Battery control methods, electric vehicles and storage media

Abstract

The battery control method, electric vehicle, and storage medium provided by this invention are applied to the processor in a battery management system. A first sensor and a second sensor are installed on the processor or battery pack of the battery management system. The method includes: acquiring motion data collected by the first sensor and the second sensor; determining a collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and when the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition. By installing two sensors on the battery pack or the processor of the battery management system to detect motion data, the collision detection result can be accurately determined based on the time-domain and / or frequency-domain characteristics of the motion data, thereby improving the accuracy of collision detection result determination.

Description

Technical Field

[0001] This application relates to the field of collision detection, and more particularly to a battery control method, an electric vehicle, and a storage medium. Background Technology

[0002] With the popularization and widespread application of electric vehicles, their safety has become a major focus of attention. The power battery is the core module of an electric vehicle, and its safety is of paramount importance. Currently, safety incidents involving electric vehicles and their power batteries are frequent, such as electric vehicles catching fire after a collision. The main reason for this is that the power battery cannot immediately shut down after a collision.

[0003] Currently, the collision-induced power-off solution for electric vehicles involves installing motion sensors in the chassis locations such as behind the bumper, front longitudinal beams, B-pillars, and door inner panels. When a collision occurs, the motion sensors capture signals and send them to the vehicle's VCU (Vehicle Control Unit) or vehicle control domain gateway. The VCU then informs the BMS (Battery Management System) via CAN (Controller Area Network) or LIN (Local Interconnect Network) communication protocols. The BMS then executes the power-off strategy for the battery pack. However, this transmission link can be several meters long. After a collision, damage to the wiring harness can easily interfere with or cause the collision signal sent to the BMS, preventing the BMS from determining the cause or executing the power-off strategy.

[0004] How to determine in a timely and accurate manner when a vehicle collision has occurred is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This invention provides a battery control method, an electric vehicle, and a storage medium. The method uses two sensors on the processor of a battery pack or battery management system to detect motion data, thereby accurately determining the collision detection result based on the time-domain and / or frequency-domain characteristics of the motion data, thus improving the accuracy of collision detection result determination.

[0006] In a first aspect, the present invention provides a battery control method applied to a processor in a battery management system, wherein a first sensor and a second sensor are disposed on the processor or battery pack of the battery management system, and the method includes:

[0007] Acquire motion data collected by the first and second sensors;

[0008] The collision detection result is determined when the motion data collected by either the first sensor or the second sensor meets the first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet the second preset condition.

[0009] Optionally, the motion data includes triaxial acceleration data acquired by a first sensor and triaxial angular velocity data acquired by a second sensor; the first sensor is an acceleration sensor; the second sensor is a gyroscope sensor.

[0010] The three-axis acceleration data includes: X-axis acceleration, Y-axis acceleration, and Z-axis acceleration; the three-axis angular velocity data includes: X-axis angular velocity, Y-axis angular velocity, and Z-axis angular velocity.

[0011] Wherein, the X-axis is the direction of vehicle travel; the Z-axis is the direction perpendicular to the ground; and the Y-axis is the direction perpendicular to the XOZ plane.

[0012] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0013] When the motion data collected by the first sensor satisfies that the X-axis acceleration is greater than a first threshold, and the time-domain and / or frequency-domain features of the motion data extracted by the second sensor satisfy any threshold range, the collision detection result is determined to be a frontal collision.

[0014] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0015] When the motion data collected by the first sensor satisfies the condition that the Y-axis acceleration is greater than the second threshold...

[0016] Furthermore, when the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor meet the second preset condition, the collision detection result is determined to be a side collision.

[0017] Optionally, the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor satisfy the second preset condition:

[0018] When the time-domain characteristics of the Z-axis angular velocity satisfy the following: the change value of the Z-axis angular velocity is greater than the third threshold and lasts for a first preset duration, or the change value of the Z-axis angular velocity fluctuates within a preset range and lasts for a first preset duration;

[0019] Furthermore, the frequency domain characteristics of the Z-axis angular velocity satisfy the following condition: the frequency band corresponding to the change value of the Z-axis angular velocity within a first preset time period is greater than the first preset frequency band.

[0020] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0021] When the motion data collected by the first sensor meets any range

[0022] Furthermore, the time-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: greater than the fourth threshold and lasting for a second preset duration; and when the frequency-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: the frequency band corresponding to the change value of the target axis angular velocity within the second preset duration is greater than the second preset frequency band, the collision detection result is determined to be a rollover collision.

[0023] The target axis angular velocity is either the X-axis angular velocity or the Y-axis angular velocity.

[0024] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0025] When the motion data collected by the first sensor meets the following conditions: the difference between any target data in the triaxial acceleration data and the corresponding threshold is greater than the corresponding preset value, and when the time-domain characteristics of the angular velocities of each axis extracted by the second sensor meet the following conditions: vibration state or failure state, the collision detection result is determined to be sensor failure caused by collision.

[0026] Alternatively, when the time-domain characteristics of the accelerations of each axis extracted by the first sensor satisfy the conditions of vibration state or failure state, and when the motion data collected by the second sensor satisfies the condition that the difference between any target data in the three-axis angular velocity data and the corresponding threshold is greater than the corresponding preset value, the collision detection result is determined to be sensor failure caused by collision.

[0027] Optionally, the method also includes:

[0028] When the collision detection result indicates that a frontal collision, side collision, or rollover collision has occurred, the main positive and negative circuit breakers will be disconnected.

[0029] And / or, when the collision detection result indicates that the sensor failure is caused by a collision, the main positive and negative circuit breakers are controlled to open and a fault diagnosis error message is output.

[0030] Optionally, the method also includes:

[0031] Obtain user feedback on collision detection results, and use the feedback and corresponding motion data as diagnostic data;

[0032] Diagnostic data is stored in the battery management system and periodically transmitted to the local host via the cloud; the local host is used to update the judgment criteria for each collision detection result.

[0033] Receive updated judgment conditions sent by the local host; the updated judgment conditions are used to determine the collision detection results based on the motion data.

[0034] In a second aspect, the present invention provides a processor, comprising: at least one processor and a memory;

[0035] The memory stores instructions that the computer executes;

[0036] At least one processor executes computer execution instructions stored in memory, causing at least one processor to perform the method as described in any of the first aspects.

[0037] Thirdly, the present invention provides a battery management system, comprising: a processor as described in the second aspect; a first sensor and a second sensor are disposed on the processor or battery pack of the battery management system; the first sensor is used to collect triaxial acceleration data, and the second sensor is used to collect triaxial angular velocity data.

[0038] Fourthly, the present invention provides an electric vehicle, comprising: a processor as described in the second aspect; or a battery management system as described in the third aspect.

[0039] Fifthly, the present invention provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method of any one of the first aspects.

[0040] In a sixth aspect, the present invention provides a computer program product comprising a computer program that, when executed by a processor, implements the method as described in any of the first aspects.

[0041] The battery control method, electric vehicle, and storage medium provided by this invention are applied to the processor in a battery management system. A first sensor and a second sensor are installed on the processor or battery pack of the battery management system. The method includes: acquiring motion data collected by the first sensor and the second sensor; determining a collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and when the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition. By installing two sensors on the battery pack or the processor of the battery management system to detect motion data, the collision detection result can be accurately determined based on the time-domain and / or frequency-domain characteristics of the motion data, thereby improving the accuracy of collision detection result determination. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 A schematic diagram of a prior art battery power-off scheme provided by an embodiment of the present invention;

[0044] Figure 2 This is a schematic flowchart of a battery control method provided in an embodiment of the present invention;

[0045] Figure 3 This is a schematic diagram illustrating data transmission between a sensor and a battery management system, provided as an embodiment of the present invention.

[0046] Figure 4 This is a schematic diagram illustrating how a battery management system controls a circuit breaker, as provided in an embodiment of the present invention.

[0047] Figure 5 A schematic diagram of a collision detection process provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of another collision detection process provided in an embodiment of the present invention;

[0049] Figure 7 This is a schematic diagram illustrating the updating of a judgment condition according to an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the structure of a battery control device provided in an embodiment of the present invention;

[0051] Figure 9 This is a schematic diagram of the hardware structure of a processor provided in an embodiment of the present invention.

[0052] The accompanying drawings have illustrated specific embodiments of the invention, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the invention in any way, but rather to illustrate the concept of the invention to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0053] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention.

[0054] In this document, it should be understood that the terminology used is for convenience of understanding only and does not imply any limitation on its meaning. Furthermore, any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning.

[0055] Figure 1 This is a schematic diagram of a prior art battery power-off scheme provided by an embodiment of the present invention, as shown below. Figure 1 As shown, when a collision occurs, the motion sensor captures the signal and sends it to the vehicle's VCU or vehicle control domain gateway. The vehicle's VCU then informs the BMS via CAN or LIN communication protocols. The BMS then executes the power-off strategy for the battery pack. Figure 1 As shown in the green line 1 in the diagram. More and more automakers are incorporating redundancy in their designs due to functional safety concerns, such as... Figure 1 As shown in the blue No. 2 harness, a hard-wired signal directly connects the motion sensor and the BMS, allowing the BMS to power down more quickly.

[0056] However, regardless of which harness is mentioned above, the transmission link is relatively long. When a collision occurs, damage to the VCU or harness can easily cause interference or loss of the collision signal sent to the BMS, causing the BMS to be unable to determine or execute the power-down strategy.

[0057] Furthermore, existing methods determine whether a collision has occurred solely based on a single acceleration threshold. If the threshold is reached or exceeded, the BMS (Battery Management System) executes a power-down strategy to ensure the safety of the battery and the vehicle. However, this method has a high false positive rate because using a single threshold cannot establish an accurate collision model.

[0058] To address the aforementioned issues, this application provides two types of sensors, namely a first sensor and a second sensor, which are mounted on the processor of the battery pack or battery management system. This shortens the transmission distance between the sensors and the BMS, improves the stability of data transmission from the sensors to the BMS, and enhances the accuracy of the determined collision detection results by performing time-domain and / or frequency-domain feature analysis on the motion data sent by the sensors.

[0059] Figure 2 This is a flowchart illustrating a battery control method provided in an embodiment of the present invention; as shown below. Figure 2 As shown, this method is applied to a processor in a battery management system, which can be a central processing unit. A first sensor and a second sensor are disposed on the processor or battery pack of the battery management system. The method includes:

[0060] Step S201: Acquire motion data collected by the first sensor and the second sensor.

[0061] Optionally, a first sensor and a second sensor can be installed on the processor of the battery management system or the battery pack. By using two types of sensors, different types of motion data can be acquired. By placing both types of sensors in the processor of the battery pack or battery management system, comprehensive motion data can be obtained.

[0062] In existing technologies, the sensor is positioned far from the processor in the battery management system (BMS). When a collision occurs, the signal is easily interfered with, causing the BMS to fail to receive the signal and thus malfunction. This application integrates the sensor into the processor of the battery pack or BMS, enabling the BMS to independently detect dangerous situations such as collisions. Due to the shorter transmission path, the problem of signal transmission path failure caused by collisions is avoided. In other words, the battery pack can automatically identify collisions and apply high voltage upon detection, resulting in a faster response time.

[0063] Optionally, the first and second sensors can communicate with the processor in the battery management system to transmit the collected motion data to the processor. Alternatively, after capturing motion data, the first and second sensors can send the captured motion data to the central processing unit of the battery management system via SPI (Serial Peripheral Interface) or I2C (Inter-Integrated Circuit) communication protocols. This communication method offers high stability; in the event of a vehicle collision, the reliability of motion data transmission is improved due to this communication method and the short transmission distance between the sensors and the processor.

[0064] Step S202: When the motion data collected by either the first sensor or the second sensor meets the first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet the second preset condition, the collision detection result is determined.

[0065] After acquiring motion data, the processor can analyze the motion data to determine the collision detection result.

[0066] Optionally, the judgment process is as follows: once the signal from one sensor meets the condition, the fluctuation or shape of the time-domain and / or frequency-domain characteristics of the motion data collected by another sensor is further judged. This saves storage space for the BMS and improves the accuracy of the entire system. By judging time-domain and frequency-domain characteristics, collision recognition can be performed based on data from multiple angles. Since the threshold is only an instantaneous value at a certain point in time and is not representative, judging time-domain and / or frequency-domain characteristics improves the accuracy of collision detection results, thereby reducing the false positive and false negative rates caused by vibration, slippage, etc.

[0067] Optionally, preset conditions are initial triggering conditions set for specific axial data from any sensor, typically manifested as a threshold. For example, when the Y-axis acceleration data from a motion sensor exceeds an acceleration threshold, the condition is met, and the system enters the deep analysis phase. In this phase, the system does not determine a collision solely based on the instantaneous signal exceeding the threshold, but instead analyzes the temporal and / or frequency domain characteristics of data provided by another sensor (i.e., the gyroscope in this example).

[0068] Existing technologies rely solely on thresholds to determine whether a vehicle has collided, making it difficult to distinguish between normal vibrations and complex collision types. The core assumption is that the dynamic and observational models of the system are linear. However, in actual car collisions, acceleration and angular velocity signals are mostly nonlinear, which leads to failures or errors when using Kalman filtering to determine collisions.

[0069] Through the judgment mechanism of this application, which combines the threshold triggering of one sensor with the time-domain / frequency-domain characteristics of another sensor for confirmation, the system can construct a multi-dimensional judgment logic. Ultimately, the processor integrates these two analyses to arrive at an accurate collision detection result, such as determining it as a frontal collision, side collision, or rollover collision. The solution of this application can also be used in power supplies.

[0070] The battery control method provided by this invention is applied to the processor in a battery management system. A first sensor and a second sensor are installed on the processor or battery pack of the battery management system. The method includes: acquiring motion data collected by the first sensor and the second sensor; determining a collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition. By installing two types of sensors on the battery pack or the processor of the battery management system to detect motion data, the collision detection result can be accurately determined based on the time-domain and / or frequency-domain characteristics of the motion data, thereby improving the accuracy of collision detection result determination.

[0071] Optionally, the motion data includes triaxial acceleration data acquired by a first sensor and triaxial angular velocity data acquired by a second sensor; the first sensor is an acceleration sensor; the second sensor is a gyroscope sensor.

[0072] The three-axis acceleration data includes: X-axis acceleration, Y-axis acceleration, and Z-axis acceleration; the three-axis angular velocity data includes: X-axis angular velocity, Y-axis angular velocity, and Z-axis angular velocity.

[0073] Wherein, the X-axis is the direction of vehicle travel; the Z-axis is the direction perpendicular to the ground; and the Y-axis is the direction perpendicular to the XOZ plane.

[0074] The motion data is collected collaboratively by two types of sensors: the first is an accelerometer, which collects three-axis acceleration data; the second is a gyroscope, which collects three-axis angular velocity data. When the car moves, the sensors acquire motion data. The accelerometer detects acceleration along the X, Y, and Z axes, while the gyroscope detects angular velocity data along the X, Y, and Z axes.

[0075] To establish a unified reference coordinate system, a rectangular coordinate system with the power battery pack (or its geometric center) as the origin is defined here. Specifically, the positive direction of the X-axis is defined as the normal forward direction of the vehicle, that is, along the longitudinal axis of the vehicle body pointing towards the front of the vehicle; the positive direction of the Z-axis is defined as perpendicular to the ground and upward; and the positive direction of the Y-axis is perpendicular to the XOZ plane and points to the right side of the vehicle (from the driver's perspective).

[0076] In the coordinate system described above, the three-axis acceleration data are specified as X-axis acceleration, Y-axis acceleration, and Z-axis acceleration; the three-axis angular velocity data are specified as X-axis angular velocity, Y-axis angular velocity, and Z-axis angular velocity.

[0077] Figure 3 This is a schematic diagram illustrating data transmission between a sensor and a battery management system, as provided in an embodiment of the present invention. Figure 3As shown, the accelerometer and gyroscope communicate with the battery management system. After the battery management system determines the collision detection result, it can control the main positive and negative circuit breakers of the power battery system.

[0078] Optionally, the accelerometer sensor can be directly attached to the main control board of the battery management system, while the gyroscope sensor can be fixed to the inside of the battery pack using screws.

[0079] The battery management system can periodically check the lifespan of the two sensors and issue a failure warning at the end of the sensor's lifespan.

[0080] Optionally, the accelerometer typically uses an automotive-grade 3-axis motion accelerometer, with the following technical parameters: operating temperature range: -40℃ to +120℃, adapting to the extreme working environment of the power battery system; size: compact design, facilitating direct integration onto the main control board of the battery management system; measurement range: ±2g to ±8g, meeting the requirements for automotive collision acceleration detection; sampling rate: supports 100Hz to 1000Hz, ensuring real-time monitoring; output interface: standard digital signal output, facilitating communication with the battery management system processor.

[0081] Optionally, the gyroscope typically uses an automotive-grade 3-axis gyroscope angular velocity sensor, with the following technical parameters: operating temperature range: -40℃ to +120℃, consistent with accelerometers; size: ultra-small package, suitable for integrated installation; measurement accuracy: angular velocity resolution better than 0.01° / s, ensuring accurate detection; noise level: low-noise design to ensure signal quality; power consumption: ultra-low power mode, meeting the energy-saving requirements of battery management systems.

[0082] The advantages of integrating the two sensors into the main control board or battery pack of the battery management system are stable signal transmission, avoiding signal attenuation and anti-interference problems caused by long wire harness transmission, reducing the number of external connectors, lowering the failure rate, and shortening signal transmission delay to improve system response speed.

[0083] Figure 4 This is a schematic diagram illustrating how a battery management system controls a circuit breaker, as provided in an embodiment of the present invention. Figure 4 As shown, the main positive and negative circuit breakers of the battery are usually composed of relays or other controllable switches, and are deployed on the main positive and main negative circuits of the battery system. Other components in the figure will not be described in detail.

[0084] When the accelerometer detects an acceleration signal, it transmits the acceleration signal to the processor of the battery management system. The gyroscope also transmits the detected angular velocity signal to the processor of the battery management system, even if the change in angular velocity is 0.

[0085] Optionally, the sampling frequency of the accelerometer and gyroscope is 500Hz to 800Hz to ensure the capture of instantaneous acceleration changes during a collision. Optionally, the gyroscope's acceleration resolution can be 0.01° / s to 0.03° / s, enabling accurate detection of angular velocity changes caused by the collision. After receiving the signal, the battery management system can perform low-pass filtering on the acceleration and angular velocity signals to eliminate external high-frequency noise interference and improve the signal-to-noise ratio. The processor, upon receiving the signal, must determine whether a collision has occurred. Collisions can be classified according to type: frontal collision, side collision, rollover collision, and sensor failure caused by the collision.

[0086] Figure 5 This is a schematic diagram of a collision detection process provided in an embodiment of the present invention, such as... Figure 5 As shown, the battery management system acquires acceleration and angular velocity signals, and judges whether these signals exceed a set threshold range. If they do, the battery positive and negative switches are disconnected; otherwise, the motion data is acquired again. The specific judgment process is explained below.

[0087] Figure 6 This is a schematic diagram of another collision detection process provided by an embodiment of the present invention, such as... Figure 6 As shown, the judgment of each collision detection result is explained.

[0088] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0089] When the motion data collected by the first sensor satisfies that the X-axis acceleration is greater than a first threshold, and the time-domain and / or frequency-domain features of the motion data extracted by the second sensor satisfy any threshold range, the collision detection result is determined to be a frontal collision.

[0090] The processor continuously monitors the X-axis acceleration collected by the accelerometer and compares it with a pre-calibrated first threshold. This first threshold can be an acceleration amplitude threshold determined experimentally and through simulation, typically set between approximately 1g (i.e., 9.8 m / s²) and 10 m / s². When the real-time monitored X-axis acceleration exceeds this first threshold, even if the angular velocity does not change significantly—meaning the temporal and / or frequency domain characteristics of the motion data extracted by the second sensor meet any threshold range—a frontal collision can be determined.

[0091] When a vehicle is driving normally, even on bumpy roads, the X-axis acceleration will not reach 1g. However, when a frontal collision occurs, the X-axis acceleration will instantly exceed 1g.

[0092] By determining the relationship between the X-axis acceleration and the first threshold, a frontal collision can be accurately determined without having to judge the temporal and / or frequency domain features of the motion data extracted by the second sensor, thus improving the speed of frontal collision detection.

[0093] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0094] When the motion data collected by the first sensor satisfies the condition that the Y-axis acceleration is greater than the second threshold...

[0095] Furthermore, when the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor meet the second preset condition, the collision detection result is determined to be a side collision.

[0096] The processor continuously monitors the Y-axis acceleration data collected by the accelerometer. The Y-axis acceleration data directly reflects the inertial force experienced by the vehicle on the left and right sides, and is one of the main characteristics of side impact.

[0097] The real-time monitored Y-axis acceleration value is compared with a pre-calibrated second threshold. The second threshold is a calibrated amplitude threshold, typically set between approximately 1g (i.e., 9.8 m / s²) and 10 m / s², used to initially capture events that may characterize severe side impacts.

[0098] When the Y-axis acceleration value exceeds this second threshold, the initial pre-defined condition is met, indicating a possible side collision, which triggers a more refined confirmation analysis process. At this point, the time-domain and frequency-domain characteristics of the Z-axis angular velocity can be determined. Here, Z-axis angular velocity specifically refers to the angular velocity data around the Z-axis collected by the gyroscope sensor, which physically corresponds to the vehicle's rotation around the Z-axis. In a real side collision, this typically results in a significant change in Z-axis angular velocity.

[0099] Side collisions are easily confused with non-collision scenarios such as turning and drifting. Therefore, further analysis can be performed based on the time-domain and frequency-domain characteristics of the Z-axis angular velocity to determine whether the second preset condition is met and whether a side collision has occurred.

[0100] By combining the time-domain and frequency-domain characteristics of the Z-axis angular velocity, the accuracy of side collision detection can be improved to determine whether a side collision has occurred.

[0101] Optionally, the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor satisfy the second preset condition:

[0102] When the time-domain characteristics of the Z-axis angular velocity satisfy the following: the change value of the Z-axis angular velocity is greater than the third threshold and lasts for a first preset duration, or the change value of the Z-axis angular velocity fluctuates within a preset range and lasts for a first preset duration;

[0103] Furthermore, the frequency domain characteristics of the Z-axis angular velocity satisfy the following condition: the frequency band corresponding to the change value of the Z-axis angular velocity within a first preset time period is greater than the first preset frequency band.

[0104] A continuous change in Z-axis angular velocity indicates that the vehicle has undergone stable yaw motion, rather than instantaneous vibration. Therefore, the Z-axis angular velocity can be analyzed in both the time and frequency domains. After obtaining the Z-axis angular velocity, its change can be calculated. Optionally, for any given moment, the change in Z-axis angular velocity between that moment and the previous moment can be calculated. If the calculated change in Z-axis angular velocity is greater than a third threshold and persists for a certain duration (e.g., 20ms-30ms), or if the change in Z-axis angular velocity fluctuates within a certain range and persists for a certain duration—in other words, if the change in Z-axis angular velocity is large or vibration is present—then the time-domain characteristics meet the conditions for a side collision. Further analysis can then be conducted to determine whether the frequency-domain characteristics of the Z-axis angular velocity also meet the conditions for a side collision.

[0105] Side impacts, as instantaneous and intense shocks, generate angular velocity signals containing abundant high-frequency components (e.g., the main energy is concentrated above 80Hz). The system distinguishes between impact shocks and low-frequency, damped vibrations, such as those caused by a single wheel driving over a pothole, by determining whether the signal energy is significantly enhanced within a characteristic high-frequency band.

[0106] Optionally, the frequency domain feature can be determined as the frequency band corresponding to the change value of the Z-axis angular velocity. If the frequency band is greater than the first preset frequency band, such as the calculated frequency band being greater than 80Hz, then a side collision can be determined.

[0107] Supported by the initial triggering of Y-axis acceleration and the dual time-domain and frequency-domain characteristics of Z-axis angular velocity, misjudgments caused by road surface impacts on one side or rapid lane changes are greatly eliminated.

[0108] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0109] When the motion data collected by the first sensor meets any range

[0110] Furthermore, the time-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: greater than the fourth threshold and lasting for a second preset duration; and when the frequency-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: the frequency band corresponding to the change value of the target axis angular velocity within the second preset duration is greater than the second preset frequency band, the collision detection result is determined to be a rollover collision.

[0111] The target axis angular velocity is either the X-axis angular velocity or the Y-axis angular velocity.

[0112] The X-axis and Y-axis angular velocities collected by the gyroscope sensor are continuously monitored. The X-axis angular velocity corresponds to the vehicle's roll motion around its longitudinal axis (direction of travel), and the Y-axis angular velocity corresponds to the vehicle's pitch motion around its lateral axis. These two rotational motions are the main manifestations of vehicle rollover. Therefore, the motion data collected by the first sensor is not limited and can be within any range.

[0113] Optionally, preliminary screening can be performed in the time domain: in real time, it can be determined whether the absolute value of the X-axis angular velocity or Y-axis angular velocity is greater than a pre-set fourth threshold. The fourth threshold is a relatively high angular velocity threshold, usually set in the order of several hundred degrees per second (e.g., 250 degrees / second to 260 degrees / second), in order to capture violent rotational motions that may cause tumbling.

[0114] When the target axis angular velocity is detected to exceed this fourth threshold, it is monitored whether this over-limit state has been maintained for a continuous second preset duration (e.g., 50 to 60 milliseconds). By judging the second preset duration, scenarios where the vehicle is traversing rough roads or making emergency obstacle avoidance can be effectively filtered out.

[0115] Subsequently, a frequency domain analysis phase is performed to acquire the frequency domain characteristics of the target axis angular velocity. The time-domain signal of the target axis angular velocity within a second preset time period is extracted, and the frequency band corresponding to the change in target axis angular velocity is calculated to analyze the energy frequency distribution characteristics of the target axis angular velocity signal. If the frequency band corresponding to the calculated change in target axis angular velocity is greater than the second preset frequency band, a rollover collision can be confirmed.

[0116] A rollover collision is a complex dynamic process involving the continuous rotation of the vehicle body. Its angular velocity signal not only has a high amplitude and a long duration, but also exhibits a specific pattern in the frequency domain, usually containing rich high-frequency impact components.

[0117] By combining the sustained high amplitude characteristics in the time domain with the high-frequency impact characteristics in the frequency domain, the system determines whether the final collision detection result is a rollover collision, thereby improving the accuracy of rollover collision detection.

[0118] Optionally, when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including:

[0119] When the motion data collected by the first sensor meets the following conditions: the difference between any target data in the triaxial acceleration data and the corresponding threshold is greater than the corresponding preset value, and when the time-domain characteristics of the angular velocities of each axis extracted by the second sensor meet the following conditions: vibration state or failure state, the collision detection result is determined to be sensor failure caused by collision.

[0120] Alternatively, when the time-domain characteristics of the accelerations of each axis extracted by the first sensor satisfy the conditions of vibration state or failure state, and when the motion data collected by the second sensor satisfies the condition that the difference between any target data in the three-axis angular velocity data and the corresponding threshold is greater than the corresponding preset value, the collision detection result is determined to be sensor failure caused by collision.

[0121] The aforementioned target data refers to the real-time measurement value along any axis. The corresponding threshold can be a collision judgment threshold, or the theoretically possible physical limit value that the sensor along that axis could output under normal operating conditions, or an extremely high safety threshold. If the difference between the target data and the corresponding threshold is greater than a preset value, it indicates that the real-time measurement value along any axis far exceeds the corresponding threshold. If, at this time, the time-domain characteristics of other axis data are accompanied by vibration or failure, it can be determined that the sensor failure within the power battery pack is caused by a severe collision.

[0122] In the above process, when the difference between the target data collected by any sensor and the corresponding threshold is greater than the corresponding preset value, and the time domain characteristics of the data collected by another sensor meet the requirements of vibration or failure, it can be determined that the sensor failure is caused by a collision.

[0123] This is because when a vehicle experiences an extremely severe collision, the impact intensity is so high that it may directly cause physical damage or functional loss to the sensor unit. In this case, it is no longer necessary to attempt collision type analysis based on potentially distorted data; instead, the collision detection result can be directly determined as sensor failure caused by the collision.

[0124] The above judgment can be used to detect sensor failure caused by collision.

[0125] It should be noted that the above steps are all independent judgments. When both branches are satisfied at the same time, it can be determined that two collisions occur at the same time, such as a frontal collision and a side collision.

[0126] Optionally, the method also includes:

[0127] When the collision detection result indicates that a frontal collision, side collision, or rollover collision has occurred, the main positive and negative circuit breakers will be disconnected.

[0128] And / or, when the collision detection result indicates that the sensor failure is caused by a collision, the main positive and negative circuit breakers are controlled to open and a fault diagnosis error message is output.

[0129] Optionally, once the collision detection result is determined, if the collision detection result is one of frontal collision, side collision, or rollover collision, the circuit breakers of the main positive circuit and the main negative circuit can be controlled to disconnect so that the battery can be powered off in time.

[0130] Optionally, when the collision detection result indicates that the sensor failure is caused by a collision, the main positive and negative circuit breakers are controlled to open. At the same time, fault diagnosis error information can be output through UDS (Unified Diagnostic Services) so that relevant personnel can handle the sensor fault.

[0131] Optionally, if the detection result is not one of the following: frontal collision, side collision, rollover collision, or sensor failure caused by a collision, the signal can be recaptured and a new determination can be made as to whether a collision has occurred.

[0132] By employing the aforementioned judgment method, the system response time can be shortened, enabling rapid detection of collisions and meeting industry standardization and functional safety requirements. The total response time from collision signal detection to circuit breaker tripping should be less than 80ms, meeting the ISO26262 ASIL-D functional safety requirements and ensuring rapid disconnection of the battery's main circuit after a collision, minimizing damage to the battery.

[0133] Optionally, the method also includes:

[0134] Obtain user feedback on collision detection results, and use the feedback and corresponding motion data as diagnostic data;

[0135] Diagnostic data is stored in the battery management system and periodically transmitted to the local host via the cloud; the local host is used to update the judgment criteria for each collision detection result.

[0136] Receive updated judgment conditions sent by the local host; the updated judgment conditions are used to determine the collision detection results based on the motion data.

[0137] After each collision detection and corresponding operation (such as power off or determining it as a false alarm), the system actively obtains user feedback on the collision detection results. Here, "user" can refer to other control systems within the vehicle itself, a professional back-end monitoring center, or confirmation information entered by technicians during vehicle maintenance and inspection. For example, when an airbag deployment signal and a collision detection result occur simultaneously, it can be considered a strong feedback of a collision; conversely, if a circuit breaker is triggered but subsequent inspection reveals no collision marks on the vehicle, and other systems have no related fault records, it can be considered a false alarm. This feedback information (such as "collision confirmed" or "false alarm confirmed") can be precisely correlated and packaged with the original motion data that triggered this judgment (i.e., the six-axis sensor data stream within a time window before and after the current moment) to determine diagnostic data.

[0138] Figure 7 This is a schematic diagram illustrating the updating of a judgment condition according to an embodiment of the present invention, such as... Figure 7 As shown, the generated diagnostic data can be stored in the non-volatile memory of the battery management system, forming a local historical database. To protect user privacy and save data traffic, this data is not uploaded in real time, but is periodically transmitted to the local host via the cloud through the vehicle's network communication module. The local host can be a server cluster deployed in the data center of the OEM or service provider. The cloud acts as a secure and reliable data relay and synchronization channel. The local host can determine updated judgment criteria based on the acquired diagnostic data to optimize the accuracy of subsequent collision detection results.

[0139] Optionally, diagnostic data can be temporarily stored in the BMS and periodically sent to the cloud. The cloud data is then synchronized to the local host. The local host iterates the judgment conditions based on the diagnostic data, and the updated judgment conditions are then updated back to the BMS via the cloud to continuously improve the accuracy of the judgment.

[0140] Figure 8 This is a schematic diagram of a battery control device provided in an embodiment of the present invention. The device is applied to the processor in a battery management system. A first sensor and a second sensor are disposed on the processor or battery pack of the battery management system. The device includes:

[0141] The acquisition module 801 is used to acquire motion data collected by the first sensor and the second sensor;

[0142] The adjustment module 802 is used to determine the collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain characteristics and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition.

[0143] Optionally, the motion data includes triaxial acceleration data acquired by a first sensor and triaxial angular velocity data acquired by a second sensor; the first sensor is an acceleration sensor; the second sensor is a gyroscope sensor.

[0144] The three-axis acceleration data includes: X-axis acceleration, Y-axis acceleration, and Z-axis acceleration; the three-axis angular velocity data includes: X-axis angular velocity, Y-axis angular velocity, and Z-axis angular velocity.

[0145] Wherein, the X-axis is the direction of vehicle travel; the Z-axis is the direction perpendicular to the ground; and the Y-axis is the direction perpendicular to the XOZ plane.

[0146] Optionally, when the adjustment module 802 determines the collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, it is specifically used for:

[0147] When the motion data collected by the first sensor satisfies that the X-axis acceleration is greater than a first threshold, and the time-domain and / or frequency-domain features of the motion data extracted by the second sensor satisfy any threshold range, the collision detection result is determined to be a frontal collision.

[0148] Optionally, when the adjustment module 802 determines the collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, it is specifically used for:

[0149] When the motion data collected by the first sensor satisfies the condition that the Y-axis acceleration is greater than the second threshold...

[0150] Furthermore, when the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor meet the second preset condition, the collision detection result is determined to be a side collision.

[0151] Optionally, the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor satisfy the second preset condition:

[0152] When the time-domain characteristics of the Z-axis angular velocity satisfy the following: the change value of the Z-axis angular velocity is greater than the third threshold and lasts for a first preset duration, or the change value of the Z-axis angular velocity fluctuates within a preset range and lasts for a first preset duration;

[0153] Furthermore, the frequency domain characteristics of the Z-axis angular velocity satisfy the following condition: the frequency band corresponding to the change value of the Z-axis angular velocity within a first preset time period is greater than the first preset frequency band.

[0154] Optionally, when the adjustment module 802 determines the collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, it is specifically used for:

[0155] When the motion data collected by the first sensor meets any range

[0156] Furthermore, the time-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: greater than the fourth threshold and lasting for a second preset duration; and when the frequency-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: the frequency band corresponding to the change value of the target axis angular velocity within the second preset duration is greater than the second preset frequency band, the collision detection result is determined to be a rollover collision.

[0157] The target axis angular velocity is either the X-axis angular velocity or the Y-axis angular velocity.

[0158] Optionally, when the adjustment module 802 determines the collision detection result when the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, it is specifically used for:

[0159] When the motion data collected by the first sensor meets the following conditions: the difference between any target data in the triaxial acceleration data and the corresponding threshold is greater than the corresponding preset value, and when the time-domain characteristics of the angular velocities of each axis extracted by the second sensor meet the following conditions: vibration state or failure state, the collision detection result is determined to be sensor failure caused by collision.

[0160] Alternatively, when the time-domain characteristics of the accelerations of each axis extracted by the first sensor satisfy the conditions of vibration state or failure state, and when the motion data collected by the second sensor satisfies the condition that the difference between any target data in the three-axis angular velocity data and the corresponding threshold is greater than the corresponding preset value, the collision detection result is determined to be sensor failure caused by collision.

[0161] Optionally, the device further includes: a processing module for:

[0162] When the collision detection result indicates that a frontal collision, side collision, or rollover collision has occurred, the main positive and negative circuit breakers will be disconnected.

[0163] And / or, when the collision detection result indicates that the sensor failure is caused by a collision, the main positive and negative circuit breakers are controlled to open and a fault diagnosis error message is output.

[0164] Optionally, the device may also include: an update module for:

[0165] Obtain user feedback on collision detection results, and use the feedback and corresponding motion data as diagnostic data;

[0166] Diagnostic data is stored in the battery management system and periodically transmitted to the local host via the cloud; the local host is used to update the judgment criteria for each collision detection result.

[0167] Receive updated judgment conditions sent by the local host; the updated judgment conditions are used to determine the collision detection results based on the motion data.

[0168] The battery control device provided in this embodiment of the invention can achieve the above-mentioned... Figure 2 The battery control method in the illustrated embodiment has a similar implementation principle and technical effect, and will not be described again here.

[0169] Figure 9 A hardware structure diagram of a processor provided in an embodiment of the present invention, such as... Figure 9 As shown, the present invention provides a processor, including at least one processor 901 and a memory 902. The processor 901 and the memory 902 are connected via a bus 903.

[0170] In the specific implementation process, memory 902 stores instructions executed by the computer;

[0171] At least one processor 901 executes computer execution instructions stored in memory 902, causing at least one processor 901 to perform the method in the above method embodiment.

[0172] The specific implementation process of processor 901 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0173] In the above Figure 9 In the illustrated embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0174] The memory may include high-speed RAM, and may also include non-volatile storage (NVM), such as at least one disk storage.

[0175] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0176] The present invention provides a battery management system, including: a processor as described in the preceding embodiment; a first sensor and a second sensor are disposed on the processor or battery pack of the battery management system; the first sensor is used to collect triaxial acceleration data, and the second sensor is used to collect triaxial angular velocity data.

[0177] The present invention provides an electric vehicle, comprising: a processor as described in the foregoing embodiments; or a battery management system as described in the foregoing embodiments.

[0178] This invention also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the method described in the above embodiments.

[0179] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in the above method embodiments.

[0180] The aforementioned computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0181] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0182] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0183] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0184] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal device (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods of the various embodiments of this application.

[0185] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A battery control method, characterized in that, A processor used in a battery management system, wherein a first sensor and a second sensor are disposed on the processor or battery pack of the battery management system, the method comprising: Acquire motion data collected by the first sensor and the second sensor; When the motion data collected by either the first sensor or the second sensor meets the first preset condition, and the time-domain and / or frequency-domain features of the motion data extracted by the other sensor meet the second preset condition, the collision detection result is determined.

2. The method according to claim 1, characterized in that, The motion data includes triaxial acceleration data collected by a first sensor and triaxial angular velocity data collected by a second sensor; the first sensor is an acceleration sensor; the second sensor is a gyroscope sensor. The triaxial acceleration data includes: X-axis acceleration, Y-axis acceleration, and Z-axis acceleration; the triaxial angular velocity data includes X-axis angular velocity, Y-axis angular velocity, and Z-axis angular velocity. Wherein, the X-axis is the direction of vehicle travel; the Z-axis is the direction perpendicular to the ground; and the Y-axis is the direction perpendicular to the XOZ plane.

3. The method according to claim 2, characterized in that, When the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including: When the motion data collected by the first sensor satisfies the condition that the X-axis acceleration is greater than a first threshold, and the time-domain and / or frequency-domain features of the motion data extracted by the second sensor satisfy any threshold range, the collision detection result is determined to be a frontal collision.

4. The method according to claim 2, characterized in that, When the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including: When the motion data collected by the first sensor satisfies the condition that the Y-axis acceleration is greater than the second threshold... Furthermore, when the time-domain and frequency-domain features of the Z-axis angular velocity extracted by the second sensor meet the second preset condition, the collision detection result is determined to be a side collision.

5. The method according to claim 4, characterized in that, The time-domain and frequency-domain characteristics of the Z-axis angular velocity extracted by the second sensor satisfy the second preset condition: When the time-domain characteristics of the Z-axis angular velocity satisfy: the change value of the Z-axis angular velocity is greater than the third threshold and lasts for a first preset duration, or the change value of the Z-axis angular velocity fluctuates within a preset range and lasts for a first preset duration; Furthermore, the frequency domain characteristics of the Z-axis angular velocity satisfy the condition that the frequency band corresponding to the change value of the Z-axis angular velocity within a first preset time period is greater than the first preset frequency band.

6. The method according to claim 2, characterized in that, When the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including: When the motion data collected by the first sensor meets any range Furthermore, the time-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: greater than the fourth threshold and lasting for a second preset duration; and when the frequency-domain characteristics of the target axis angular velocity extracted by the second sensor satisfy: the frequency band corresponding to the change value of the target axis angular velocity within the second preset duration is greater than the second preset frequency band, the collision detection result is determined to be a rollover collision. The target axis angular velocity is either the X-axis angular velocity or the Y-axis angular velocity.

7. The method according to claim 2, characterized in that, When the motion data collected by either the first sensor or the second sensor meets a first preset condition, and the time-domain and / or frequency-domain characteristics of the motion data extracted by the other sensor meet a second preset condition, a collision detection result is determined, including: When the motion data collected by the first sensor satisfies the following conditions: the difference between any target data in the triaxial acceleration data and the corresponding threshold is greater than the corresponding preset value, and when the time-domain characteristics of the angular velocities of each axis extracted by the second sensor satisfy the following conditions: vibration state or failure state, the collision detection result is determined to be sensor failure caused by collision. Alternatively, when the time-domain characteristics of the accelerations of each axis extracted by the first sensor satisfy the conditions of vibration state or failure state, and when the motion data collected by the second sensor satisfies the condition that the difference between any target data in the three-axis angular velocity data and the corresponding threshold is greater than the corresponding preset value, the collision detection result is determined to be a sensor failure caused by a collision.

8. The method according to claim 1, characterized in that, The method further includes: When the collision detection result is any one of frontal collision, side collision, or rollover collision, the main positive and negative circuit breakers are controlled to disconnect. And / or, when the collision detection result indicates that the sensor has failed due to a collision, the main positive and negative circuit breakers are controlled to open and a fault diagnosis error message is output.

9. The method according to any one of claims 1-8, characterized in that, The method further includes: Obtain user feedback on the collision detection results, and determine the feedback information and corresponding motion data as diagnostic data; The diagnostic data is stored in the battery management system and periodically transmitted to the local host via the cloud; the local host is used to update the judgment conditions for each collision detection result. The system receives updated judgment conditions sent by the local host; the updated judgment conditions are used to determine the collision detection results based on the motion data.

10. A processor, characterized in that, include: At least one processor and memory; The memory stores computer-executed instructions; The at least one processor executes computer execution instructions stored in the memory, causing the at least one processor to perform the method as described in any one of claims 1-9.

11. A battery management system, characterized in that, include: The processor as described in claim 10; A first sensor and a second sensor are provided on the processor or battery pack of the battery management system; the first sensor is used to collect triaxial acceleration data, and the second sensor is used to collect triaxial angular velocity data.

12. An electric vehicle, characterized in that, include: The processor of claim 10, or the battery management system of claim 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, implement the method as described in any one of claims 1-9.

14. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-9.

Images