Vehicle control system, vehicle control method, and vehicle

Abstract

The invention provides a vehicle control system, a vehicle control method and a vehicle. The power supply end of the power management module is electrically connected with the power receiving end of the MCU module and the power receiving end of the brake control module. The enabling end of the power management module is electrically connected with the first input end of the brake control module so as to send a first enabling signal. The enabling end of the MCU module is electrically connected with the second input end of the brake control module so as to send a second enabling signal; the output end of the brake control module is electrically connected with the brake end of the driving module and the first end of the pull-down resistor, and the second end of the pull-down resistor is grounded; when the power management module supplies power abnormally, the potential of the output end of the brake control module is pulled down by the pull-down resistor, and an effective brake signal is output; when the power management module supplies power normally, the brake control module outputs a brake signal according to the first enable signal and / or the second enable signal. Therefore, only the power management module is adopted to supply power to the brake control module, the topological structure is simple, the cost is low, and the space is saved.

Description

Technical Field

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

[0002] In existing technology, when the MCU (Microcontroller Unit) detects a vehicle malfunction, it sends a braking signal to the braking module, which in turn sends a braking signal to the motor driver to control the vehicle into an active short circuit protection state (ASC), i.e., to brake. However, the MCU module is powered by a power management module. If the power management module malfunctions, the MCU module's power supply is interrupted, preventing it from controlling the braking module and consequently, the motor driver. This leads to uncontrolled motor output, posing a serious safety hazard and endangering the driver's safety.

[0003] To address the aforementioned shortcomings, current solutions primarily involve powering the braking control module jointly by the power management module and the high-voltage power supply. This ensures that in the event of an MCU malfunction, the braking module can still operate normally thanks to the second high-voltage power supply. However, most existing high-voltage power supplies employ an isolated high-voltage flyback power supply topology, which suffers from drawbacks such as complex topology, high circuit cost, and limited layout space. Summary of the Invention

[0004] In view of this, the present invention aims to provide a vehicle control system, a vehicle control method, and a vehicle, in order to solve the problems of complex topology, high circuit cost, and limited layout space caused by the use of high-voltage power supply to power the braking module in the prior art.

[0005] This invention provides a vehicle control system, which includes a power management module, an MCU module, a braking control module, and a motor drive module, wherein: The power supply terminal of the power management module is electrically connected to the power receiving terminal of the MCU module and the power receiving terminal of the braking control module, respectively, so that the power management module supplies power to the MCU module and the braking control module respectively. The enable terminal of the power management module is electrically connected to the first input terminal of the braking control module to send a first enable signal to the braking control module. The enable terminal of the MCU module is electrically connected to the second input terminal of the braking control module to send a second enable signal to the braking control module; The braking control module includes a pull-down resistor. The output terminal of the braking control module is electrically connected to the braking terminal of the motor drive module and the first terminal of the pull-down resistor, and the second terminal of the pull-down resistor is grounded. Specifically, when the power management module fails to supply power to the braking control module, the output potential of the braking control module is pulled low by the pull-down resistor, outputting a valid braking signal to control the braking of the motor drive module; when the power management module supplies power to the braking control module normally, the braking control module outputs a braking signal to control the motor drive module according to the first enable signal and / or the second enable signal.

[0006] In one embodiment, the first acquisition terminal of the MCU module is electrically connected to the output terminal of the braking control module, and is used to acquire the braking signal at the output terminal of the braking control module when the MCU module sends a valid second enable signal to the braking control module.

[0007] In one embodiment, the braking control module includes a logic AND gate, wherein: The first input terminal of the AND gate is electrically connected to the enable terminal of the power management module, the second input terminal of the AND gate is electrically connected to the enable terminal of the MCU module, the output terminal of the AND gate is electrically connected to the braking terminal of the motor drive module, the first terminal of the pull-down resistor, and the first acquisition terminal of the MCU module, respectively, the positive terminal of the AND gate is electrically connected to the power supply terminal of the power management module, and the negative terminal of the AND gate is grounded.

[0008] In one embodiment, the control system further includes a low-voltage power supply module and a high-voltage power supply module, wherein: The power supply terminal of the low-voltage power supply module is electrically connected to the power receiving terminal of the power management module; The power supply terminal of the high-voltage power supply module is electrically connected to the power receiving terminal of the motor drive module and the second acquisition terminal of the MCU module, respectively. The driver terminal of the MCU module is electrically connected to the driver terminal of the motor drive module, and the clock signal transmitter terminal of the MCU module is electrically connected to the clock signal receiver terminal of the power management module.

[0009] Another aspect of the present invention provides a vehicle control method, which is applied in the control system described above, the control method comprising: Determine whether the power management module is supplying power to the braking control module normally; If the power management module fails to supply power to the braking control module, the braking control module outputs a valid braking signal to control the braking of the motor drive module. If the power management module supplies power to the braking control module normally, the power management module obtains the working status of the MCU module and sends a first enable signal to the braking control module according to the working status of the MCU module. The MCU module acquires the vehicle's operating status and sends a second enable signal to the braking control module based on the operating status. The braking control module outputs a braking signal to control the motor drive module based on the first enable signal and / or the second enable signal.

[0010] In one embodiment, the step of the power management module acquiring the operating status of the MCU module and sending a first enable signal to the braking control module based on the operating status of the MCU module includes: Determine whether the power management module receives a clock signal sent by the MCU module within a first preset time period; If the clock signal is not received within the first preset time, the power management module sends a valid first enable signal to the braking control module. If the clock signal is received within the first preset time period, the power management module sends an invalid first enable signal to the braking control module.

[0011] In one embodiment, the control method further includes: When the power management module supplies power to the MCU module normally, the MCU module sends a valid second enable signal to the braking control module and obtains the braking signal output by the braking control module. Identify the validity of the braking signal; If the braking signal is detected as a valid signal, the MCU module sends the clock signal to the power management module within a second preset time. If the braking signal is detected as invalid, then the transmission of the drive signal and the clock signal to the motor drive module will be stopped.

[0012] In one embodiment, the step of outputting a braking signal to control the motor drive module by the braking control module according to the first enable signal and / or the second enable signal includes: If both the first enable signal and the second enable signal are invalid, the braking control module outputs an invalid braking signal. If at least one of the first enable signal and the second enable signal is a valid signal, then the braking control module outputs a valid braking signal.

[0013] In one embodiment, the control method further includes: The MCU module acquires the power supply signal from the high-voltage power supply module to the motor drive module and identifies whether the power supply signal from the high-voltage power supply module is normal. If the power supply signal of the high-voltage power supply module is abnormal, the MCU module sends a valid second enable signal to the braking control module. If the power supply signal of the high-voltage power supply module is normal, the MCU module sends an invalid second enable signal to the braking control module.

[0014] In another aspect, the present invention provides a vehicle that includes the control system described above.

[0015] Beneficial effects This invention provides a vehicle control system, a vehicle control method, and a vehicle. The control system includes a power management module, an MCU module, a braking control module, and a motor drive module. The power supply terminal of the power management module is electrically connected to the power receiving terminals of both the MCU module and the braking control module, allowing the power management module to supply power to both modules. The enable terminal of the power management module is electrically connected to the first input terminal of the braking control module to send a first enable signal. The enable terminal of the MCU module is electrically connected to the second input terminal of the braking control module to send a second enable signal. The output terminal of the braking control module is electrically connected to the braking terminal of the drive module and the first terminal of a pull-down resistor, with the second terminal of the pull-down resistor grounded. When the power supply from the power management module to the braking control module is abnormal, the potential at the output terminal of the braking control module is pulled low by the pull-down resistor, resulting in a valid braking signal for braking control of the motor drive module. When the power supply from the power management module to the braking control module is normal, the braking control module outputs a braking signal to control the motor drive module based on either the first or second enable signal.

[0016] Through the above solution, this invention can power the braking control module using only the power management module, avoiding the problems of complex topology, high circuit cost, and limited layout space caused by the need for a high-voltage power supply to power the braking module in the prior art. Furthermore, when the power management module fails to supply power to the braking control module, the output potential of the braking control module is pulled low by the pull-down resistor, allowing it to directly output a valid braking signal to control the motor drive module. This ensures that even if the MCU module cannot control the braking control module due to a power management module malfunction, the braking control module can still control the motor drive module to enter braking mode, protecting the vehicle and the driver. Attached Figure Description

[0017] Figure 1This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention.

[0018] Figure 2 yes Figure 1 A detailed structural diagram of the control system for the braking control module has been provided.

[0019] Figure 3 This is a flowchart illustrating a vehicle control method provided in an embodiment of the present invention.

[0020] Figure 4 yes Figure 3 The flowchart of step S3 shown is a schematic diagram of an embodiment.

[0021] Figure 5 This is a flowchart illustrating another vehicle control method provided in an embodiment of the present invention.

[0022] Figure 6 This is a flowchart illustrating another vehicle control method provided in an embodiment of the present invention. Detailed Implementation

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0024] Electric vehicles, including pure electric vehicles and hybrid electric vehicles, are equipped with motors. These motors are driven by a motor drive module, whose drive signals are controlled by an MCU module. The braking signals for the motor drive module are sent by a braking control module, which in turn controls the braking control module. When the MCU module detects a vehicle fault, it sends a braking signal to the braking control module, which then controls the motor drive module to enter an active short-circuit protection state. This causes the motor drive module to brake the motor, thus putting the vehicle into a braking state. Currently, the braking control module is powered by both a power management module and a high-voltage power supply. This ensures that the braking control module can still operate normally when the MCU module malfunctions, powered by the high-voltage power supply. However, most existing high-voltage power supplies use an isolated high-voltage flyback power supply topology, which suffers from drawbacks such as complex topology, high circuit cost, and limited layout space.

[0025] To solve the above-mentioned technical problems, the present invention provides a vehicle control system. Please refer to [link / reference]. Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a vehicle control system provided in an embodiment of the present invention. Figure 2 yes Figure 1 A detailed structural diagram of the braking control module's control system is provided. (For example...) Figure 1 As shown, the control system 100 includes a power management module 10, an MCU module 20, a braking control module 30, and a motor drive module 40.

[0026] The power supply terminal V1 of the power management module 10 is electrically connected to the power receiving terminal S1 of the MCU module 20, and the power supply terminal V2 of the power management module 10 is electrically connected to the power receiving terminal S2 of the braking control module 30, so that the power management module 10 supplies power to both the MCU module 20 and the braking control module 30. It should be understood that in a practical circuit, one power supply terminal of the power management module 10 can also be electrically connected to both the power receiving terminal S1 of the MCU module 20 and the power receiving terminal S2 of the braking control module 30.

[0027] The enable terminal E1 of the power management module 10 is electrically connected to the first input terminal K1 of the braking control module 30 to send a first enable signal ASC1 to the braking control module 30. The enable terminal E2 of the MCU module 20 is electrically connected to the second input terminal K2 of the braking control module 30 to send a second enable signal ASC2 to the braking control module 30. The braking control module 30 includes a pull-down resistor 31. The output terminal D1 of the braking control module 30 is electrically connected to the braking terminal T1 of the motor drive module 40 and the first terminal of the pull-down resistor 31, and the second terminal of the pull-down resistor 31 is grounded. When the power supply from the power management module 10 to the braking control module 30 is abnormal, the potential of the output terminal D1 of the braking control module 30 is pulled low by the pull-down resistor 31, outputting a valid braking signal Ctr to control the braking of the motor drive module 40. When the power supply from the power management module 10 to the braking control module 30 is normal, the braking control module 30 outputs the braking signal Ctr to control the motor drive module 40 according to the first enable signal ASC1 and / or the second enable signal ASC2.

[0028] Through the above solution, the present invention can supply power to the braking control module 30 using only the power management module 10, avoiding the problems of complex topology, high circuit cost, and limited layout space caused by the need for a high-voltage power supply to power the braking control module 30 in the prior art. Furthermore, when the power management module 10 fails to supply power to the braking control module 30, the output potential of the braking control module 30 is pulled low by the pull-down resistor 31, allowing it to directly output a valid braking signal Ctr to control the braking of the motor drive module 40. This ensures that even when the MCU module 20 cannot control the braking control module 30 due to a power management module 10 malfunction, the braking control module 30 can still control the motor drive module 40 to enter the braking state, protecting the vehicle and the driver.

[0029] The MCU module 20's drive terminal D2 is electrically connected to the motor drive module 40's drive terminal T2, and is used to send drive signals, such as PWM (Pulse Width Modulation) signals, to the motor drive module 40. The MCU module 20's first acquisition terminal C1 is electrically connected to the brake control module 30's output terminal D1, and is used to acquire the brake signal Ctr from the brake control module 30's output terminal D1 when the MCU module 20 sends a valid second enable signal ASC2 to the brake control module 30.

[0030] Specifically, when the vehicle is in motion, the MCU module 20 sends a drive signal to the motor drive module 40 to drive the vehicle. Furthermore, the MCU module 20 can also control the braking control module 30 based on the vehicle's driving status. If the vehicle is driving normally, the MCU module 20 sends an invalid second enable signal ASC2 to the braking control module 30 through the enable terminal E2; if the vehicle is driving abnormally, the MCU module 20 sends a valid second enable signal ASC2 to the braking control module 30 through the enable terminal E2. When the braking control module 30 receives an invalid second enable signal ASC2 through the second input terminal K2, it combines the validity (i.e., valid or invalid) of the first enable signal ASC1 at the first input terminal K1 to output a braking signal. When the braking control module 30 receives a valid second enable signal ASC2 through the second input terminal K2, it does not need to further consider the validity of the first enable signal ASC1 and directly outputs a valid braking signal Ctr, using this valid braking signal Ctr to control the motor drive module 40 to enter the braking state. In this logical context, when the MCU module 20 sends a valid second enable signal ASC2, it acquires the braking signal Ctr from the braking control module 30 through the first acquisition terminal C1 to determine whether the braking signal Ctr is a valid braking signal. If it is a valid braking signal Ctr, it is determined that the braking control module 30 is working normally and can effectively control the motor drive module 40. Otherwise, it is determined that the braking control module 30 is malfunctioning, indicating that it cannot control the motor drive module 40 to enter the braking state. In this case, the MCU module 20 needs to further control the motor drive module 40, for example, by stopping the transmission of drive signals to the motor drive module 40, so that the motor drive module 40 stops driving the motor due to the lack of drive signals, thereby stopping the vehicle.

[0031] The above describes the scenario where the MCU module 20 sends a valid second enable signal ASC2 when it detects an abnormality in vehicle operation. It is worth noting that the MCU module 20 can also send a valid second enable signal ASC2 when the vehicle is not running, depending on the actual situation. Specifically, when the MCU module 20 receives power from the power management module 10, it can directly send a valid second enable signal ASC2 to the brake control module 30 and collect the brake signal Ctr output by the brake control module 30 through the first acquisition terminal C1 to further identify the validity of the brake signal Ctr. If it is a valid brake signal Ctr, it is determined that the brake control module 30 is working normally and can effectively control the motor drive module 40; otherwise, it is determined that the brake control module 30 is malfunctioning, indicating that it cannot control the motor drive module 40 to enter the braking state. In this case, the MCU module 20 does not need to output a drive signal to the motor drive module 40, thus detecting the fault when the vehicle is not running and preventing the vehicle from starting, avoiding latent failure.

[0032] That is, the braking signal Ctr output by the braking control module 30 is acquired through the first acquisition terminal C1 of the MCU module 20. Self-test can be completed when the MCU module 20 sends a valid second enable signal ASC2, thereby reducing the latent failure rate, improving system reliability, and meeting functional safety requirements.

[0033] Furthermore, the braking control module 30 includes an AND gate 32. The first input terminal of the AND gate 32 is the first input terminal K1 of the braking control module 30, which is electrically connected to the enable terminal E1 of the power management module 10 to receive the first enable signal ASC1; the second input terminal of the AND gate 32 is the second input terminal K2 of the braking control module 30, which is electrically connected to the enable terminal E2 of the MCU module 20 to receive the second enable signal ASC2; the output terminal of the AND gate 32 is the output terminal D1 of the braking control module 30, which is electrically connected to the braking terminal T1 of the motor drive module 40, the first terminal of the pull-down resistor, and the first acquisition terminal C1 of the MCU module 20 to output the braking signal Ctr; the positive terminal of the AND gate 32 is the power receiving terminal S2 of the braking control module 30, which is electrically connected to the power supply terminal V2 of the power management module 10, and the negative terminal S3 of the AND gate 32 is grounded.

[0034] In actual control, the braking signal Ctr output by AND gate 32 is active low, meaning a low level indicates a valid braking signal and a high level indicates an invalid braking signal. When the power management module 10 fails to supply power to the braking control module 30, the positive terminal S2 of AND gate 32 cannot receive power from the power management module 10. Therefore, the output level is pulled low by the pull-down resistor 31, forming a valid and definite braking signal Ctr, which controls the braking of the motor drive module 40. When the power management module 10 supplies power to the braking control module 30 normally, the validity of the output braking signal Ctr is determined by the validity of the first enable signal ASC1 and the second enable signal ASC2 input to the first and second input terminals, respectively. The input and output logic relationship of AND gate 32 is shown in Table 1 below.

[0035] Table 1: Input and Output Logical Relationships of AND Gates As mentioned above, in this invention, a high level indicates an invalid signal, and a low level indicates a valid signal. As shown in Table 1, the braking signal Ctr output after passing through the AND gate 32 is only high when both the first enable signal ASC1 and the second enable signal ASC2 are high (i.e., invalid signals). In this case, the braking signal output to the motor drive module 40 is invalid. If at least one of the first enable signal ASC1 and the second enable signal ASC2 is low (i.e., valid signal), then the braking signal Ctr output after passing through the AND gate 32 is low. In this case, the braking signal output to the motor drive module 40 is valid.

[0036] Therefore, whether the power management module 10 or the MCU module 20 detects that the vehicle needs to enter a braking state, they can send a valid enable signal to enable the logic AND gate 32 to output a valid braking signal, controlling the motor drive module 40 to enter the braking state, thereby controlling the vehicle's motor braking state. This provides effective protection for the vehicle and the driver.

[0037] The control system 100 also includes a low-voltage power supply module 50 and a high-voltage power supply module 60. The power supply terminal V4 of the low-voltage power supply module 50 is electrically connected to the power receiving terminal S4 of the power management module 10. That is, the power management module 10 is powered by the low-voltage power supply module 50. When the low-voltage power supply module 50 fails, the power management module 10 will experience a power supply abnormality. In this case, the logic AND gate 32 of the braking control module 30 cannot receive power from the power management module 10 at its positive receiving terminal, causing the level of its output terminal to be forcibly pulled low by the pull-down resistor 31, and outputting a valid braking signal Ctr to control the motor drive module 40 to enter the braking state.

[0038] The power supply terminal V5 of the high-voltage power supply module 60 is electrically connected to the power receiving terminal S5 of the motor drive module 40 and the second acquisition terminal C2 of the MCU module 20. That is, the high-voltage power supply module 60 supplies power to the motor drive module 40. During the power supply process of the high-voltage power supply module 60, the MCU module 20 acquires its power supply signal, such as the power supply voltage, and identifies whether the power supply signal of the high-voltage power supply module 60 is abnormal. If the power supply signal of the high-voltage power supply module 60 is abnormal, the MCU module 20 sends a valid second enable signal ASC2 to the braking control module 30; if the power supply signal of the high-voltage power supply module 60 is normal, the MCU module 20 sends an invalid second enable signal ASC2 to the braking control module 30. For example, the MCU module 20 can identify whether the power supply voltage output by the high-voltage power supply module 60 is within a preset voltage range. If the power supply voltage is not within the preset voltage range, the MCU module 20 sends a valid second enable signal ASC2 to the braking control module 30; if the power supply voltage is within the preset voltage range, the MCU module 20 sends an invalid second enable signal ASC2 to the braking control module 30. When the MCU module 20 sends a valid second enable signal ASC2 to the braking control module 30, the braking control module 30 will output a valid braking signal Ctr to control the motor to drive the optical module 40 into the braking state. By having the MCU module 20 perform a self-check on the power supply status of the high-voltage power supply module 60, the latent failure rate can be reduced, system reliability improved, and functional safety requirements met.

[0039] The clock signal transmitter Z1 of the MCU module 20 is electrically connected to the clock signal receiver Z2 of the power management module 10. The power management module 10 determines whether it receives the clock signal (i.e., the "dog feed signal") sent by the clock signal transmitter Z1 of the MCU module 20 through the clock signal receiver Z2 within a first preset time. If not received, it sends a valid first enable signal ASC1 to the braking control module 30; if received, it sends an invalid first enable signal ASC1 to the braking control module 30. In other words, the power management module 10 sends the first enable signal ASC1 to the braking control module 30 based on the operating state of the MCU module 20.

[0040] In practical applications, when the power supply to both the low-voltage power module 50 and the power management module 10 is normal, the MCU module 20 and the braking control module 30 also receive normal power. The MCU module 20 then performs a self-test on the braking control module 30. If the self-test passes (i.e., when the braking control module 30 is confirmed to be working normally), it sends a clock signal (i.e., a "dog feed signal") to the clock signal receiver Z2 of the power management module 10 via the clock signal transmitter Z1 within a second preset time. If the self-test fails, the clock signal is not sent within the second preset time. The second preset time is shorter than the first preset time.

[0041] It is worth noting that if the MCU module 20 itself malfunctions, even if the power management module 10 supplies power to the MCU module 20 normally, the MCU module 20 will not send a clock signal to the power management module 10 within the second preset time.

[0042] Alternatively, if the power management module 10 fails to supply power to the MCU module 20, the MCU module 20 will not send a clock signal to the power management module 10 within the second preset time because it cannot work.

[0043] In summary, regardless of which of the aforementioned situations applies to the MCU module 20, the validity of the first enable signal sent by the power management module 10 to the braking control module can be determined by whether the power management module 10 receives the clock signal sent by the MCU module 20 within a first preset time. That is, the power management module 10 sends the first enable signal based on the operating state of the MCU module 20, which includes any of the following: abnormal power supply state, fault state, and normal power supply with self-test state.

[0044] In summary, the braking control module 30 of this invention can control the motor drive module 40 to enter the braking state when the power management module 10 fails to supply power to the braking control module 30, the MCU module 20 detects that the vehicle needs to enter the braking state, or the power management module 10 detects that the MCU module 20 is malfunctioning, thus ensuring the safety of the vehicle and the driver.

[0045] This invention also proposes a vehicle control method based on the control system described above. This control method is applied to the control system 100 described above. Please refer to [link to relevant documentation]. Figure 3 The control method includes the following steps: Step S1: Determine whether the power management module is supplying power to the braking control module normally.

[0046] In step S1, if the result of the judgment is negative, that is, the power management module is supplying power to the braking control module abnormally, then the process jumps to step S2; if the result of the judgment is positive, that is, the power management module is supplying power to the braking control module normally, then the process jumps to step S3.

[0047] Step S2: The braking control module outputs a valid braking signal to control the braking of the motor drive module.

[0048] Step S3: The power management module obtains the working status of the MCU module and sends a first enable signal to the braking control module according to the working status of the MCU module.

[0049] Step S4: Obtain the vehicle's operating status through the MCU module, and send a second enable signal to the braking control module according to the operating status.

[0050] Step S5: The braking control module outputs a braking signal to control the motor drive module according to the first enable signal and / or the second enable signal.

[0051] Therefore, in this embodiment, when the power management module fails to supply power to the braking control module, a valid braking signal can be directly output to control the braking of the motor drive module. This ensures that even when the MCU module cannot control the braking control module due to a power management module malfunction, the braking control module can still control the motor drive module to enter braking mode, protecting the safety of the vehicle and the driver. Simultaneously, it avoids the problems of complex topology, high circuit cost, and limited layout space caused by the need for a high-voltage power supply to the braking control module in existing technologies.

[0052] When the power management module supplies power to the braking control module normally, it needs to output a braking signal to control the motor drive module in conjunction with the first enable signal and / or the second enable signal. That is, the braking signal output needs to consider the validity of the first enable signal and / or the validity of the second enable signal. If both the first and second enable signals are invalid, the braking control module outputs an invalid braking signal; if at least one of the first and second enable signals is valid, the braking control module outputs a valid braking signal. When determining the validity and invalidity of a signal, further logical judgment can be made in conjunction with Table 1 described above, which will not be elaborated upon here.

[0053] Please see Figure 4 , Figure 4 This is a specific sub-step of step S3 above, which involves "the power management module acquiring the operating status of the MCU module and sending a first enable signal to the braking control module based on the operating status of the MCU module." It includes: Step S31: Determine whether the power management module receives the clock signal sent by the MCU module within the first preset time.

[0054] Step S32: If no clock signal is received within the first preset time, the power management module sends a valid first enable signal to the braking control module.

[0055] Step S33: If a clock signal is received within the first preset time, the power management module sends an invalid first enable signal to the braking control module.

[0056] The power management module sends a specific first enable signal based on whether it receives the MCU module's clock signal within a preset first time period. If it receives the MCU module's clock signal within the first preset time period, it indicates that the MCU module is working normally, and an invalid first enable signal is sent to the braking control module. Conversely, if it does not receive the MCU module's clock signal within the first preset time period, it indicates that the MCU module is malfunctioning. To prevent the MCU module from failing to recognize vehicle malfunctions due to malfunctions and thus failing to control the vehicle to enter braking mode, the power management module directly sends a valid braking signal to the braking control module to control the braking module to enter braking mode, thereby controlling the vehicle to enter braking mode. Furthermore, MCU module malfunctions can be reported.

[0057] Therefore, in this embodiment, the power management module identifies the working status of the MCU module, and promptly controls the braking control module to enter the braking state when the MCU module malfunctions, thereby ensuring the safety of vehicle driving and the safety of the driver.

[0058] As mentioned earlier, the operating states of the MCU module include: abnormal power supply from the power management module, MCU module malfunction, and any of the following: normal power supply from the power management module and MCU module self-test. Regardless of the MCU module's state, it is identified by whether the power management module receives a clock signal from the MCU module within a first preset time.

[0059] Specifically, if the MCU module cannot receive power from the power management module, the MCU will be unable to send a clock signal to the power management module because it cannot work. That is, if the power management module does not receive a clock signal within the first preset time, the power management module will send a valid first enable signal to the braking control module.

[0060] Similarly, if the MCU module malfunctions, it will also be unable to send a clock signal to the power management module. That is, if the power management module does not receive a clock signal within the first preset time, the power management module will send a valid first enable signal to the braking control module.

[0061] If the MCU module receives normal power from the power management module, it needs to perform a self-test and then determine whether to send a clock signal to the power management module based on the self-test results. Please refer to [link to details]. Figure 5 The present invention also includes the following steps: Step S6: When the power management module supplies power to the MCU module normally, the MCU module sends a valid second enable signal to the braking control module and obtains the braking signal output by the braking control module.

[0062] Step S7: Identify the validity of the braking signal.

[0063] Step S8: If the braking signal is detected as a valid signal, the MCU module sends a clock signal to the power management module within a second preset time.

[0064] Step S9: If the braking signal is found to be invalid, stop sending the drive signal and clock signal to the motor drive module.

[0065] That is, when the MCU module confirms that it has received normal power supply from the power management module, the MCU module directly sends a valid second enable signal to the braking control module and acquires the braking signal output by the braking control module through the first acquisition terminal. Further, the validity of the braking signal is identified. If the braking signal is valid, it is determined that the braking control module is working normally and can effectively control the motor drive module; otherwise, it is determined that the braking control module is malfunctioning, indicating that it cannot control the motor drive module to enter the braking state. In this case, the MCU module does not need to output a drive signal to the motor drive module, thus detecting the fault when the vehicle is not running and preventing the vehicle from starting, avoiding latent failure.

[0066] The MCU module's self-test identified a fault in the brake control module, proving that the brake control module could not control the motor drive module to enter a safe state. In this case, the motor drive module should not continue to operate, and there is no need to send a drive signal to the motor drive module. Even if the motor drive module receives a torque output demand, it can be ensured that the motor drive module will not issue a torque command, the motor will not run, and the safety of the entire vehicle will be guaranteed.

[0067] The purpose of this embodiment is to verify whether the braking control module outputs a valid braking signal based on a valid second enable signal, thus avoiding latent failures. For example, during vehicle operation, if a module other than the MCU module and the braking control module fails, causing the MCU module to determine that braking control is required, but the braking control module malfunctions and outputs an invalid braking signal, it will be unable to enter the safe braking state. This type of situation is a latent failure. The MCU self-test can be performed when the vehicle is not running. If a fault is detected when the vehicle is not running, the vehicle will be prevented from starting, thus avoiding latent failures.

[0068] During vehicle operation, the MCU module also acquires the vehicle's operating status and sends a second enable signal accordingly. Specifically, when the vehicle's operating status indicates an abnormal driving situation requiring braking, the MCU module sends a valid second enable signal to the braking control module; conversely, when the vehicle's operating status indicates normal driving, the MCU module sends an invalid second enable signal. In this embodiment, if the MCU module sends a valid second enable signal to the braking control module during vehicle operation, the MCU module will still acquire the braking signal output by the braking control module for self-testing. It should be understood that in this case, after the self-test is completed, if it is determined that the braking control module is working normally, the MCU module will still send a clock signal to the power management module within a second preset time.

[0069] That is, as long as the MCU sends a valid second enable signal to the braking control module, the MCU module will perform a self-test, and after passing the self-test, it will send a clock signal to the power management module within a second preset time. If the self-test fails, it will not send a clock signal to the power management module. It should be understood that the braking control module mentioned above acts on the braking of the motor drive module, while the MCU module acts on the driving of the motor drive module. In this invention, the motor drive module is also powered by the high-voltage power supply module. When the high-voltage power supply module supplies power to the motor drive module, the MCU module will further identify the power supply status of the high-voltage power supply module. Please refer to the specific scheme. Figure 6 The control method of this invention further includes the following steps: Step S61: Collect the power supply signal from the high-voltage power supply module to the motor drive module through the MCU module, and identify whether the power supply signal of the high-voltage power supply module is abnormal.

[0070] Step S62: If the power supply signal of the high-voltage power supply module is abnormal, the MCU module sends a valid second enable signal to the braking control module.

[0071] Step S63: If the power supply signal of the high-voltage power supply module is normal, the MCU module sends an invalid second enable signal to the braking control module.

[0072] When the high-voltage power supply module supplies power to the motor drive module, the MCU module identifies whether the power supply signal of the high-voltage power supply module is normal. If the power supply signal is abnormal, it means that the motor drive module cannot work. In this case, the MCU module sends a valid second enable signal to the braking control module, which then controls the motor drive module to enter the braking state. If the power supply signal is normal, it means that the motor drive module can be powered on and work. In this case, the MCU module sends an invalid second enable signal to the braking control module, which outputs an invalid braking signal, and the motor drive module can work normally.

[0073] For example, the MCU module can identify whether the supply voltage output by the high-voltage power supply module is within a preset voltage range. If the supply voltage is not within the preset voltage range, the MCU module sends a valid second enable signal to the braking control module; if the supply voltage is within the preset voltage range, the MCU module sends an invalid second enable signal to the braking control module. When the MCU module sends a valid second enable signal to the braking control module, the braking control module will output a valid braking signal to control the motor drive light module to enter the braking state.

[0074] By detecting the power supply signal output from the high-voltage power supply module using the MCU module, it is possible to ensure that the motor drive module is promptly controlled to enter braking mode when the power supply signal is abnormal, preventing the vehicle from entering a dangerous driving state due to malfunction of the motor drive module. This also reduces the latent failure rate, improves system reliability, and meets functional safety requirements.

[0075] It should be understood that, in conjunction with the preceding description, when the MCU module sends a valid second enable signal to the braking control module, the MCU module can further acquire the braking signal output by the braking control module and complete the self-test.

[0076] The present invention also provides a vehicle including the control system described above, and applied in the control method described above.

[0077] This invention provides a vehicle control system, a vehicle control method, and a vehicle. The control system includes a power management module, an MCU module, a braking control module, and a motor drive module. The power supply terminal of the power management module is electrically connected to the power receiving terminals of both the MCU module and the braking control module, allowing the power management module to supply power to both modules. The enable terminal of the power management module is electrically connected to the first input terminal of the braking control module to send a first enable signal. The enable terminal of the MCU module is electrically connected to the second input terminal of the braking control module to send a second enable signal. The output terminal of the braking control module is electrically connected to the braking terminal of the drive module and the first terminal of a pull-down resistor, with the second terminal of the pull-down resistor grounded. When the power supply from the power management module to the braking control module is abnormal, the potential at the output terminal of the braking control module is pulled low by the pull-down resistor, resulting in a valid braking signal for braking control of the motor drive module. When the power supply from the power management module to the braking control module is normal, the braking control module outputs a braking signal to control the motor drive module based on either the first or second enable signal.

[0078] Through the above solution, this invention can power the braking control module using only the power management module, avoiding the problems of complex topology, high circuit cost, and limited layout space caused by the need for a high-voltage power supply to power the braking module in the prior art. Furthermore, when the power management module experiences a power supply failure, the output potential of the braking control module is pulled low by the pull-down resistor, allowing for the direct output of a valid braking signal to control the motor drive module. This ensures that even when the MCU module cannot control the braking control module due to a power management module malfunction, the braking control module can still control the motor drive module to enter braking mode, protecting the vehicle and the driver.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications or equivalent substitutions made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A vehicle control system, characterized in that, The control system includes a power management module, an MCU module, a braking control module, and a motor drive module, wherein: The power supply terminal of the power management module is electrically connected to the power receiving terminal of the MCU module and the power receiving terminal of the braking control module, respectively, so that the power management module supplies power to the MCU module and the braking control module respectively. The enable terminal of the power management module is electrically connected to the first input terminal of the braking control module to send a first enable signal to the braking control module. The enable terminal of the MCU module is electrically connected to the second input terminal of the braking control module to send a second enable signal to the braking control module; The braking control module includes a pull-down resistor. The output terminal of the braking control module is electrically connected to the braking terminal of the motor drive module and the first terminal of the pull-down resistor, and the second terminal of the pull-down resistor is grounded. Specifically, when the power management module fails to supply power to the braking control module, the output potential of the braking control module is pulled low by the pull-down resistor, outputting a valid braking signal to control the braking of the motor drive module; when the power management module supplies power to the braking control module normally, the braking control module outputs a braking signal to control the motor drive module according to the first enable signal and / or the second enable signal.

2. The control system according to claim 1, characterized in that, The first acquisition terminal of the MCU module is electrically connected to the output terminal of the braking control module, and is used to acquire the braking signal at the output terminal of the braking control module when the MCU module sends a valid second enable signal to the braking control module.

3. The control system according to claim 2, characterized in that, The braking control module includes a logic AND gate, wherein: The first input terminal of the AND gate is electrically connected to the enable terminal of the power management module, the second input terminal of the AND gate is electrically connected to the enable terminal of the MCU module, the output terminal of the AND gate is electrically connected to the braking terminal of the motor drive module, the first terminal of the pull-down resistor, and the first acquisition terminal of the MCU module, respectively, the positive terminal of the AND gate is electrically connected to the power supply terminal of the power management module, and the negative terminal of the AND gate is grounded.

4. The control system according to any one of claims 1-3, characterized in that, The control system further includes a low-voltage power supply module and a high-voltage power supply module, wherein: The power supply terminal of the low-voltage power supply module is electrically connected to the power receiving terminal of the power management module; The power supply terminal of the high-voltage power supply module is electrically connected to the power receiving terminal of the motor drive module and the second acquisition terminal of the MCU module, respectively. The driver terminal of the MCU module is electrically connected to the driver terminal of the motor drive module, and the clock signal transmitter terminal of the MCU module is electrically connected to the clock signal receiver terminal of the power management module.

5. A method for controlling a vehicle, characterized in that, The control method is applied in the control system according to any one of claims 1-4, and the control method includes: Determine whether the power management module is supplying power to the braking control module normally; If the power management module fails to supply power to the braking control module, the braking control module outputs a valid braking signal to control the braking of the motor drive module. If the power management module supplies power to the braking control module normally, the power management module obtains the working status of the MCU module and sends a first enable signal to the braking control module according to the working status of the MCU module. The MCU module acquires the vehicle's operating status and sends a second enable signal to the braking control module based on the operating status. The braking control module outputs a braking signal to control the motor drive module based on the first enable signal and / or the second enable signal.

6. The control method according to claim 5, characterized in that, The steps of the power management module acquiring the operating status of the MCU module and sending a first enable signal to the braking control module according to the operating status of the MCU module include: Determine whether the power management module receives a clock signal sent by the MCU module within a first preset time period; If the clock signal is not received within the first preset time, the power management module sends a valid first enable signal to the braking control module. If the clock signal is received within the first preset time period, the power management module sends an invalid first enable signal to the braking control module.

7. The control method according to claim 6, characterized in that, The control method further includes: When the power management module supplies power to the MCU module normally, the MCU module sends a valid second enable signal to the braking control module and obtains the braking signal output by the braking control module. Identify the validity of the braking signal; If the braking signal is detected as a valid signal, the MCU module sends the clock signal to the power management module within a second preset time. If the braking signal is detected as invalid, then the transmission of the drive signal and the clock signal to the motor drive module will be stopped.

8. The control method according to claim 6, characterized in that, The step of outputting a braking signal to control the motor drive module by the braking control module according to the first enable signal and / or the second enable signal includes: If both the first enable signal and the second enable signal are invalid, the braking control module outputs an invalid braking signal. If at least one of the first enable signal and the second enable signal is a valid signal, then the braking control module outputs a valid braking signal.

9. The control method according to any one of claims 5-8, characterized in that, The control method further includes: The MCU module acquires the power supply signal from the high-voltage power supply module to the motor drive module and identifies whether the power supply signal from the high-voltage power supply module is normal. If the power supply signal of the high-voltage power supply module is abnormal, the MCU module sends a valid second enable signal to the braking control module. If the power supply signal of the high-voltage power supply module is normal, the MCU module sends an invalid second enable signal to the braking control module.

10. A vehicle, characterized in that, The vehicle includes the control system described in any one of claims 1-4.

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