Vehicle control method, vehicle and storage medium

Abstract

The invention discloses a vehicle control method, a vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the steps that the running state of a vehicle is obtained, and the running state comprises the parking state and the driving state; in response to the fact that the running state of the vehicle is the parking state, the gear state and the vehicle speed threshold signal state of the vehicle are obtained, and a parking control strategy is determined according to the gear state and the vehicle speed threshold signal state; in response to the fact that the running state of the vehicle is the running state, the ignition switch signal state, the vehicle-mounted network signal state and the vehicle speed threshold signal state of the vehicle are obtained, and a running control strategy is determined according to the ignition switch signal state, the vehicle-mounted network signal state and the vehicle speed threshold signal state, the driving control strategy is used for controlling the state of a relay of the vehicle. The technical problem that driving safety is affected due to the fact that unexpected vehicle slope sliding and high-voltage system power failure are difficult to effectively prevent in the prior art is solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a vehicle control method, a vehicle, and a storage medium. Background Technology

[0002] With the increasing popularity of new energy vehicles, their safety has become a major concern for users. Especially under complex operating conditions, the safety protection of the vehicle's high-voltage system is of paramount importance.

[0003] If a high-voltage relay unexpectedly trips during the operation of a new energy vehicle, it will directly affect the normal operation of the motor controller and may even cause the power semiconductor devices in the inverter to break down, resulting in serious vehicle damage and safety hazards. Furthermore, when the vehicle is parked, if the handbrake fails or other factors cause the vehicle to roll down a slope, and the high-voltage system fails to respond in time, the braking torque of the motor will not be able to stop the roll, increasing the risk of a traffic accident. Therefore, how to effectively prevent unexpected vehicle rollover and high-voltage system power outages, thereby ensuring driving safety, is one of the important technical issues in related fields.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides a vehicle control method, a vehicle, and a storage medium to at least solve the technical problems in the related art of effectively preventing unexpected vehicle rollover and high-voltage system power outages, which in turn affect driving safety.

[0006] According to one aspect of the present invention, a vehicle control method is provided, comprising: acquiring the operating state of a vehicle, wherein the operating state includes a parking state and a driving state; in response to the vehicle's operating state being a parking state, acquiring the vehicle's gear position state and vehicle speed threshold signal state, and determining a parking control strategy based on the gear position state and vehicle speed threshold signal state, wherein the parking control strategy is used to control the torque output of the vehicle's motor; and in response to the vehicle's operating state being a driving state, acquiring the vehicle's ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state, and determining a driving control strategy based on the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state, wherein the driving control strategy is used to control the state of the vehicle's relays.

[0007] Optionally, a parking control strategy is determined based on the gear position and the vehicle speed threshold signal, including: in response to the gear position being parking or neutral and the vehicle speed threshold signal being high, determining that the vehicle has rolled backwards, wherein the high speed threshold signal indicates that the vehicle speed is greater than a preset threshold speed; in response to the vehicle rolling backwards, determining the parking control strategy to activate the vehicle's overall controller to control the vehicle's high voltage power supply and to activate the vehicle's motor controller to control the vehicle's motor output braking torque.

[0008] Optionally, the vehicle control method further includes: triggering an alarm mechanism in response to executing a parking control strategy, wherein the alarm mechanism includes: audible and visual alarms and remote communication alarms.

[0009] Optionally, the vehicle control method further includes: in response to the vehicle speed threshold signal being at a high level, verifying the vehicle speed threshold signal state and obtaining a verification result; in response to the verification result indicating that the vehicle speed threshold signal state is invalid at a high level, determining that the vehicle has not experienced a rollover phenomenon.

[0010] Optionally, the vehicle control method further includes determining the direction of the braking torque based on the vehicle's speed direction.

[0011] Optionally, the driving control strategy includes a first driving control strategy and a second driving control strategy. The driving control strategy is determined based on the ignition switch signal state, the vehicle network signal state, and the vehicle speed threshold signal state. The first driving control strategy is determined to keep the relay in its current state in response to the ignition switch signal state being high and the vehicle network signal state being abnormal. The second driving control strategy is determined to keep the relay in a closed state in response to the ignition switch signal state being low or floating and the vehicle speed threshold signal state being high.

[0012] Optionally, the driving control strategy also includes a third driving control strategy and a fourth driving control strategy. The driving control strategy is determined based on the ignition switch signal status, the vehicle network signal status, and the vehicle speed threshold signal status. The third driving control strategy is determined to control the relay status based on the vehicle network signal when the ignition switch signal status is low or floating, the vehicle speed threshold signal status is low, and the vehicle network signal status is normal. The fourth driving control strategy is determined to control the relay to be in the open state when the ignition switch signal status is low or floating, the vehicle speed threshold signal status is low, and the vehicle network signal status is abnormal.

[0013] Optionally, the vehicle control method further includes: in response to the vehicle's operating state being a driving state, controlling the vehicle's motor controller to be in an active state, so that the motor controller performs magnetic field control under preset conditions.

[0014] According to another aspect of the present invention, a vehicle control system is also provided, comprising: an acquisition module, configured to acquire the operating state of a vehicle, wherein the operating state includes a parking state and a driving state; a first determination module, configured to, in response to the vehicle's operating state being a parking state, acquire the vehicle's gear position and speed threshold signal state, and determine a parking control strategy based on the gear position and speed threshold signal states, wherein the parking control strategy is used to control the torque output of the vehicle's motor; and a second determination module, configured to, in response to the vehicle's operating state being a driving state, acquire the vehicle's ignition switch signal state, vehicle network signal state, and speed threshold signal state, and determine a driving control strategy based on the ignition switch signal state, vehicle network signal state, and speed threshold signal state, wherein the driving control strategy is used to control the state of the vehicle's relays.

[0015] According to another aspect of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the executable program, wherein the executable program executes the vehicle control method described in any of the preceding embodiments.

[0016] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle control method described in any of the above.

[0017] This invention provides a vehicle control method, comprising: acquiring the vehicle's operating state, wherein the operating state includes a parking state and a driving state; responding to the vehicle's operating state being a parking state, acquiring the vehicle's gear position and speed threshold signal state, and determining a parking control strategy based on the gear position and speed threshold signal states, wherein the parking control strategy is used to control the torque output of the vehicle's motor; responding to the vehicle's operating state being a driving state, acquiring the vehicle's ignition switch signal state, vehicle network signal state, and speed threshold signal state, and determining a driving control strategy based on the ignition switch signal state, vehicle network signal state, and speed threshold signal state, wherein the driving control strategy is used to control the state of the vehicle's relays. This invention first lays the foundation for the targeted determination of subsequent control strategies by accurately acquiring the vehicle's operating state, including clearly distinguishing between the parking state and the driving state. Secondly, in the parked state, by using the gear position and vehicle speed threshold signal as key inputs, the risk of rollover can be accurately identified, and the motor torque output can be actively adjusted to achieve the anti-rollover function, effectively avoiding rollover accidents caused by handbrake failure or other reasons, and ensuring the safety of stationary vehicles. Furthermore, in the driving state, this application not only focuses on the ignition switch signal but also integrates the vehicle network signal and vehicle speed threshold signal to jointly participate in the formulation of the driving control strategy, thereby avoiding unintended disconnection of the high-voltage relay, ensuring continuous power supply to the high-voltage system, avoiding the risk of damage to the power semiconductor devices in the motor controller due to sudden power outages in the high-voltage system, and improving the reliability of the power system during vehicle operation. In summary, this invention achieves the technical effect of effectively preventing unexpected vehicle rollover and high-voltage system power outages, thereby ensuring driving safety, and solves the technical problem in related technologies that are difficult to effectively prevent unexpected vehicle rollover and high-voltage system power outages, thus affecting driving safety. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0019] Figure 1 This is a flowchart of a vehicle control method according to one embodiment of the present invention;

[0020] Figure 2 This is a flowchart illustrating a vehicle control method according to one embodiment of the present invention;

[0021] Figure 3 This is a connection diagram of signal connections according to one embodiment of the present invention;

[0022] Figure 4This is a connection example diagram of the ignition switch signal according to one embodiment of the present invention;

[0023] Figure 5 This is a structural block diagram of a vehicle control system according to one embodiment of the present invention. Detailed Implementation

[0024] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0025] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0026] According to an embodiment of the present invention, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0027] This invention provides a vehicle control method. Figure 1 This is a flowchart of a vehicle control method according to one embodiment of the present invention, such as... Figure 1 As shown, the vehicle control method includes the following steps:

[0028] Step S101: Obtain the vehicle's operating status, which includes parking status and driving status;

[0029] Step S102: In response to the vehicle's operating state being parked, the vehicle's gear position and speed threshold signal state are acquired, and a parking control strategy is determined based on the gear position and speed threshold signal state. The parking control strategy is used to control the torque output of the vehicle's motor.

[0030] Step S103: In response to the vehicle's operating state being driving state, the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state of the vehicle are acquired, and a driving control strategy is determined based on the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state. The driving control strategy is used to control the state of the vehicle's relays.

[0031] In one optional embodiment, data is collected by a vehicle speed sensor. When the detected vehicle speed is lower than a preset vehicle speed threshold, the vehicle is determined to be in a parked state; when the detected vehicle speed is higher than the preset vehicle speed threshold, the vehicle is determined to be in a driving state.

[0032] The gear positions mentioned above refer to the gear positions of the vehicle's transmission system, which typically include P (Park), R (Reverse), N (Neutral), and D (Drive).

[0033] In one alternative embodiment, based on information provided by the vehicle speed sensor, when the vehicle speed exceeds a preset small value (e.g., 0.3 km / h), the vehicle speed threshold signal becomes active (i.e., high level), indicating that the vehicle may start moving from a standstill.

[0034] In one optional embodiment, the current gear position is first checked to see if it is Park (P) or another non-forward gear (excluding reverse). If the vehicle is in a non-forward gear and the speed threshold signal changes from low to high (i.e., the vehicle speed suddenly increases from rest), it is considered that the vehicle may be rolling backward. At this time, the motor controller is activated, outputting the corresponding torque (forward or reverse torque, depending on the direction of the roll) to prevent the vehicle from moving unexpectedly. Simultaneously, an audible and visual alarm is activated to notify the driver that anti-rollover measures are being taken.

[0035] In this way, even if the ignition switch is off or communication is interrupted, it can independently handle slippage incidents and protect the safety of vehicles and personnel.

[0036] When the vehicle is detected to be in motion, check the status of the ignition switch signal, the vehicle network signal (i.e., the status of the vehicle network signal issued by the vehicle controller), and the vehicle speed threshold signal to ensure that a quick and appropriate response can be made when these signals are abnormal, so as to maintain the stable operation of the vehicle's high-voltage system.

[0037] In one alternative embodiment, when the vehicle is in motion, the ignition switch signal, the vehicle network signal, and the vehicle speed threshold signal are continuously monitored.

[0038] Optionally, if the vehicle network signal is abnormal (such as the CAN bus signal being lost or an error frame being detected), but the ignition switch signal is still valid and the vehicle speed threshold signal indicates that the vehicle is moving, the driving control strategy is determined to keep the relay closed to prevent sudden power failure and avoid damage to critical components such as the motor controller.

[0039] Optionally, when the ignition switch signal is at a high level (i.e., valid) and the vehicle network signal is abnormal, the driving control strategy is determined to keep the relay in its current state.

[0040] This invention provides a vehicle control method, comprising: acquiring the vehicle's operating state, wherein the operating state includes a parking state and a driving state; responding to the vehicle's operating state being a parking state, acquiring the vehicle's gear position and speed threshold signal state, and determining a parking control strategy based on the gear position and speed threshold signal states, wherein the parking control strategy is used to control the torque output of the vehicle's motor; responding to the vehicle's operating state being a driving state, acquiring the vehicle's ignition switch signal state, vehicle network signal state, and speed threshold signal state, and determining a driving control strategy based on the ignition switch signal state, vehicle network signal state, and speed threshold signal state, wherein the driving control strategy is used to control the state of the vehicle's relays. This invention first lays the foundation for the targeted determination of subsequent control strategies by accurately acquiring the vehicle's operating state, including clearly distinguishing between the parking state and the driving state. Secondly, in the parked state, by using the gear position and vehicle speed threshold signal as key inputs, the risk of rollover can be accurately identified, and the motor torque output can be actively adjusted to achieve the anti-rollover function, effectively avoiding rollover accidents caused by handbrake failure or other reasons, and ensuring the safety of stationary vehicles. Furthermore, in the driving state, this application not only focuses on the ignition switch signal but also integrates the vehicle network signal and vehicle speed threshold signal to jointly participate in the formulation of the driving control strategy, thereby avoiding unintended disconnection of the high-voltage relay, ensuring continuous power supply to the high-voltage system, avoiding the risk of damage to the power semiconductor devices in the motor controller due to sudden power outages in the high-voltage system, and improving the reliability of the power system during vehicle operation. In summary, this invention achieves the technical effect of effectively preventing unexpected vehicle rollover and high-voltage system power outages, thereby ensuring driving safety, and solves the technical problem in related technologies that are difficult to effectively prevent unexpected vehicle rollover and high-voltage system power outages, thus affecting driving safety.

[0041] The vehicle control method in the embodiments of this application will be further described below.

[0042] Optionally, a parking control strategy is determined based on the gear position and vehicle speed threshold signal status, including the following steps:

[0043] Step S1021: In response to the gear position being either parking or neutral and the vehicle speed threshold signal being at a high level, it is determined that the vehicle is experiencing a rollover phenomenon. The high level of the vehicle speed threshold signal is used to indicate that the vehicle speed is greater than a preset threshold speed.

[0044] In step S1022, in response to the vehicle rolling backwards, the parking control strategy is determined to activate the vehicle's overall controller to control the vehicle's high voltage power supply and activate the vehicle's motor controller to control the vehicle's motor output braking torque.

[0045] When a vehicle comes to a stop and is about to park, the driver will shift the gear to either Park (P) or Neutral (N). Park is primarily used to ensure the vehicle does not move when stationary, while Neutral is used when the vehicle is neither moving forward nor backward.

[0046] The vehicle speed threshold signal is a signal that determines whether a vehicle has started to move by monitoring its speed. A transition from a low level (representing a speed below a preset threshold, i.e., the vehicle is stationary) to a high level (representing a speed above the preset threshold, i.e., the vehicle is moving) indicates that the vehicle has begun to move. The preset speed threshold is generally set to a low value, such as 0.3 km / h, to ensure that protection measures are activated even with slight movement.

[0047] When a vehicle is parked on a slope, it may slide down the slope due to gravity if the handbrake is not engaged, malfunctions, or for other reasons. In this case, although the vehicle speed is very low, it is sufficient to trigger the speed threshold signal, thereby identifying the rolling behavior.

[0048] In one optional embodiment, the gear position and vehicle speed threshold signal are continuously monitored. Once the gear is detected to be park, neutral, or another non-forward gear (excluding reverse), and the vehicle speed threshold signal suddenly changes from low to high, it is determined that the vehicle may be rolling backward, triggering subsequent parking control strategies.

[0049] Once a rollback is confirmed, an activation command is immediately sent to the vehicle controller, which then initiates a high-voltage power-on process to ensure the motor receives power. Simultaneously, the vehicle controller sends a command to the motor controller, requesting the motor to output braking torque sufficient to overcome the vehicle's weight and friction on the slope, preventing further rollback.

[0050] By utilizing the braking torque of the motor, the above control strategy effectively prevents accidental injuries and vehicle damage caused by slippage.

[0051] Optionally, the vehicle control method further includes: triggering an alarm mechanism in response to executing a parking control strategy, wherein the alarm mechanism includes: audible and visual alarms and remote communication alarms.

[0052] The aforementioned audible and visual alarms refer to the vehicle issuing warning signals to people inside and outside the vehicle through visual means (such as flashing hazard lights) and auditory means (such as honking the horn).

[0053] The aforementioned remote communication alarm refers to using an in-vehicle communication system (such as Bluetooth, 4G / 5G module) to send vehicle status information to a remote server or the user's mobile device in order to notify the user of vehicle abnormalities in a timely manner.

[0054] Optionally, an alarm mechanism is triggered after the parking control strategy is activated. For example, if the vehicle continues to operate under anti-rollover protection for more than a preset time (e.g., 30 seconds), the hazard lights will begin flashing. After 10 seconds, the horn will join the alarm sequence and continue to sound until the vehicle status returns to normal or human intervention occurs. In addition, when the anti-rollover function is activated and continues to operate, alarm information is generated, including key data such as vehicle location and description of the abnormal situation (e.g., "rollover risk" or "high-voltage system protection in progress"), and the alarm information is sent to the user.

[0055] By combining audible and visual alarms with remote communication alarms, visual and auditory warnings can be quickly issued to the driver and passengers when the vehicle is abnormal, ensuring that the safety awareness of the people in the vehicle is improved. The vehicle owner or emergency contact can be notified in a timely manner through remote communication, realizing remote monitoring and rapid response to vehicle status.

[0056] Optionally, the vehicle control method further includes the following steps:

[0057] Step S1023: In response to the vehicle speed threshold signal being at a high level, the vehicle speed threshold signal is checked to obtain the check result;

[0058] Step S1024: In response to the verification result indicating that the vehicle speed threshold signal is at a high level and invalid, it is determined that the vehicle has not experienced any rollback.

[0059] When the vehicle speed threshold signal is detected to transition to a high level (i.e., the vehicle is considered to be accelerating from a standstill to above a certain threshold), a validity verification mechanism for the vehicle speed threshold signal is immediately initiated. This step is to ensure signal reliability and avoid malfunctions caused by signal interference or hardware failure.

[0060] In one optional embodiment, a preset verification algorithm is used to verify the vehicle speed threshold signal status to obtain the verification result. The preset verification algorithm includes time delay verification (checking whether the duration of the signal's continuous high level meets the minimum effective time threshold to avoid false triggering caused by momentary interference), repeated signal confirmation (reading the signal status multiple times consecutively to ensure its stability), redundant signal comparison (comparing speed data with the vehicle speed threshold signal to further verify the signal's authenticity), and vehicle speed trend analysis (analyzing the increase or decrease trend of vehicle speed to determine the rationality of signal changes).

[0061] Optionally, if the verification result shows that the high-level state of the vehicle speed threshold signal is invalid, i.e., the signal state does not match the expected behavior of the vehicle, it indicates that the change in the vehicle speed threshold signal is not caused by actual vehicle acceleration. In this case, it is assumed that the vehicle has not entered the actual runaway state, and therefore the automatic activation of the high-voltage system or the output of motor torque will not be triggered.

[0062] By taking the above steps, energy waste and system malfunctions caused by misjudgment are reduced, while the overall reliability of the system and user experience are improved.

[0063] Optionally, the vehicle control method further includes determining the direction of the braking torque based on the vehicle's speed direction.

[0064] In one optional embodiment, the direction of the braking torque is determined based on the vehicle speed direction information. If the vehicle speed direction indicates that the vehicle is sliding backward, the motor controller is instructed to control the motor to output positive braking torque, that is, the motor rotates forward to generate positive braking force and prevent the vehicle from sliding backward. Conversely, if the vehicle speed direction indicates that the vehicle is sliding forward, the motor controller is instructed to control the motor to output reverse braking torque, that is, the motor rotates backward to generate reverse braking force and prevent the vehicle from sliding forward.

[0065] Optionally, the duration of the braking torque should generally continue until the vehicle comes to a complete stop or until human intervention triggers other control strategies, such as manual operation. The condition for disengaging the protection function is set to 30 seconds after human intervention. This is to prevent unnecessary energy loss or overuse of the equipment due to accidental activation of the protection mechanism due to minor vehicle vibrations after the vehicle has stopped.

[0066] In the above steps, the most suitable braking torque direction is selected according to the vehicle's direction of movement to improve braking efficiency and reduce wear and tear on the motor and vehicle system.

[0067] Optionally, the driving control strategy includes a first driving control strategy and a second driving control strategy. The driving control strategy is determined based on the ignition switch signal status, the vehicle network signal status, and the vehicle speed threshold signal status, and includes the following steps:

[0068] Step S1031: In response to the ignition switch signal being at a high level and the vehicle network signal being abnormal, the first driving control strategy is determined to keep the relay in its current state.

[0069] In step S1032, in response to the ignition switch signal being at a low level or floating and the vehicle speed threshold signal being at a high level, the second driving control strategy is determined to control the relay to be in a closed state.

[0070] A high-level ignition switch signal indicates the vehicle is in the ignition-start state, meaning the ON position signal is valid and the vehicle is preparing to be driven. An abnormal vehicle network signal, such as CAN signal loss, erroneous frames, or network interruption, indicates a potential problem with the vehicle's communication system. When both the ignition switch signal and the vehicle network signal are abnormal, the primary driving control strategy is to maintain the relay's current state. This prevents the relay from unexpectedly shutting down and cutting off the vehicle's high-voltage circuit in the event of communication failure, thus protecting sensitive components such as the IGBT (Insulated Gate Bipolar Transistor, a power semiconductor device) in the motor controller from damage.

[0071] Optionally, when the ignition switch signal is low or floating (indicating the vehicle may stall or the ignition switch may malfunction), but the vehicle speed threshold signal is high (i.e., the vehicle is moving), the second driving control strategy is immediately executed, forcing the relay control board to maintain or switch the relay to the closed state, ensuring that high-voltage power can still be supplied to the motor controller even if the ignition switch signal is lost. Once the relay is closed, the motor controller can use remaining electrical power or regenerative braking energy to output the necessary braking torque to prevent the vehicle from moving unexpectedly until the vehicle comes to a complete stop.

[0072] In the above steps, the first driving control strategy maintains the current state of the relay, preventing unexpected disconnection of the high-voltage circuit and significantly reducing the risk of damage to critical electronic components such as the IGBT. In the scenario where the ignition switch signal fails but the vehicle is still moving, the second driving control strategy forces the relay to close, ensuring the motor controller can continue operating and implementing emergency braking measures, greatly improving the vehicle's safety performance under complex operating conditions.

[0073] Optionally, the driving control strategy also includes a third driving control strategy and a fourth driving control strategy, which determine the driving control strategy based on the ignition switch signal status, the vehicle network signal status, and the vehicle speed threshold signal status, including the following steps:

[0074] Step S1033: In response to the ignition switch signal being at a low level or floating, the vehicle speed threshold signal being at a low level, and the vehicle network signal being normal, the third driving control strategy is determined to be based on controlling the state of the relays according to the vehicle network signal.

[0075] In step S1034, in response to the ignition switch signal being at a low level or floating, the vehicle speed threshold signal being at a low level, and the vehicle network signal being abnormal, the fourth driving control strategy is determined to control the relay to be in the open state.

[0076] Optionally, when the ignition switch signal is low or floating, the vehicle speed threshold signal is low, and the vehicle network signal is normal, the third driving control strategy is determined to be based on controlling the relay state according to the vehicle network signal. In this mode, the control of the relay depends entirely on the instructions from the vehicle network, rather than on the ignition switch signal. This allows for safe control of the high-voltage system even when the vehicle is off, via network instructions. For example, during remote diagnostics or charging, the system can automatically control the opening and closing of the relay based on the network signal without driver intervention, ensuring the safety and stability of the high-voltage system.

[0077] Optionally, when the ignition switch signal is low or floating, the vehicle speed threshold signal is low, and the vehicle network signal is abnormal, the fourth driving control strategy is determined to keep the control relay in the open state. This strategy directly cuts off the power supply to the high-voltage system. Even if the network attempts to send incorrect control signals, it cannot affect the state of the high-voltage relay, ensuring that the vehicle will not start unexpectedly under abnormal conditions. This effectively prevents damage to the high-voltage system and potential safety risks that may be caused by network failures.

[0078] In the above steps, the third crane control strategy can automatically control the opening and closing of relays based on network signals, ensuring the safety and stability of the high-voltage system. The fourth crane control strategy effectively prevents damage to the high-voltage system and potential safety risks that may be caused by network failures.

[0079] Optionally, the vehicle control method further includes: in response to the vehicle's operating state being a driving state, controlling the vehicle's motor controller to be in an active state, so that the motor controller performs magnetic field control under preset conditions.

[0080] Optionally, when the vehicle is in motion, the motor controller controlling the vehicle is in an active state. The motor controller will adjust the stator magnetic field by precisely controlling the current in the stator winding according to the current needs of the vehicle, such as acceleration and deceleration requests, so as to counteract or enhance the rotor magnetic field, thereby achieving precise control of the motor output torque.

[0081] In the above steps, intelligent magnetic field control optimizes the vehicle's energy recovery and consumption, enhancing the vehicle's overall performance and stability.

[0082] Optionally, Figure 2 This is a flowchart illustrating a vehicle control method according to one embodiment of the present invention, such as... Figure 2 As shown, the vehicle control method can be implemented as follows: During parking, if the vehicle speed changes from low to high (0 km / h to 0.3 km / h) and the current gear is not a drive gear (D) or reverse gear (R), it is determined that the vehicle is experiencing a rollover. The vehicle speed threshold signal changes from low to high, activating the vehicle controller to power up the vehicle's high voltage. The motor controller is activated, outputting braking torque to achieve the anti-rollover function, and the foot brake is engaged. During driving, if the CAN signal from the vehicle controller is abnormal (lost, erroneous frame, etc.) and the ON position signal (i.e., the ignition switch signal) is at a valid level, the relay control board maintains the contactor drive state before the CAN signal loss, and the main positive and negative relays remain in their original state without operation. The vehicle speed judgment logic is entered only after the ON position signal changes from high to low or remains floating. During driving, if the ON position signal changes from high to low or remains floating, the vehicle speed judgment logic is entered regardless of whether the CAN signal is normal. If the vehicle speed threshold signal is low (low vehicle speed), and the CAN signal is normal, the relay control board controls the main positive and negative relays to work according to the CAN command; if the CAN signal is lost, the main positive and negative relays are disconnected. If the vehicle speed threshold signal is high (high vehicle speed), the main positive and negative relays remain closed until the vehicle speed threshold signal is low (low vehicle speed).

[0083] Optionally, Figure 3 This is a connection diagram of signal connections according to one embodiment of the present invention, such as... Figure 3 As shown, the vehicle speed threshold signal is generated by the transmission controller (TCU) and is a hard-wired level signal (consistent with the valid level of the ON position signal). The valid condition for the vehicle speed threshold signal is a vehicle speed ≥ 0.3 km / h. The vehicle speed threshold signal is connected to the analog signal pin of the vehicle controller via a low-voltage wire. The vehicle speed threshold signal and the ON position signal are connected in parallel through a low-voltage harness and then connected to the wake-up pin of the relay control board. An anti-reverse diode is connected in series with the ON position signal to prevent signal crosstalk.

[0084] Optionally, if the ON position signal or the relay CAN control signal is abnormal during the vehicle's descent, the high-voltage power distribution system can intelligently maintain a small range by judging simple conditions, providing an outlet for the motor's power generation capacity and avoiding unexpected ultra-high voltage breakdown of the inverter due to charge accumulation.

[0085] Optionally, in the event of handbrake failure or other factors causing the vehicle to roll away during parking, the system can be automatically activated to prevent rollover through motor torque. Optionally, the power supply for the vehicle speed detection circuit in the transmission controller should be connected to a low-voltage battery power supply to support the vehicle speed detection requirements while parked.

[0086] Optionally, the vehicle controller can be activated by the vehicle speed threshold signal to realize the high voltage power-on and drive motor torque control functions in the parking state. The vehicle controller needs to be equipped with corresponding detection circuits.

[0087] Optionally, to accurately determine the vehicle status (parking, driving), a redundant verification signal, such as an electronic parking brake signal, can be added in addition to the gear position signal. Optionally, for vehicles without an ON position signal, the corresponding function can be achieved through an appropriate alternative signal. Optionally, in the parking state, the anti-rollover protection should determine whether to output forward or reverse torque from the motor based on the vehicle speed direction (forward or backward).

[0088] Optionally, after the anti-slip protection function is activated in the parking state, it should continue for 30 seconds after personnel intervene before the protection function is deactivated to avoid secondary slippage caused by premature deactivation of the protection.

[0089] Optionally, to avoid unnecessary energy loss caused by false protection issues when the vehicle is parked (such as a brief shaking of the vehicle due to an external collision), a vehicle speed filtering function should be added. The filtering algorithm can be set according to parameters such as the type and sensitivity of the vehicle speed sensor.

[0090] Optionally, an audible and visual alarm is necessary after the parking protection is activated to avoid unexpected problems such as vehicle battery depletion caused by prolonged operation of the protection mechanism. Considering the scenario where users are away from the vehicle, the system can be used in conjunction with the in-vehicle service system to notify users by phone to handle vehicle abnormalities in a timely manner.

[0091] Optionally, the audible and visual alarm scheme involves activating the hazard lights and horn simultaneously after the hazard lights flash for 10 seconds, while also notifying the user by phone.

[0092] Optionally, the speed threshold is 0.3 km / h, which can be adjusted according to the actual situation of different vehicle models.

[0093] Optionally, a vehicle speed increase slope can be added to the vehicle speed threshold signal as a verification and filtering signal to accurately determine the vehicle status under parking conditions.

[0094] Optionally, the motor controller should be kept active, and the rotor magnetic field should be counteracted by a stator magnetic field control strategy to minimize power generation.

[0095] Optionally, Figure 4 This is a connection example diagram of the ignition switch signal according to one embodiment of the present invention, such as... Figure 4 As shown, the anti-reverse diode (D4) connected in series in the ON position signal is necessary. The anti-reverse diode should be connected in series before the checkpoint of the ON position signal wire and the vehicle speed threshold signal wire, and after other branch points of the ON position signal, in order to avoid unexpected signal crosstalk.

[0096] This invention also provides a vehicle control system for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the systems described in the following embodiments are preferably implemented in software, hardware implementations, or a combination of software and hardware, are also possible and contemplated.

[0097] According to another aspect of the present invention, a vehicle control system is also provided. Figure 5 This is a structural block diagram of a vehicle control system according to one embodiment of the present invention, such as... Figure 5 As shown, the vehicle control system 500 includes: an acquisition module 501, used to acquire the vehicle's operating state, wherein the operating state includes a parking state and a driving state; a first determination module 502, used to acquire the vehicle's gear position and speed threshold signal state in response to the vehicle's operating state being a parking state, and determine a parking control strategy based on the gear position and speed threshold signal states, wherein the parking control strategy is used to control the torque output of the vehicle's motor; and a second determination module 503, used to acquire the vehicle's ignition switch signal state, vehicle network signal state, and speed threshold signal state in response to the vehicle's operating state being a driving state, and determine a driving control strategy based on the ignition switch signal state, vehicle network signal state, and speed threshold signal state, wherein the driving control strategy is used to control the state of the vehicle's relays.

[0098] Optionally, the first determining module 502 is further configured to: determine that the vehicle has rolled backwards in response to the gear position being either parking or neutral and the vehicle speed threshold signal being at a high level, wherein the high level of the vehicle speed threshold signal indicates that the vehicle speed is greater than a preset threshold speed; and determine that the parking control strategy is to activate the vehicle's overall controller to control the vehicle's high voltage power supply and to activate the vehicle's motor controller to control the vehicle's motor to output braking torque in response to the vehicle rolling backwards.

[0099] Optionally, the first determining module 502 is further configured to: trigger an alarm mechanism in response to the execution of the parking control strategy, wherein the alarm mechanism includes: audible and visual alarm and remote communication alarm.

[0100] Optionally, the first determining module 502 is further configured to: in response to the vehicle speed threshold signal being at a high level, verify the vehicle speed threshold signal state and obtain a verification result; in response to the verification result indicating that the vehicle speed threshold signal state is invalid at a high level, determine that the vehicle has not experienced a rollover phenomenon.

[0101] Optionally, the first determining module 502 is further configured to: determine the direction of the braking torque based on the vehicle's speed direction.

[0102] Optionally, the driving control strategy includes a first driving control strategy and a second driving control strategy. The second determining module 503 is further configured to: determine the first driving control strategy as keeping the relay in its current state in response to the ignition switch signal being at a high level and the vehicle network signal being abnormal; and determine the second driving control strategy as keeping the relay in a closed state in response to the ignition switch signal being at a low level or floating and the vehicle speed threshold signal being at a high level.

[0103] Optionally, the driving control strategy also includes a third driving control strategy and a fourth driving control strategy. The second determining module 503 is further configured to: determine the third driving control strategy as controlling the state of the relay based on the vehicle network signal in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being normal; and determine the fourth driving control strategy as controlling the relay to be in the open state in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being abnormal.

[0104] Optionally, the second determining module 503 is further configured to: in response to the vehicle's operating state being a driving state, control the vehicle's motor controller to be in an active state, so that the motor controller performs magnetic field control under preset conditions.

[0105] According to another aspect of the present invention, a vehicle is also provided, comprising: a memory storing an executable program; and a processor for running the executable program, wherein the executable program executes the vehicle control method described in any of the preceding embodiments.

[0106] Optionally, in this embodiment, the executable program performs the following steps when it runs:

[0107] Step S101: Obtain the vehicle's operating status, which includes parking status and driving status;

[0108] Step S102: In response to the vehicle's operating state being parked, the vehicle's gear position and speed threshold signal state are acquired, and a parking control strategy is determined based on the gear position and speed threshold signal state. The parking control strategy is used to control the torque output of the vehicle's motor.

[0109] Step S103: In response to the vehicle's operating state being driving state, the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state of the vehicle are acquired, and a driving control strategy is determined based on the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state. The driving control strategy is used to control the state of the vehicle's relays.

[0110] Optionally, the executable program executes the following steps when running: in response to the gear position being either parking or neutral and the vehicle speed threshold signal being at a high level, it is determined that the vehicle is experiencing a rollover phenomenon, wherein the high level of the vehicle speed threshold signal is used to indicate that the vehicle speed is greater than a preset threshold speed; in response to the vehicle experiencing a rollover phenomenon, the parking control strategy is determined to activate the vehicle's overall controller to control the vehicle's high voltage power supply and activate the vehicle's motor controller to control the vehicle's motor to output braking torque.

[0111] Optionally, the executable program performs the following steps when it runs: in response to the execution of the parking control strategy, it triggers an alarm mechanism, wherein the alarm mechanism includes: audible and visual alarms and remote communication alarms.

[0112] Optionally, the executable program performs the following steps when it runs: in response to the vehicle speed threshold signal being at a high level, the vehicle speed threshold signal is checked to obtain a check result; in response to the check result indicating that the vehicle speed threshold signal is invalid at a high level, it is determined that the vehicle has not experienced a rollover.

[0113] Optionally, when the above executable program runs, it performs the following steps: determining the direction of the braking torque based on the vehicle's speed direction.

[0114] Optionally, the driving control strategy includes a first driving control strategy and a second driving control strategy. When the above executable program runs, it performs the following steps: in response to the ignition switch signal being at a high level and the vehicle network signal being abnormal, it determines that the first driving control strategy is to control the relay to maintain its current state; in response to the ignition switch signal being at a low level or floating and the vehicle speed threshold signal being at a high level, it determines that the second driving control strategy is to control the relay to be in a closed state.

[0115] Optionally, the driving control strategy also includes a third driving control strategy and a fourth driving control strategy. When the above executable program runs, it performs the following steps: in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being normal, it determines that the third driving control strategy is to control the state of the relay based on the vehicle network signal; in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being abnormal, it determines that the fourth driving control strategy is to control the relay to be in the open state.

[0116] Optionally, when the above executable program is run, it performs the following steps: in response to the vehicle's operating state being driving state, the motor controller controlling the vehicle is activated so that the motor controller performs magnetic field control under preset conditions.

[0117] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is executed, it controls the device where the computer-readable storage medium is located to perform the vehicle control method described in any of the above.

[0118] Optionally, in this embodiment, the executable program can be configured to store an executable program for performing the following steps:

[0119] Step S101: Obtain the vehicle's operating status, which includes parking status and driving status;

[0120] Step S102: In response to the vehicle's operating state being parked, the vehicle's gear position and speed threshold signal state are acquired, and a parking control strategy is determined based on the gear position and speed threshold signal state. The parking control strategy is used to control the torque output of the vehicle's motor.

[0121] Step S103: In response to the vehicle's operating state being driving state, the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state of the vehicle are acquired, and a driving control strategy is determined based on the ignition switch signal state, vehicle network signal state, and vehicle speed threshold signal state. The driving control strategy is used to control the state of the vehicle's relays.

[0122] Optionally, the executable program can be configured to store an executable program for performing the following steps: in response to the gear position being parking or neutral and the vehicle speed threshold signal being high, determining that the vehicle is rolling backwards, wherein the high speed threshold signal indicates that the vehicle speed is greater than a preset threshold speed; in response to the vehicle rolling backwards, determining that the parking control strategy is to activate the vehicle's overall controller to control the vehicle's high voltage power supply and to activate the vehicle's motor controller to control the vehicle's motor output braking torque.

[0123] Optionally, the executable program can be configured to store an executable program for performing the following steps: triggering an alarm mechanism in response to the execution of a parking control strategy, wherein the alarm mechanism includes: audible and visual alarms and remote communication alarms.

[0124] Optionally, the executable program can be configured to store an executable program for performing the following steps: in response to the vehicle speed threshold signal being at a high level, verifying the vehicle speed threshold signal state and obtaining a verification result; in response to the verification result indicating that the vehicle speed threshold signal state is invalid at a high level, determining that the vehicle has not experienced a rollover phenomenon.

[0125] Optionally, the executable program described above can be configured to store an executable program for performing the following steps: determining the direction of braking torque based on the vehicle's speed direction.

[0126] Optionally, the driving control strategy includes a first driving control strategy and a second driving control strategy. The executable program can be configured to store an executable program for performing the following steps: in response to the ignition switch signal being high and the vehicle network signal being abnormal, determine that the first driving control strategy is to control the relay to maintain its current state; in response to the ignition switch signal being low or floating and the vehicle speed threshold signal being high, determine that the second driving control strategy is to control the relay to be in a closed state.

[0127] Optionally, the driving control strategy also includes a third driving control strategy and a fourth driving control strategy. The aforementioned executable program can be configured to store an executable program for performing the following steps: in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being normal, determine that the third driving control strategy is to control the state of the relay based on the vehicle network signal; in response to the ignition switch signal being low or floating, the vehicle speed threshold signal being low, and the vehicle network signal being abnormal, determine that the fourth driving control strategy is to control the relay to be in the open state.

[0128] Optionally, the executable program can be configured to store an executable program for performing the following steps: in response to the vehicle's operating state being a driving state, the motor controller controlling the vehicle is activated, so that the motor controller performs magnetic field control under preset conditions.

[0129] Optionally, specific examples in this embodiment can refer to the examples described in the above embodiments and optional implementations, and will not be repeated here.

[0130] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0131] In the embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection of units or modules may be electrical or other forms.

[0132] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0133] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0134] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0135] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A vehicle control method, characterized in that, include: The vehicle's operating status is obtained, including parking status and driving status. In response to the vehicle's operating state being the parking state, the vehicle's gear position and speed threshold signal state are acquired, and a parking control strategy is determined based on the gear position and speed threshold signal state, wherein the parking control strategy is used to control the torque output of the vehicle's motor. In response to the vehicle's operating state being the driving state, the ignition switch signal state, the vehicle network signal state, and the vehicle speed threshold signal state of the vehicle are acquired. Based on the ignition switch signal state, the vehicle network signal state, and the vehicle speed threshold signal state, a driving control strategy is determined, wherein the driving control strategy is used to control the state of the vehicle's relays.

2. The vehicle control method according to claim 1, characterized in that, The parking control strategy is determined based on the gear position and the vehicle speed threshold signal status, including: In response to the gear position being either parking or neutral, and the vehicle speed threshold signal being at a high level, it is determined that the vehicle is experiencing a rollover phenomenon. The high level of the vehicle speed threshold signal indicates that the vehicle speed is greater than a preset threshold speed. In response to the vehicle exhibiting the rolling slope phenomenon, the parking control strategy is determined to be to activate the vehicle's overall controller to control the vehicle's high-voltage power supply, and to activate the vehicle's motor controller to control the vehicle's motor to output braking torque.

3. The vehicle control method according to claim 2, characterized in that, The vehicle control method further includes: In response to the execution of the parking control strategy, an alarm mechanism is triggered, wherein the alarm mechanism includes: audible and visual alarm and remote communication alarm.

4. The vehicle control method according to claim 2, characterized in that, The vehicle control method further includes: In response to the vehicle speed threshold signal being at a high level, the vehicle speed threshold signal state is verified to obtain a verification result; In response to the verification result indicating that the vehicle speed threshold signal is in a high-level invalid state, it is determined that the vehicle has not experienced the slope slippage phenomenon.

5. The vehicle control method according to claim 2, characterized in that, The vehicle control method further includes: The direction of the braking torque is determined based on the vehicle's speed direction.

6. The vehicle control method according to claim 1, characterized in that, The driving control strategy includes a first driving control strategy and a second driving control strategy. The driving control strategy is determined based on the ignition switch signal status, the vehicle network signal status, and the vehicle speed threshold signal status, including: In response to the ignition switch signal being at a high level and the vehicle network signal being abnormal, the first driving control strategy is determined to control the relay to maintain its current state. In response to the ignition switch signal being at a low level or floating and the vehicle speed threshold signal being at a high level, the second driving control strategy is determined to control the relay to be in a closed state.

7. The vehicle control method according to claim 6, characterized in that, The driving control strategy further includes a third driving control strategy and a fourth driving control strategy. The driving control strategy is determined based on the ignition switch signal status, the vehicle network signal status, and the vehicle speed threshold signal status, including: In response to the ignition switch signal being at a low level or floating, the vehicle speed threshold signal being at a low level, and the vehicle network signal being normal, the third driving control strategy is determined to be based on controlling the state of the relay according to the vehicle network signal. In response to the ignition switch signal being at a low level or floating, the vehicle speed threshold signal being at a low level, and the vehicle network signal being abnormal, the fourth driving control strategy is determined to control the relay to be in the off state.

8. The vehicle control method according to claim 6, characterized in that, The vehicle control method further includes: In response to the vehicle's operating state being the driving state, the vehicle's motor controller is activated to enable the motor controller to perform magnetic field control under preset conditions.

9. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the executable program, wherein the executable program, when running, performs the vehicle control method according to any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle control method according to any one of claims 1 to 8.

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