery pack detachment device based on environmental recognition, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the battery pack detachment method based on environmental recognition as described above.

[0009] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the battery pack detachment method based on environment recognition as described above.

[0010] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the battery pack detachment method based on environmental recognition as described above.

[0011] One or more technical solutions proposed in this application have at least the following technical effects: This technology addresses several issues by acquiring environmental data and data on battery temperature, smoke concentration, and battery pack pressure. It determines the target warning level based on these parameters, then combines the warning level with environmental data to assess whether the battery pack meets preset safety detachment conditions. Finally, it controls the battery pack to detach from the vehicle when these conditions are met. This solves the problem that existing technologies often rely on a single parameter to trigger battery pack detachment and fail to integrate environmental data and multiple battery state parameters for tiered judgment. This can lead to battery pack detachment in unsafe environments such as those with obstacles or flammable sources, or false or missed detachments due to inaccurate warnings. Compared to existing technologies, this new technology, which uses a multi-state parameter-based tiered warning system combined with environmental data for safety assessment, controls battery pack detachment only when the battery risk level matches and the environment is safe. This significantly improves the accuracy of battery pack detachment control and reduces the risk of secondary safety issues caused by improper detachment environments or warning deviations. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a flowchart illustrating an embodiment of the battery pack detachment method based on environmental recognition in this application. Figure 2 This is a structural diagram of the power battery pack emergency detachment control system provided in Embodiment 1 of the battery pack detachment method based on environmental recognition in this application; Figure 3 This is a schematic diagram of the dynamic energy allocation control process provided in Embodiment 1 of the battery pack detachment method based on environmental recognition in this application. Figure 4 This is a flowchart illustrating Embodiment 2 of the battery pack detachment method based on environmental recognition in this application. Figure 5 A simplified flowchart illustrating the battery pack detachment method based on environmental recognition provided in Embodiment 2 of this application; Figure 6 This is a schematic diagram of the module structure of the battery pack detachment device based on environmental recognition according to an embodiment of this application; Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the battery pack detachment method based on environmental recognition in the embodiments of this application.

[0015] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0016] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0017] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0018] The main solution of this application embodiment is: to acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; to determine a target warning level based on any one of the battery temperature, smoke concentration, and battery pack pressure; to determine whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data; and to control the battery pack to detach from the vehicle when the battery pack meets the preset safety detachment conditions.

[0019] In this embodiment, for ease of description, the following description will focus on identifying a battery pack detachment device based on environmental recognition.

[0020] Since existing technologies cannot ensure the effective handling of battery packs in dangerous situations, this application provides a solution. By acquiring environmental data and data on battery temperature, smoke concentration, and battery pack pressure, and then determining the target warning level based on these data, the solution combines the target warning level with environmental data to determine whether the battery pack meets preset safety detachment conditions. Finally, when the conditions are met, the battery pack is controlled to detach from the vehicle. This addresses the problem that existing technologies often rely on a single parameter to trigger battery pack detachment and lack the integration of environmental data and multiple battery state parameters for graded judgment. This can easily lead to battery pack detachment in unsafe environments such as those with obstacles or flammable sources, or false or missed detachment due to inaccurate warnings. Compared to existing technologies, this solution, through graded warnings based on multiple battery state parameters combined with environmental data for safety judgment, achieves control of battery pack detachment only when the battery risk level matches and the environment is safe. This effectively improves the accuracy of battery pack detachment control and reduces the secondary safety risks caused by improper detachment environments or warning deviations.

[0021] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as an environment-based battery pack detachment device. The following description uses an environment-based battery pack detachment device as an example to illustrate this embodiment and the subsequent embodiments.

[0022] Based on this, embodiments of this application provide a battery pack detachment method based on environmental recognition, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the battery pack detachment method based on environmental recognition in this application.

[0023] In this embodiment, the battery pack detachment method based on environmental recognition includes steps S10~S40: Step S10: Acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; It should be noted that the environmental data is used to assess the environmental safety of the battery pack detachment. This includes information on obstacles in a specific area directly below the battery pack, information on flammable and explosive sources in the surrounding area, and ground bearing capacity data. This data can be collected by devices such as lidar, infrared cameras, and suspension pressure sensors to provide environmental basis for subsequent safety assessments.

[0024] In addition, battery temperature is data that reflects the internal thermal state of the battery and can directly indicate whether there is a risk of thermal runaway. It is usually collected by thermocouples arranged in a specific array. For example, in some scenarios, data such as cell temperature of 75°C or local high temperature of 100°C can be collected, which provides a basis for judging the thermal safety status of the battery.

[0025] In addition, smoke concentration is a key indicator of whether a battery has experienced thermal runaway. When a fault occurs inside the battery and smoke is generated, the smoke concentration will increase accordingly, and its value can be used as a basis for judging the degree of battery failure.

[0026] Furthermore, battery pack pressure is data reflecting the pressure of the battery pack; when the battery experiences thermal runaway, the pressure may increase.

[0027] Understandably, the above four types of data are acquired through preset acquisition devices. Specifically, thermocouple arrays acquire battery temperature data, pressure sensors acquire battery pack pressure data, and dedicated smoke detection equipment acquires smoke concentration data. At the same time, lidar focuses on the area directly below the battery pack to acquire obstacle information, infrared cameras detect surrounding flammable and explosive sources, and suspension pressure sensors acquire wheel-side pressure to infer ground bearing capacity. All the acquired raw data will be filtered by a processor to ensure data accuracy and provide reliable basic data support for subsequent steps.

[0028] Reference Figure 2 , Figure 2 This is a structural diagram of the power battery pack emergency detachment control system of the first embodiment of the battery pack detachment method based on environmental recognition in this application. Figure 2As shown, the emergency detachment control system for the power battery pack is divided into four layers: the perception layer, the decision-making layer, the execution layer, and the protection layer. The perception layer includes thermocouples, thermal imagers, lidar, infrared cameras, and suspension pressure sensors. These sensors monitor battery status and environmental information and transmit the data to the decision-making layer. The decision-making layer consists of a central control unit, a safety judgment algorithm module, and a high-precision map module, responsible for processing the data from the perception layer and outputting control commands. The execution layer includes electromagnetic locks, a hydraulic ejection mechanism, and a buffer pad. It receives commands from the decision-making layer to complete the battery pack detachment action and provides feedback on the execution status. The protection layer consists of a supercapacitor, a power management module, and a bidirectional DC / DC charger, responsible for power supply switching and energy consumption control, ensuring the system continues to operate after a high-voltage power outage.

[0029] The diagram also illustrates the data flow and control process between each layer. The perception layer receives data from multimodal sensors, collecting battery status and environmental information, which is then transmitted to the decision layer for safety assessment. As the core control hub, the decision layer, combined with high-precision maps, performs scene recognition and safety verification, outputting control commands to the execution layer. The execution layer, acting as the action execution end, immediately packages the deviation between the actual detachment trajectory and the planned path, the vehicle's current departure speed and direction, and the real-time location and distance of obstacles ahead captured by the LiDAR into a status frame, sending it back to the decision layer at millisecond intervals. Based on this, the decision layer smoothly corrects the remaining path. If a new obstacle is detected or the original path is blocked, the safety passage is recalculated, and updated steering and speed commands are output to the intelligent driving system to ensure the vehicle continues to move away from the danger zone. The system receives commands from the decision layer to unlock the electromagnetic lock, activate the hydraulic ejection system, and implement buffer protection, while simultaneously providing feedback on the execution status. The backup layer, acting as the energy supply end, enables rapid switching between high-voltage power and backup power. It powers the entire system via supercapacitors, and bidirectional DC / DC chargers complete capacitor charging and energy recovery, feeding back the power supply status to the decision layer. The decision layer then distributes the power supply status as a global state variable to the perception layer. Therefore, the source of the power supply status information received by the perception layer is still the backup layer; it can be considered as the backup layer relaying the power supply status back to the perception layer via the decision layer. This ensures that each sensor adjusts its sampling frequency and power consumption according to the current power supply level. The diagram also illustrates redundant designs, such as redundancy for the lidar and millimeter-wave radar / camera in the perception layer, dual-core backup for the central control unit in the decision layer, and a multi-series-parallel structure for the supercapacitor banks in the backup layer, to improve system reliability.

[0030] Furthermore, the diagram also mentions interaction with the intelligent driving system, including sending alerts and receiving information to the owner's app / 119 emergency services, as well as sending path planning commands to the intelligent driving system to achieve collaborative control. The entire system is designed to achieve safe and rapid detachment of the battery pack in emergency situations such as thermal runaway through multi-dimensional perception, dynamic safety judgment, and coordination with backup power, thereby reducing the risk of third-party accidents and improving control reliability.

[0031] Step S20: Determine the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure; It should be noted that the target warning level is a risk level classified according to battery temperature, smoke concentration and battery pack pressure. It is usually divided into three levels: Level 1, Level 2 and Level 3. Different levels correspond to different degrees of risk of battery thermal runaway. Among them, Level 3 warning represents the highest risk and is the key level that triggers the subsequent safety detachment judgment process.

[0032] Understandably, the system acquires battery temperature, smoke concentration, and battery pack pressure separately, compares each data point with the corresponding warning level's trigger threshold, and determines the target warning level based on the comparison results. For example, if the battery temperature exceeds the third temperature threshold (e.g., 70℃), or the smoke concentration exceeds the smoke concentration threshold (e.g., 0.1 mg / m³), or the battery pack pressure exceeds the third battery pack pressure threshold and the pressurization rate exceeds the corresponding threshold (e.g., pressure 180 kPa and pressurization rate 180 kPa / s), as long as any one of these conditions is met, the target warning level is determined to be the third warning level.

[0033] In one feasible implementation, step S20 may include: the step of determining the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure includes: acquiring a temperature threshold, a heating rate threshold, a temperature gradient difference threshold, a battery pack pressure threshold, a smoke concentration threshold, and a pressure increase rate threshold; determining the current heating rate, the battery pack surface temperature gradient difference, and the local temperature value based on the battery temperature, and determining the current battery pack pressure increase rate based on the battery pack pressure; and determining the target warning level based on the battery temperature, the temperature threshold, the current heating rate, the heating rate threshold, the battery pack surface temperature gradient, the temperature gradient difference threshold, the battery pack pressure, and the battery pack pressure. The battery pack is determined to be at least a first warning level based on at least two of the following: battery pressure threshold, current battery pack boost rate, and boost rate threshold; the battery pack is determined to be at a second warning level based on at least two of the following: battery temperature, temperature threshold, current temperature rise rate, temperature rise rate threshold, smoke concentration, smoke concentration threshold, battery pack pressure, battery pack pressure threshold, current battery pack boost rate, and boost rate threshold; the battery pack is determined to be at a third warning level based on at least two of the following: battery temperature, temperature threshold, local temperature value, battery pack pressure, battery pack pressure threshold, current battery pack boost rate, and boost rate threshold.

[0034] It should be noted that the temperature threshold is a reference value for battery temperature used to distinguish different warning levels. Different numerical ranges are set for different warning levels. In this embodiment, the temperature threshold for the first warning level is 50°C, for the second warning level it is 60°C, and for the third warning level it is 70°C. This threshold is the core basis for judging whether the battery thermal state is abnormal and the degree of abnormality.

[0035] In addition, the heating rate threshold is a benchmark value for measuring how fast the battery temperature rises. Different values ​​are set for different warning levels: 3℃ / min for the first warning level and 5℃ / min for the second warning level. This threshold can be used to determine the development speed of the battery thermal runaway risk and avoid the warning lag caused by relying solely on the static temperature value.

[0036] In addition, the temperature gradient difference threshold is a benchmark value for determining whether the temperature distribution on the surface of the battery pack is uniform. In this embodiment, it is set to 5°C. When the temperature difference between different sampling points on the surface of the battery pack exceeds this threshold, it indicates that there are abnormally high temperature points in the local area of ​​the battery pack, which is one of the early characteristics of thermal runaway.

[0037] In addition, the battery pack pressure threshold is the benchmark value for judging whether the battery pack pressure is abnormal. It can be set to 110kPa, 135kPa and 180kPa in the first, second and third warning levels, respectively. The pressure exceeding the corresponding threshold means that the internal fault of the battery is aggravated.

[0038] In addition, the smoke concentration threshold is the benchmark value for determining whether the battery has generated thermal runaway smoke. In this embodiment, it is set to 0.1 mg / m³. Smoke is a typical signal of the aggravation of internal battery failure. When the detected smoke concentration exceeds this threshold, it can be used as the basis for triggering a higher warning level.

[0039] In addition, the pressure rise rate threshold is a benchmark value for measuring how quickly the battery pack pressure rises. In the first, second, and third warning levels, it is set to 15 kPa / s, 80 kPa / s, and 180 kPa / s, respectively. The faster the pressure rise rate, the faster the internal battery fault develops.

[0040] Furthermore, the current heating rate is a real-time rate value calculated based on battery temperature data collected at different time points. For example, by collecting battery temperatures of 70°C and 75°C at 1-minute intervals, the current heating rate can be calculated to be 5°C / min. This value can dynamically reflect the changing trend of battery temperature and better reflect the development state of thermal runaway risk than static temperature values.

[0041] Furthermore, the temperature gradient difference on the battery pack surface is the temperature difference between different thermocouple sampling points on the battery pack surface. It is calculated from the multi-point temperature data collected by the thermocouple array. For example, if the temperature of a sampling point is 80℃ and the temperature of an adjacent sampling point is 73℃, then the temperature gradient difference is 7℃. This value can help identify whether there are hidden thermal runaway points in the local area of ​​the battery pack.

[0042] Furthermore, the local temperature value is the real-time temperature of a specific local area on or inside the battery pack. It is usually collected by a thermal imager or a high-precision thermocouple. In this embodiment, when the local temperature value exceeds 90°C, it often means that the area is close to or has experienced thermal runaway. It is a key local parameter for determining a high-level warning.

[0043] Furthermore, the current heating rate is a real-time rate value calculated based on battery temperature data at different time points.

[0044] Furthermore, the first warning level is the initial warning level for the risk of battery thermal runaway, which means that the battery is in a slightly abnormal state and there is no need to initiate the detachment process at this time. Only enhanced monitoring is required. The determination of this level must combine at least two parameters that reflect early abnormalities of the battery to ensure that the risk can be identified in the early stage.

[0045] Furthermore, the second warning level is a moderate warning level for battery thermal runaway risk, which means that the abnormal state of the battery is aggravated and preparations should be made for detachment. The determination of this level should combine at least two parameters reflecting the development of battery failure, including typical thermal runaway signals such as smoke, to ensure timely response when the risk escalates.

[0046] Furthermore, the third warning level is the highest warning level for battery thermal runaway risk, indicating that the battery is in a high-risk state and must immediately enter the safety detachment judgment process. The judgment of this level must combine at least two parameters that reflect serious abnormalities in the battery, including key risk signals such as local high temperature, to ensure that the subsequent response process can be triggered quickly when there is a high risk.

[0047] Understandably, the process begins by acquiring threshold values ​​for temperature, heating rate, temperature gradient difference, battery pack pressure, smoke concentration, and pressurization rate, clarifying the criteria for different warning levels corresponding to each threshold. Next, based on the collected battery temperature data, the current heating rate and the temperature gradient difference on the battery pack surface are calculated, and local temperature values ​​are obtained using a thermal imager. Simultaneously, based on the collected battery pack pressure data, the current battery pack pressurization rate is calculated. Then, a warning level is determined: if at least two parameters are combined (e.g., battery temperature > 50℃ and current heating rate > 8℃ / min, or battery pack surface temperature gradient difference > 5℃ and battery pack pressure > 110kPa and current pressurization rate > 15kPa / s), it is determined to be the first warning level; if at least two parameters are combined (e.g., battery temperature > 60℃ and current heating rate > 6℃ / min, or smoke concentration > 0.1mg / m³ and battery pack pressure > 135kPa), it is determined to be the first warning level. If the current boost rate is greater than 80 kPa / s, it is determined to be the second warning level; if at least two parameters are combined (such as battery temperature > 70℃ and local temperature value > 90℃, or battery pack pressure > 180 kPa and current boost rate > 180 kPa / s, or local temperature value > 90℃ and battery pack pressure > 180 kPa), it is determined to be the third warning level.

[0048] For example, a first temperature threshold, a first heating rate threshold, a temperature gradient difference threshold, a first battery pack pressure threshold, a first pressure boosting rate threshold, a second temperature threshold, a second heating rate threshold, a smoke concentration threshold, a second battery pack pressure threshold, a second pressure boosting rate threshold, a third temperature threshold, a fourth temperature threshold, a third battery pack pressure threshold, and a third pressure boosting rate threshold can be obtained, wherein the second temperature threshold is greater than the first temperature threshold and less than the third temperature threshold, the third temperature threshold is less than the fourth temperature threshold, the first heating rate threshold is less than the second heating rate threshold, the second battery pack pressure threshold is greater than the first battery pack pressure threshold and less than the third battery pack pressure threshold, and the second pressure boosting rate threshold is greater than the first pressure boosting rate threshold and less than the third pressure boosting rate threshold; The current heating rate, battery pack surface temperature gradient difference, and local temperature value are determined based on the battery temperature, and the current battery pack pressure boosting rate is determined based on the battery pack pressure. When the battery temperature is greater than the first temperature threshold and the current heating rate is greater than the first heating rate threshold, or the battery pack surface temperature gradient difference is greater than the temperature gradient difference threshold, or the battery pack pressure is greater than the first battery pack pressure threshold and the current battery pack pressure boosting rate is greater than the first pressure boosting rate threshold, the battery pack is determined to be at a first warning level. When the battery temperature is greater than the second temperature threshold and the current heating rate is greater than the second heating rate threshold, or the smoke concentration is greater than the smoke concentration threshold, or the battery pack pressure is greater than the second battery pack pressure threshold, or the current battery pack pressure boosting rate is greater than the pressure boosting rate threshold and the current battery pack pressure boosting rate is greater than the second pressure boosting rate threshold, the battery pack is determined to be at a second warning level. When the battery temperature is greater than the third temperature threshold or the local temperature value is greater than the fourth temperature threshold, or the battery pack pressure is greater than the third battery pack pressure threshold and the current battery pack pressure boosting rate is greater than the third pressure boosting rate threshold, the battery pack is determined to be at a third warning level.

[0049] It should be noted that the first temperature threshold is the temperature reference value for determining whether the battery enters the first-level warning level. It is used to initially identify abnormal battery thermal state. In this embodiment, the threshold is set to 50°C. When the battery temperature exceeds this value and is accompanied by other specific conditions, the determination of the first-level warning is triggered.

[0050] In addition, the first heating rate threshold is a rate benchmark value used in conjunction with the first temperature threshold to measure how fast the battery temperature rises and reflect the initial development trend of thermal runaway risk. In this embodiment, the threshold is set to 3°C / min. When the battery temperature exceeds the first temperature threshold and the heating rate exceeds this value, it indicates that the abnormal thermal state of the battery has aggravated.

[0051] In addition, the temperature gradient difference threshold is a benchmark value for determining whether the temperature distribution on the surface of the battery pack is uniform. It is used to identify whether there are abnormally high temperature points in the local area of ​​the battery pack. In this embodiment, the threshold is set to 5°C. When the temperature difference between different areas on the surface of the battery pack exceeds this value, it means that there may be signs of thermal runaway in the local area.

[0052] In addition, the first battery pack pressure threshold is the pressure benchmark value for determining whether the battery enters the first warning level. In this embodiment, it is set to 110 kPa. When the battery pack pressure exceeds this value and is combined with the boost rate condition, the first warning determination is triggered.

[0053] In addition, the first boost rate threshold is a rate reference value that is matched with the first battery pack pressure threshold. In this embodiment, it is set to 15 kPa / s to measure the initial abnormal rate of the battery pack pressure rise.

[0054] Additionally, the second temperature threshold is the temperature benchmark value for determining whether the battery enters the second-level warning level. Its value is higher than the first temperature threshold and is used to further confirm the escalation of the risk of battery thermal runaway. In this embodiment, the threshold is set to 60°C. When the battery temperature exceeds this value and is combined with other conditions, the second-level warning judgment is triggered.

[0055] In addition, the second heating rate threshold is a rate benchmark value used in conjunction with the second temperature threshold. The value is higher than the first heating rate threshold and is used to reflect the accelerating development trend of battery thermal runaway risk. In this embodiment, the threshold is set to 5℃ / min. When the battery temperature exceeds the second temperature threshold and the heating rate exceeds this value, it indicates that the risk of thermal runaway has increased significantly.

[0056] In addition, the smoke concentration threshold is the benchmark value for determining whether the battery is producing smoke. Smoke is one of the typical characteristics of battery thermal runaway. In this embodiment, the threshold is set to 0.1 mg / m³. When the detected smoke concentration exceeds this value, it directly indicates that the battery may have an internal fault and is accompanied by signs of thermal runaway.

[0057] Additionally, the second battery pack pressure threshold is the pressure benchmark value for determining whether the battery enters the second warning level. In this embodiment, it is set to 135 kPa, which is higher than the first battery pack pressure threshold, and is used to identify the escalation of abnormal internal battery pressure.

[0058] In addition, the second boost rate threshold is a rate reference value that is coordinated with the second battery pack pressure threshold. In this embodiment, it is set to 80 kPa / s, which is higher than the first boost rate threshold and is used to reflect the accelerated development of abnormal battery pack pressure.

[0059] In addition, the third temperature threshold is the temperature benchmark value for determining whether the battery enters the third-level warning level. If the value is higher than the second temperature threshold, it means that the battery is in a high-risk thermal state. In this embodiment, the threshold is set to 70°C. When the battery temperature exceeds this value, the third-level warning judgment is directly triggered.

[0060] Additionally, the fourth temperature threshold is a benchmark value for determining whether extreme high temperatures have occurred locally in the battery. If the value is higher than the third temperature threshold, it is used to identify severe local thermal runaway within the battery pack. In this embodiment, the threshold is set to 90°C. When the local temperature of the battery is detected to exceed this value, it indicates that local thermal runaway has approached or occurred, and the highest level of warning needs to be activated.

[0061] In addition, the third battery pack pressure threshold is the pressure benchmark value for determining whether the battery enters the third warning level. In this embodiment, it is set to 180 kPa, which is higher than the second battery pack pressure threshold, indicating that the internal pressure of the battery is seriously abnormal.

[0062] In addition, the third boost rate threshold is a rate reference value that is matched with the third battery pack pressure threshold. In this embodiment, it is set to 180 kPa / s, which is higher than the second boost rate threshold and is used to reflect the rapid development of abnormal battery pack pressure.

[0063] Furthermore, the current heating rate is a real-time rate value calculated based on battery temperature data collected at different time points. It is used to reflect the changing trend of battery temperature at the current stage. For example, in a certain scenario, by collecting battery temperatures of 70℃ and 75℃ twice and the interval of 1 minute, the current heating rate can be calculated to be 5℃ / min, providing a dynamic rate basis for determining the warning level.

[0064] Furthermore, the temperature gradient difference on the battery pack surface is the temperature difference between different sampling points on the battery pack surface. It is calculated from multi-point temperature data collected by a thermocouple array. For example, in a certain scenario, if the temperature at one point on the battery pack surface is 80℃ and the temperature at another point is 73℃, then the temperature gradient difference is 7℃, which is used to identify local temperature anomalies.

[0065] Furthermore, the local temperature value is the real-time temperature of a specific local area on or inside the battery pack. It is usually collected by a thermal imager or a high-precision thermocouple. For example, in a high-speed emergency lane scenario, if a thermal imager captures a local area of ​​the battery pack with a temperature of 100°C, this value is the local temperature value, which is a key local parameter for determining the level 3 warning.

[0066] Furthermore, the current battery pack pressure boosting rate is a real-time rate value calculated based on battery pack pressure data at different time points. For example, if the pressure is 120 kPa and 150 kPa collected at 2-second intervals, the current pressure boosting rate can be calculated to be 15 kPa / s, providing a dynamic pressure change basis for early warning judgment.

[0067] Furthermore, the first warning level is the initial warning level for the risk of battery thermal runaway, which means that the battery is in a slightly abnormal state and there is no need to initiate the detachment process at this time. Only enhanced monitoring is required. The purpose of this level is to identify potential risks in advance and reserve time for subsequent risk escalation response.

[0068] Furthermore, the second warning level is a moderate warning level for battery thermal runaway risk, which means that the abnormal state of the battery is aggravated and preparations for detachment should be made. The determination of this level is used to complete all preparations before the risk escalates further, so as to ensure that subsequent processes can be started quickly.

[0069] Furthermore, the third warning level is the highest warning level for battery thermal runaway risk, indicating that the battery is in a high-risk state and must immediately enter the safety detachment judgment process. This level is the core prerequisite for triggering subsequent environmental verification and detachment execution.

[0070] Understandably, the current heating rate and the temperature gradient difference on the battery pack surface are calculated based on battery temperature data, and local temperature values ​​are obtained using a thermal imager; the current battery pack pressurization rate is calculated based on battery pack pressure data. Then, a warning level is determined: if the battery temperature > 50℃ and the current heating rate > 8℃ / min, or the temperature gradient difference on the battery pack surface > 5℃, or the battery pack pressure > 110kPa and the current pressurization rate > 15kPa / s, it is determined to be the first warning level; if the battery temperature > 60℃ and the current heating rate > 6℃ / min, or the smoke concentration > 0.1mg / m³, or the battery pack pressure > 135kPa, or the current pressurization rate > 80kPa / s, it is determined to be the second warning level; if the battery temperature > 70℃, or the local temperature value > 90℃, or the battery pack pressure > 180kPa and the current pressurization rate > 180kPa / s, it is determined to be the third warning level. The graded warning control table is shown in Table 1 below: Table 1

[0071] In one feasible implementation, steps S21 to S25 may be included after step S20: Step S21: Obtain the power supply voltage, power failure threshold, first remaining power threshold, and second remaining power threshold of the battery pack, wherein the first remaining power threshold is less than the second remaining power threshold; It should be noted that the battery pack's supply voltage is the voltage value when the battery pack provides power to the vehicle's detachment control-related modules. In this embodiment, it is usually a high voltage. This voltage value directly reflects the power supply status of the battery pack. When the voltage drops abnormally, it means that the battery pack may be unable to continue to supply power stably due to thermal runaway.

[0072] In addition, the power outage threshold is a voltage standard used to determine whether the power supply of the battery pack is interrupted. In this embodiment, the threshold is set to 0V. When the power supply voltage of the battery pack drops to this value, it means that the battery pack has lost its power supply capability and backup power supply measures need to be activated.

[0073] In addition, the first remaining power threshold is the benchmark for classifying the low level of the remaining power of the preset capacitor bank, and is used to trigger the energy consumption control strategy under low power conditions. In this embodiment, the threshold is set to 25%, that is, when the remaining power (State of Charge, SOC) of the preset capacitor bank reaches this value or below, the core emergency functions must be prioritized.

[0074] In addition, the second remaining power threshold is a benchmark for classifying the remaining power of the preset capacitor bank. Its value is higher than the first remaining power threshold. In this embodiment, it is set to 50% to trigger the energy consumption balance strategy under medium power conditions, so as to ensure a balance between function retention and battery life guarantee.

[0075] Step S22: When the power supply voltage is equal to the power outage threshold, the power supply source is switched from the battery pack to the preset capacitor bank, and the remaining power of the preset capacitor bank is obtained; It should be noted that the preset capacitor bank is an energy storage device used to provide emergency power after the battery pack loses power. In this embodiment, it is specifically a supercapacitor bank, which has the characteristics of high peak discharge power and fast charging and discharging speed. It can meet the instantaneous power supply requirements of actuators such as hydraulic catapults, and can be quickly replenished with power when the vehicle is in normal operation through a bidirectional DC / DC charger.

[0076] Understandably, the power supply voltage of the battery pack is monitored in real time. When the voltage drops to the power outage threshold (0V), indicating a power outage, the power management module immediately performs a power switching operation, switching the power source of all disconnection control-related modules from the battery pack to the preset capacitor bank. After the power switching is completed, the remaining power of the preset capacitor bank is collected and obtained through the capacitor bank's power detection module, providing a basis for subsequent energy consumption priority determination.

[0077] Step S23: When the remaining battery power is greater than the second remaining battery power threshold, control the vehicle to operate according to the first energy consumption priority; It should be noted that the first energy consumption priority is the energy consumption allocation strategy adopted when the remaining power of the preset capacitor bank is sufficient. Its core is to ensure that all modules related to detachment control operate at full capacity without reducing any necessary functions, and to ensure that the accuracy and speed of environmental identification, safety judgment, and execution control are not affected.

[0078] Understandably, the remaining power of the preset capacitor bank is compared with the second remaining power threshold. If the remaining power is greater than 50%, the preset capacitor bank is determined to be fully charged. At this time, the vehicle is controlled to operate according to the first energy consumption priority. For example, the LiDAR of the perception layer continuously scans the area under the battery pack at high frequency, the infrared camera detects the surrounding flammable and explosive sources in real time, the safety judgment algorithm of the decision layer operates at full speed, and the electromagnetic lock and hydraulic ejection mechanism of the execution layer remain on standby. All modules work at full load.

[0079] Step S24: When the remaining power is greater than the first remaining power threshold and less than or equal to the second remaining power threshold, control each module to operate in half-function mode and control the vehicle to operate according to the second energy consumption priority. It should be noted that the second energy consumption priority is an energy consumption allocation strategy adopted when the remaining power of the preset capacitor bank is at a medium level. Its priority is lower than the first energy consumption priority. The core is to reduce the frequency or suspend non-core modules while preserving core functions, so as to save energy and extend the backup power supply time.

[0080] Understandably, the remaining power of the preset capacitor bank is compared with the first and second remaining power thresholds. If the remaining power is greater than 25% and less than or equal to 50%, the preset capacitor bank is considered to have a medium power level. In this case, non-core modules are first controlled to enter a semi-functional operation state, such as reducing the image acquisition frame rate of the thermal imager and disabling some redundant data storage functions. At the same time, the vehicle is controlled to operate according to the second energy consumption priority to ensure the normal operation of core functions such as lidar obstacle detection, ground bearing capacity verification, and standby of electromagnetic locks and hydraulic catapult mechanisms, thus balancing functional requirements and energy consumption.

[0081] Step S25: When the remaining power is less than or equal to the first remaining power threshold, control the vehicle to operate according to the third energy consumption priority.

[0082] It should be noted that the third energy consumption priority is the energy consumption allocation strategy adopted when the remaining power of the preset capacitor bank is low. It has the lowest priority and its core is to only reserve power for the core modules that ensure the battery pack is detached and the vehicle is driven away, so as to save energy to the maximum extent and ensure that critical emergency actions can be completed smoothly.

[0083] Understandably, the remaining power of the preset capacitor bank is compared with the first remaining power threshold. If the remaining power is less than or equal to 25%, the preset capacitor bank power is considered low. In this case, the vehicle is controlled to operate according to the third energy consumption priority. For example, power is only provided to the obstacle detection function under the battery pack of the LiDAR, the power supply module of the hydraulic catapult mechanism, and the basic path planning module of intelligent driving. Non-core functions such as vegetation detection of the infrared camera and unnecessary alarm information push are turned off, prioritizing the power supply needs of the two critical actions of battery pack detachment and safe vehicle departure. The energy consumption allocation control strategy is shown in Table 2 below: Table 2

[0084] Reference Figure 3 , Figure 3 This is a schematic diagram of the energy consumption dynamic allocation control process of the first embodiment of the battery pack detachment method based on environmental recognition in this application, as shown below. Figure 3As shown, from the completion of the backup power switch, the power management module immediately monitors the State of Charge (SOC), i.e., the remaining battery power, and updates it every 100 milliseconds. If the SOC is greater than 50%, full-function power allocation is performed, with environmental perception accounting for 40%, execution for more than 30%, intelligent driving for 15%, and human-machine interaction for 15%. If the SOC is between 25% and 50%, half-function power allocation is performed, with environmental perception accounting for 45%, execution for more than 35%, intelligent driving for more than 15%, and human-machine interaction for 5%. If the SOC is less than or equal to 25%, core power allocation is performed, with environmental perception accounting for 30%, execution for more than 60%, and intelligent driving for 10%. If the SOC is less than 10%, only execution and alarm power are maintained, and a low battery alarm is sent. The entire flowchart uses different SOC thresholds to determine different power allocation strategies to ensure the efficient and safe operation of the system under different power states. This energy allocation strategy helps to prioritize the operation of critical functions, such as environmental sensing and actuators, by rationally allocating the remaining power in emergency situations, such as when the power battery pack experiences thermal runaway, while extending the system's range as much as possible.

[0085] Step S30: Determine whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data; It should be noted that the preset safe detachment conditions are safety standards set by combining the target warning level and environmental data. The core requirements are that the target warning level reaches level three, and the environmental data meets three sub-conditions: no obstacles below, no flammable or explosive sources in the vicinity, and the ground bearing capacity meets the standards. The parameters of some sub-conditions will be adjusted in different scenarios. For example, in forest or grassland scenarios, the surrounding detection range will be expanded from the usual 10m to 20m.

[0086] Understandably, the first step is to determine if the target's warning level reaches Level 3. If not, the preset safety detachment condition is not met. If it reaches Level 3, three sub-conditions are checked sequentially based on environmental data: First, a lidar sensor detects if there are obstacles greater than 10cm in height within 2m directly below the battery pack; if no obstacles are found, the lower safety sub-condition is met. Second, an infrared camera detects if there are flammable or explosive sources within a specified surrounding area (10m for normal use, 20m for forests / grasslands); if no flammable or explosive sources are found, the surrounding safety sub-condition is met. Third, the ground bearing capacity is calculated from the wheel-side pressure collected by the suspension pressure sensor; if the ground bearing capacity is greater than 500kg / m², the ground bearing capacity sub-condition is met. If all three sub-conditions are met, the preset safety detachment condition is satisfied. For example, in a highway emergency lane scenario, the target warning level is Level 3, the lidar detects no obstacles within 2m below, the infrared camera detects no flammable sources within 10m, and the calculated ground bearing capacity is 650kg / m². All three sub-conditions are met, therefore the preset safety detachment condition is satisfied.

[0087] In one feasible implementation, step S30 may include steps S31 to S34: Step S31: Obtain the preset vertical distance range, preset lateral distance range, wheel edge pressure, and ground bearing capacity threshold. It should be noted that the preset vertical distance range is a specific distance range used to detect whether there are obstacles in the area directly below the battery pack. In this embodiment, it is set to 2m. The purpose of setting this range is to ensure that there are no obstructions directly below the battery pack when it falls, so as to avoid collision with obstacles during the fall process, which could cause damage to the battery pack or deviation from its trajectory.

[0088] Additionally, the preset lateral distance range is a specific distance range used to detect whether there are flammable materials in the area around the battery pack. It is set to 10m in normal scenarios and extended to 20m in special scenarios such as forests and grasslands. Detection within this range can eliminate surrounding flammable sources and prevent the battery pack from falling off and causing secondary fires.

[0089] In addition, wheel-side pressure is data collected by pressure sensors installed on the vehicle suspension, reflecting the pressure on each wheel of the vehicle. This data is the core basis for inferring the bearing capacity of the ground. Different ground hardness will cause differences in wheel-side pressure. For example, the wheel-side pressure of asphalt road surface is usually higher than that of dirt road surface.

[0090] In addition, the ground bearing capacity threshold is the minimum pressure standard for judging whether the ground can safely bear the detached battery pack. In this embodiment, it is set to 500 kg / m². Only when the actual bearing capacity of the ground exceeds this threshold can the battery pack be prevented from sinking or causing damage to the ground structure after landing.

[0091] Step S32: When the target warning level is the third warning level, determine whether the current scene is a prohibited falling scene based on the environmental data; It should be noted that prohibited scenarios refer to specific scenarios where battery pack detachment is not suitable. In this embodiment, these include gas stations, densely populated areas, non-emergency lanes on highways, forests, grasslands, parking lots with vehicles nearby, and underground parking lots. In these scenarios, battery pack detachment can easily cause accidents to third parties. For example, detachment at a gas station may ignite fuel, and detachment in a densely populated area may cause personal injury or death.

[0092] Understandably, the first step is to confirm whether the identified target warning level is the third warning level. If it is the third warning level, then based on environmental data, combined with high-precision map information and scene features collected by infrared cameras, the current scene is identified. For example, the high-precision map is used to identify whether it is in the emergency lane of the highway, and the infrared camera is used to identify whether there are dense crowds, thereby determining whether the current scene is a scene where falling objects are prohibited.

[0093] Step S33: When the current scene is not a scene where falling off is prohibited, identify obstacles and flammable materials within the preset vertical distance range and the preset horizontal distance range to obtain object identification results; It should be noted that the object recognition result is a judgment on whether there are obstacles within a preset vertical distance range and whether there are flammable materials within a preset horizontal distance range. The result is divided into two categories: "with obstacles / flammable materials" and "without obstacles / flammable materials", which directly determines whether the battery pack can be detached subsequently.

[0094] Understandably, when the current scene is determined not to be a prohibited falling scene, the lidar is activated to focus on a preset vertical distance range (2m) to scan and identify obstacles with a height greater than 10cm within this range; at the same time, the infrared camera is activated to cover a preset horizontal distance range to detect whether there are flammable materials within this range, and the object recognition result is generated by combining the two types of detection results.

[0095] Step S34: When the object recognition result is that there are no obstacles and the wheel edge pressure is greater than the ground bearing capacity threshold, it is determined that the battery pack meets the preset safe detachment conditions.

[0096] Understandably, if the result is that there are no obstacles within the preset vertical distance range and no flammable materials within the preset lateral distance range, then the wheel edge pressure is substituted into the preset formula to calculate the actual bearing capacity of the ground. If the calculated ground bearing capacity is greater than the ground bearing capacity threshold (500kg / ㎡), then the battery pack is deemed to meet the preset safe detachment conditions.

[0097] In one feasible implementation, step S32 may include the following steps: determining scene attribute data based on the environmental data; matching the scene attribute data with preset prohibited detachment scene features to obtain a scene matching result; determining that the current scene is a prohibited detachment scene when the scene matching result is a successful match; and determining that the current scene is not a prohibited detachment scene when the scene matching result is a failed match.

[0098] It should be noted that scene attribute data is a collection of information extracted from environmental data to describe the key features of the current scene. It includes the location type of the current scene, such as a highway area or a forest area; the characteristics of surrounding objects, such as whether there are fuel storage facilities, dense populations or a large amount of vegetation; and road attributes, such as whether it is an emergency lane. This data can directly reflect the safety of the scene. For example, if the environmental data shows that there are fuel storage tanks and gas station signs in the vicinity, this information belongs to scene attribute data and can be used as an important basis for scene determination.

[0099] In addition, the preset no-detachment scenario features are typical features of various no-detachment scenarios configured in advance in the control system. The corresponding no-detachment scenarios include gas stations, densely populated areas, highway non-emergency lanes, forests and grasslands, parking lots with cars, and underground parking lots. Each no-detachment scenario has its own exclusive features. For example, the preset feature of a gas station is that it contains fuel storage facilities and has gas station text or graphic signs. The preset feature of a densely populated area is that the number of people per square meter exceeds 5. The preset feature of a highway non-emergency lane is that it is located on the main line of the highway and has no emergency lane signs.

[0100] In addition, the scene matching result is a judgment conclusion drawn by comparing the scene attribute data with the preset prohibited fall-off scene features, and there are two types: successful matching and failed matching.

[0101] Understandably, the process begins by filtering and extracting information reflecting the core characteristics of the current scene from environmental data, forming scene attribute data. This scene attribute data is then compared one by one with preset features for prohibited detachment scenes until all such features are matched and a scene matching result is generated. If the scene attribute data matches a specific prohibited detachment scene feature, the current scene is determined to be a prohibited detachment scene. If the scene attribute data does not match any of the prohibited detachment scene features, the scene matching result is a failure, and the current scene is determined not to be a prohibited detachment scene. The preset prohibited detachment scene feature table is shown in Table 3 below. Table 3

[0102] In one feasible implementation, after step S30, the method may further include: when the battery pack does not meet the preset safety detachment conditions, obtaining a preset vehicle speed and planning a safe path; controlling the vehicle to drive according to the preset vehicle speed and the safe path; and when the vehicle reaches the end of the safe path, returning to the step of determining whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data.

[0103] It should be noted that the preset speed is a driving speed standard set to guide the vehicle from the area where the current detachment conditions are not met to the safe area. In this embodiment, the speed is set to ≤15km / h. This speed can prevent the vehicle from becoming unstable due to excessive speed, and can also prevent the vehicle from staying in the dangerous area for a long time due to excessive speed, thus ensuring a balance between safety and efficiency during the driving process.

[0104] Additionally, a safe path is a planned route for a vehicle from a currently unsafe area to a safe area where the conditions for detachment can be reassessed. The path length is usually less than 1km. When planning, it is necessary to combine high-precision maps and real-time environmental data to avoid obstacles and prohibited detachment scenarios, and ensure that there are no additional safety risks along the entire route. For example, planning from a road section with low obstacles to an open highway emergency lane ahead.

[0105] In addition, the endpoint of the safe path is the end point of the safe path. This location must have a basic safety environment, that is, it must initially meet the core environmental requirements for subsequent battery pack detachment determination. For example, there should be no obvious obstacles on the ground in the endpoint area and no flammable sources in the vicinity. It is a key location for re-determining the detachment conditions after the vehicle has been driven, such as an open area on the emergency lane of the highway with a ground bearing capacity that meets the standards.

[0106] Understandably, when it is determined that the battery pack does not meet the preset safe detachment conditions, the system first retrieves the preset vehicle speed from the control system. At the same time, the intelligent driving cooperation module combines obstacle data collected by high-precision maps and LiDAR with scene data collected by infrared cameras to plan a safe path. Then, the vehicle is controlled to drive according to the acquired preset speed and the planned safe path. If the LiDAR detects a new obstacle on the path during the journey, the safe path will be immediately readjusted to avoid a collision. When the vehicle reaches the end of the safe path, the system again combines the previously determined target warning level with the newly collected environmental data at the end point to re-determine whether the battery pack meets the preset safe detachment conditions. If it still does not meet the conditions, the above departure and determination process is repeated until the battery pack meets the preset safe detachment conditions.

[0107] Step S40: When the battery pack meets the preset safety detachment conditions, control the battery pack to detach from the vehicle.

[0108] Understandably, once the battery pack meets the preset safety detachment conditions, control commands are sent to the actuator according to a preset timing sequence. First, an electromagnetic lock unlocking command is sent within 0-30ms, unlocking the electromagnetic locks located at the four corners of the battery pack. Then, within 30-800ms, a hydraulic ejection mechanism activation command is sent, controlling the centrally and symmetrically arranged dual-cylinder hydraulic ejection mechanism to push the battery pack detach. Simultaneously, the fully covered buffer pad at the bottom of the battery pack absorbs the impact upon landing. The entire detachment process takes less than 0.8s, ensuring the battery pack quickly detaches from the vehicle. If ejection jams or unlocking fails during the detachment process, a retry mechanism will be initiated within 200ms, with a maximum of 3 retries. After the battery pack successfully detaches, the vehicle will be controlled to move away from the battery pack at a speed of ≤15km / h to a safe area (distance >10m). At the same time, an alarm message containing latitude and longitude, fault codes, and on-site photos will be sent to the owner's APP and 119 (police emergency number), and the relevant data will be stored. For example, in a high-speed emergency lane scenario, the electromagnetic lock unlocks within 30ms, and the hydraulic ejection mechanism pushes the battery pack off with a thrust of 22,000N within 770ms, with a total time of 0.75s and a trajectory deviation of 40mm. The vehicle then drives away 15m at a speed of 10km / h, while simultaneously completing the alarm and data storage.

[0109] This embodiment provides a battery pack detachment method based on environmental recognition. By acquiring multi-dimensional information such as environmental data, battery temperature, smoke concentration, and battery pack pressure, and combining it with technologies such as graded early warning judgment, dynamic safety judgment, backup power switching control, and dynamic energy consumption allocation, it solves the technical problem of safe and rapid detachment of power battery packs in emergency situations such as thermal runaway. It avoids the risk of third-party accidents caused by improper battery pack detachment, improves the reliability and scenario adaptability of battery pack detachment control, and achieves the beneficial effects of reducing accident risks, ensuring personnel safety, and improving the safety of new energy vehicles.

[0110] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 4 The battery pack detachment method based on environmental recognition includes steps S41-S42 in step S40: Step S41: When the battery pack meets the preset safety detachment conditions, an unlocking command is sent to the electromagnetic lock of the battery pack, so that the electromagnetic lock unlocks the battery pack according to the unlocking command and feeds back the unlocking result; It should be noted that the electromagnetic lock is a locking component used to fix the battery pack to the vehicle. In this embodiment, it is arranged at the four corners of the battery pack. Its core function is to switch the locking state by turning on or off the power. Under normal conditions, it is in the locked state to ensure the stability of the battery pack during driving. After receiving an unlocking command, it switches to the unlocked state, providing a prerequisite for the battery pack to be detached later.

[0111] Additionally, the unlocking command is a signal used to control the electromagnetic lock to perform the unlocking action. This command is generated and sent by the decision-making level based on the judgment result that the battery pack meets the preset safety detachment conditions. The signal contains control parameters such as unlocking sequence and unlocking duration to ensure that the electromagnetic lock can accurately perform the unlocking operation.

[0112] In addition, the unlocking result is the status information fed back to the decision-making level after the electromagnetic lock completes the unlocking action. It is divided into two categories: "unlocking successful" and "unlocking failed". The feedback information will also include the time node of unlocking completion, so that the decision-making level can determine whether to start the subsequent disengagement action or retry mechanism.

[0113] Understandably, when the battery pack meets the preset safety detachment conditions, an unlocking command is sent to the electromagnetic locks located at the four corners of the battery pack. After receiving the command, the electromagnetic locks are energized according to the control parameters in the command to switch the locking state and complete the unlocking between the battery pack and the vehicle. After the unlocking action is completed, the electromagnetic locks immediately report the unlocking result to the decision-making level, informing whether the unlocking is successful, and providing a basis for whether to initiate the hydraulic detachment action.

[0114] Step S42: Upon receiving the unlocking result and confirming that the unlocking was successful, a disengagement command is sent to the hydraulic pump and the hydraulic cylinder to disengage the battery pack according to the disengagement command.

[0115] It should be noted that the hydraulic pump is a power component that provides hydraulic power to the hydraulic cylinder. Its core function is to convert mechanical energy into hydraulic energy and drive the hydraulic cylinder to move by outputting high-pressure oil. During the battery pack disengagement process, the output pressure of the hydraulic pump needs to match the weight of the battery pack to ensure that it can provide sufficient thrust to the hydraulic cylinder to push the battery pack out.

[0116] In addition, the hydraulic cylinder is the actuator that performs the battery pack detachment action. In this embodiment, it is arranged in a double-cylinder structure with the battery pack in a central and symmetrical position. Its core function is to convert the hydraulic energy provided by the hydraulic pump into mechanical energy, and push the battery pack downward or outward through the extension of the piston rod to achieve the physical detachment of the battery pack from the vehicle.

[0117] Additionally, the disengagement command is a signal used to control the hydraulic pump and hydraulic cylinder to work together to perform the battery pack disengagement action. This command is generated by the decision-making level after receiving feedback that the electromagnetic lock has been successfully unlocked. The signal includes parameters such as the starting pressure of the hydraulic pump, the extension speed and stroke of the hydraulic cylinder, to ensure that the disengagement action is smooth and precise.

[0118] Additionally, the disengagement result is the status information fed back to the decision-making level after the hydraulic pump and hydraulic cylinder have completed the disengagement action.

[0119] Understandably, upon receiving the unlocking result from the electromagnetic lock and confirming its success, a disengagement command is sent to the hydraulic pump and the centrally symmetrically arranged dual-cylinder hydraulic cylinders. Upon receiving the command, the hydraulic pump starts and outputs hydraulic fluid at a preset pressure. Driven by the hydraulic fluid, the hydraulic cylinders push the battery pack according to the extension speed and stroke specified in the command, completing the physical disengagement of the battery pack from the vehicle. After the disengagement is complete, the hydraulic pump and hydraulic cylinders jointly report the disengagement result to the decision-making level, informing whether the battery pack has successfully disengaged, providing a basis for subsequent decisions on whether to initiate vehicle departure or a retry mechanism. The disengagement execution and vehicle coordination control table is shown in Table 4 below: Table 4

[0120] This embodiment provides a battery pack detachment method based on environmental recognition. By sending an unlocking command to the electromagnetic lock and receiving feedback when the battery pack meets the preset safe detachment conditions, and sending a detachment command to the hydraulic pump and hydraulic cylinder after successful unlocking to execute the detachment action and provide feedback on the detachment result, this method solves the technical problem of rapid and safe detachment of the battery pack in emergency situations. It ensures the controllability and success rate of the detachment process and achieves the beneficial effect of improving the safety and reliability of new energy vehicles in emergency situations such as battery thermal runaway.

[0121] For example, to help understand the implementation process of the battery pack detachment method based on environmental recognition obtained by combining this embodiment with the above embodiment one, please refer to... Figure 5 , Figure 5 A simplified flowchart of a battery pack detachment method based on environmental recognition is provided, specifically: The process begins with collecting battery status parameters, including temperature, pressure, and gas levels. Next, a tiered warning system is implemented, categorized into Level 1, Level 2, and Level 3 warnings. Level 1 and Level 2 warnings trigger local alerts and continuous monitoring, while Level 3 warnings trigger high-voltage power cutoff and a 10-millisecond switch to the supercapacitor. Following this, State of Charge (SOC) monitoring and energy allocation are performed, along with dynamic safety assessments and identification of prohibited detachment scenarios. If the intelligent detachment path planning is successful and the vehicle speed does not exceed 15 km / h, the vehicle departs. If an obstacle is encountered, the path needs to be replanned. Upon reaching a safe area, safety conditions are verified, including testing the ground bearing capacity from below and surrounding areas, and using LiDAR to determine if the detachment was successful. If successful and the vehicle has moved more than 10 meters away, the process ends and alarm data is stored in the owner's app. If the detachment fails, it is retried up to three times; if it still fails, a fault alarm is sent awaiting assistance.

[0122] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the battery pack detachment method based on environmental identification in this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0123] This application also provides a battery pack detachment device based on environmental recognition; please refer to [reference needed]. Figure 6 The environmental recognition-based battery pack detachment device includes: Data acquisition module 10 is used to acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; The rating module 20 is used to determine the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure. The condition determination module 30 is used to determine whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data; The battery pack detachment module 40 is used to control the battery pack to detach from the vehicle when the battery pack meets the preset safety detachment conditions.

[0124] The environmental recognition-based battery pack detachment device provided in this application, employing the environmental recognition-based battery pack detachment method described in the above embodiments, can solve the technical problem of difficulty in ensuring the effective handling of battery packs in hazardous situations. Compared with the prior art, the beneficial effects of the environmental recognition-based battery pack detachment device provided in this application are the same as those of the environmental recognition-based battery pack detachment method provided in the above embodiments, and other technical features in the environmental recognition-based battery pack detachment device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0125] This application provides a battery pack detachment device based on environmental recognition. The battery pack detachment device based on environmental recognition includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the battery pack detachment method based on environmental recognition in the above embodiment 1.

[0126] The following is for reference. Figure 7 This document illustrates a structural schematic diagram of a battery pack detachment device based on environmental recognition, suitable for implementing embodiments of this application. The battery pack detachment device based on environmental recognition in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 7The environmental recognition-based battery pack detachment device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0127] like Figure 7 As shown, the environment-recognition-based battery pack detachment device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the environment-recognition-based battery pack detachment device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the environment-aware battery pack detachment device to communicate wirelessly or wiredly with other devices to exchange data. Although an environment-aware battery pack detachment device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0128] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0129] The environmental recognition-based battery pack detachment device provided in this application, employing the environmental recognition-based battery pack detachment method described in the above embodiments, can solve the technical problem of difficulty in ensuring the effective handling of battery packs in hazardous situations. Compared with the prior art, the beneficial effects of the environmental recognition-based battery pack detachment device provided in this application are the same as those of the environmental recognition-based battery pack detachment method provided in the above embodiments, and other technical features of this environmental recognition-based battery pack detachment device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0130] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0131] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0132] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the battery pack detachment method based on environment recognition in the above embodiments.

[0133] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), Erasable Programmable Read Only Memory (EPROM), optical fiber, CD-ROM (CD-Read Only Memory), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0134] The aforementioned computer-readable storage medium may be included in an environment-based battery pack detachment device; or it may exist independently and not be assembled into an environment-based battery pack detachment device.

[0135] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the environmental recognition-based battery pack detachment device, cause the environmental recognition-based battery pack detachment device to: acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; determine a target warning level based on any one of the battery temperature, smoke concentration, and battery pack pressure; determine whether the battery pack meets preset safety detachment conditions based on the target warning level and the environmental data; and control the battery pack to detach from the vehicle when the battery pack meets the preset safety detachment conditions.

[0136] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0137] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0138] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0139] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described environment-based battery pack detachment method, thereby solving the technical problem of difficulty in ensuring the effective handling of battery packs in hazardous situations. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the environment-based battery pack detachment method provided in the above embodiments, and will not be repeated here.

[0140] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described environmental recognition-based battery pack detachment method.

[0141] The computer program product provided in this application can solve the technical problem of difficulty in ensuring the effective disposal of battery packs in hazardous situations. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the environmental recognition-based battery pack detachment method provided in the above embodiments, and will not be repeated here.

[0142] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for preventing battery pack detachment based on environmental recognition, characterized in that, The method includes: Acquire environmental data, battery temperature, smoke concentration, and battery pack pressure; The target warning level is determined based on any one of the battery temperature, the smoke concentration, and the battery pack pressure. Determine whether the battery pack meets the preset safe detachment conditions based on the target warning level and the environmental data; When the battery pack meets the preset safety detachment conditions, the battery pack is controlled to detach from the vehicle.

2. The method as described in claim 1, characterized in that, The step of determining whether the battery pack meets the preset safe detachment conditions based on the target warning level and the environmental data includes: Obtain the preset vertical distance range, preset lateral distance range, wheel edge pressure, and ground bearing capacity threshold; When the target warning level is the third warning level, it is determined whether the current scene is a prohibited falling scene based on the environmental data; When the current scene is not a scene where falling off is prohibited, obstacles and flammable materials within the preset vertical distance range and the preset horizontal distance range are identified to obtain object identification results; When the object recognition result indicates no obstacle and the wheel edge pressure is greater than the ground bearing capacity threshold, the battery pack is determined to meet the preset safe detachment conditions.

3. The method as described in claim 2, characterized in that, When the target warning level is the third warning level, the step of determining whether the current scene is a prohibited falling scene based on the environmental data includes: Determine scene attribute data based on the environmental data; The scene attribute data is matched with preset prohibited detachment scene features to obtain scene matching results; When the scene matching result is a successful match, the current scene is determined to be a scene where detachment is prohibited; If the scene matching result is a failure, it is determined that the current scene is not a scene where falling off is prohibited.

4. The method as described in claim 1, characterized in that, After the step of determining whether the battery pack meets the preset safe detachment conditions based on the target warning level and the environmental data, the method further includes: When the battery pack does not meet the preset safe detachment conditions, the preset vehicle speed is obtained and a safe path is planned; The vehicle is controlled to travel according to the preset speed and the safe path. When the vehicle reaches the end of the safe path, the process returns to the step of determining whether the battery pack meets the preset safe detachment conditions based on the target warning level and the environmental data.

5. The method as described in claim 1, characterized in that, The step of controlling the battery pack to detach from the vehicle when the battery pack meets the preset safety detachment conditions includes: When the battery pack meets the preset safety detachment conditions, an unlocking command is sent to the electromagnetic lock of the battery pack, so that the electromagnetic lock unlocks the battery pack according to the unlocking command and feeds back the unlocking result; Upon receiving the unlocking result and confirming that the unlocking was successful, a disengagement command is sent to the hydraulic pump and hydraulic cylinder to cause the hydraulic pump and hydraulic cylinder to disengage the battery pack according to the disengagement command.

6. The method as described in claim 1, characterized in that, After determining the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure, the method further includes: The power supply voltage, power outage threshold, first remaining power threshold, and second remaining power threshold of the battery pack are obtained, wherein the first remaining power threshold is less than the second remaining power threshold. When the power supply voltage is equal to the power outage threshold, the power source is switched from the battery pack to a preset capacitor bank, and the remaining power of the preset capacitor bank is obtained; When the remaining battery power is greater than the second remaining battery power threshold, the vehicle is controlled to operate according to the first energy consumption priority; When the remaining power is greater than the first remaining power threshold and less than or equal to the second remaining power threshold, control each module to operate in half-function mode and control the vehicle to operate according to the second energy consumption priority. When the remaining battery power is less than or equal to the first remaining battery power threshold, the vehicle is controlled to operate according to the third energy consumption priority.

7. The method as described in claim 1, characterized in that, The step of determining the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure includes: Obtain the temperature threshold, heating rate threshold, temperature gradient difference threshold, battery pack pressure threshold, smoke concentration threshold, and pressure rise rate threshold; The current heating rate, the temperature gradient difference on the battery pack surface, and the local temperature value are determined based on the battery temperature, and the current battery pack pressure increase rate is determined based on the battery pack pressure. The battery pack is determined to be at the first warning level based on at least two of the following: battery temperature, temperature threshold, current heating rate, heating rate threshold, battery pack surface temperature gradient, temperature gradient difference threshold, battery pack pressure, battery pack pressure threshold, current battery pack pressure increase rate, and pressure increase rate threshold. The battery pack is determined to be at the second warning level based on at least two of the following: battery temperature, temperature threshold, current heating rate, heating rate threshold, smoke concentration, smoke concentration threshold, battery pack pressure, battery pack pressure threshold, current battery pack pressure increase rate, and pressure increase rate threshold. The battery pack is determined to be at the third warning level based on at least two of the following: battery temperature, temperature threshold, local temperature value, battery pack pressure, battery pack pressure threshold, current battery pack boost rate, and boost rate threshold.

8. A battery pack detachment device based on environmental recognition, characterized in that, The device includes: The data acquisition module is used to acquire environmental data, battery temperature, smoke concentration, and battery pack pressure. The rating module is used to determine the target warning level based on any one of the battery temperature, the smoke concentration, and the battery pack pressure. The condition determination module is used to determine whether the battery pack meets the preset safety detachment conditions based on the target warning level and the environmental data; A battery pack detachment module is used to control the battery pack to detach from the vehicle when the battery pack meets preset safety detachment conditions.

9. A battery pack detachment device based on environmental recognition, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the environmental recognition-based battery pack detachment method as described in any one of claims 1 to 7.

10. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the battery pack detachment method based on environmental recognition as described in any one of claims 1 to 7.

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