Control guidance signal detection method and device, vehicle control unit and vehicle

Abstract

The application provides a control guide signal detection method and device, a whole vehicle controller and a vehicle. A control guide signal including a complete waveform is collected, and a current waveform feature parameter is obtained according to the control guide signal. The current waveform feature parameter is compared with a last valid waveform feature parameter, and whether the change of the current waveform feature parameter exceeds a preset range is judged. If the change of the current waveform feature parameter exceeds the preset range relative to the last valid waveform feature parameter and lasts for a first preset time, the stored valid waveform feature parameter is updated, the jump caused by short-time interference can be inhibited, overprotection is prevented, the data stability reported to the application layer is improved, and the reliability of the charging and discharging system is improved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, specifically to a control guidance signal detection method, device, vehicle controller, and vehicle. Background Technology

[0002] When the vehicle discharges to the outside in vehicle-to-vehicle (V2V) mode, the control pilot (CP) detection signal is subject to conducted grounding interference, which can easily lead to abnormal sampling of the amplitude and duty cycle of the CP's PWM, and interruption of vehicle-to-vehicle charging. Summary of the Invention

[0003] In view of this, embodiments of the present invention aim to provide a control guidance signal detection method, device, vehicle controller and vehicle. By acquiring control guidance signals with complete waveforms and performing waveform characteristic parameter analysis, it is possible to suppress jumps caused by short-term interference, prevent over-protection, improve the stability of data reported to the application layer, and improve the reliability of the charging and discharging system.

[0004] According to one aspect of the present invention, an embodiment of the present invention provides a control guidance signal detection method, comprising: acquiring a control guidance signal including a complete waveform; obtaining current waveform feature parameters based on the control guidance signal; comparing the current waveform feature parameters with the previous valid waveform feature parameters; determining whether the change of the current waveform feature parameters exceeds a preset range; and if, relative to the previous valid waveform feature parameters, the change of the current waveform feature parameters exceeds the preset range and continues for a first preset time, updating the stored valid waveform feature parameters.

[0005] In this embodiment, by acquiring the control guidance signal with a complete waveform, the control guidance signal can be detected in a timely and accurate manner, suppressing jumps caused by short-term interference, facilitating accurate acquisition of status data and abnormal information, improving the stability of data reported to the application layer, preventing over-protection, and improving the reliability of the charging and discharging system.

[0006] Optionally, the acquisition of a control guide signal including a complete waveform includes: filtering out ripple below a preset voltage in hardware to obtain a control guide signal in square wave form; acquiring the control guide signal at a preset sampling period; detecting whether the control guide signal sampled within the preset sampling period includes a complete waveform; if the control guide signal does not include a complete waveform, extending the sampling time until a control guide signal including a complete waveform is acquired or the sampling time reaches a second preset time.

[0007] In this embodiment, by performing threshold shaping to filter out ripple below a preset voltage, false edges / false triggering can be reduced, making the microcontroller input closer to the ideal square wave, thereby improving the accuracy and consistency of duty cycle calculation from the source. By extending the sampling period, the probability of capturing the control guidance signal of the complete waveform can be increased, avoiding miscalculation or data clearing caused by insufficient sampling window.

[0008] Optionally, extending the sampling time until a control guidance signal including a complete waveform is acquired or the sampling time reaches a second preset time includes: continuously acquiring the control guidance signal for the next preset sampling period, and applying a timeout timer to calculate the sampling time until the control guidance signal including a complete waveform is acquired; if the sampling time reaches the second preset time and no control guidance signal including a complete waveform is acquired, then the acquired control guidance signal is cleared to zero, and the process returns to the step of detecting whether the control guidance signal sampled within the preset sampling period includes a complete waveform.

[0009] In this embodiment, by clearing the detection and judgment only after a second preset time period of incomplete capture and restarting the clearing detection, occasional missed captures can be avoided from being misjudged as lost waves, and automatic recovery can be achieved in the event of continuous abnormality, thereby improving robustness and self-healing ability.

[0010] Optionally, the waveform characteristic parameters include duty cycle and PWM frequency; comparing the current waveform characteristic parameters with the previous valid waveform characteristic parameters to determine whether the change of the current waveform characteristic parameters exceeds a preset range includes: obtaining the current duty cycle based on the control guidance signal, comparing the current duty cycle with the previous duty cycle to determine whether the change of the current duty cycle exceeds a preset range; recording the current PWM frequency of the control guidance signal, comparing the current PWM frequency with the previous PWM frequency to determine whether the change of the current PWM frequency exceeds a preset range.

[0011] In this embodiment, by setting duty cycle update threshold and frequency update threshold for duty cycle and PWM frequency respectively, duty cycle jumps and frequency transient fluctuations caused by short-term interference can be suppressed, making the control guidance signal smoother and more stable, and improving the reliability of the charging and discharging system.

[0012] Optionally, comparing the current duty cycle with the previous duty cycle to determine whether the change in the current duty cycle exceeds a preset range includes: if the change in the current duty cycle compared to the previous duty cycle is less than a first threshold, then the change in the current duty cycle is determined not to exceed the preset range; if the change in the current duty cycle compared to the previous duty cycle is greater than or equal to the first threshold, then the change in the current duty cycle is determined to exceed the preset range.

[0013] In the embodiments of this application, by applying different threshold judgments to the changes in duty cycle, it is possible to suppress duty cycle jumps caused by short-term interference, filter frequency transient fluctuations, and improve the stability of frequency data and the reliability of power status judgment.

[0014] Optionally, comparing the current PWM frequency with the previous PWM frequency to determine whether the change in the current PWM frequency exceeds a preset range includes: if the change in the current PWM frequency compared with the previous PWM frequency is less than a second threshold, then the change in the PWM frequency is determined not to exceed the preset range; if the change in the current PWM frequency compared with the previous PWM frequency is greater than or equal to the second threshold, then the change in the current PWM frequency exceeds the preset range.

[0015] In this embodiment of the application, by applying different threshold judgments to the changes in PWM frequency, it is possible to suppress duty cycle jumps caused by short-term interference, filter frequency transient fluctuations, and improve the stability of frequency data and the reliability of power status judgment.

[0016] Optionally, the step of updating the stored valid waveform feature parameters if the change in the current waveform feature parameters exceeds a preset range and lasts for a first preset time relative to the previous valid waveform feature parameters includes: if it is determined that the change in the current duty cycle exceeds a preset range, then start a timer, and update the duty cycle data to the application layer when the change in duty cycle lasts for a first preset time is greater than or equal to the first threshold; if it is determined that the change in the current PWM frequency exceeds a second threshold, then start a timer, and update the PWM frequency data to the application layer when the change in PWM frequency lasts for a first preset time is greater than or equal to the second threshold.

[0017] In this embodiment, the ripple suppression depth is increased by extending the filtering time, making the control guidance signal smoother and more stable, thereby improving the reliability of the charging and discharging system.

[0018] Optionally, the method further includes: if the control guide signal including a complete waveform is not captured, then reading the level signal of the pin used to acquire the control guide signal; if the control guide signal with a complete waveform is not acquired for a third preset time and the level signal does not fluctuate, then updating the duty cycle data to the application layer according to the acquired level signal.

[0019] In this embodiment, by providing a clear degraded output even when the control guidance signal is abnormally stable, the predictability of abnormal scenarios is enhanced, application-layer uncertain processing is reduced, and the reliability of the charging and discharging system is improved.

[0020] According to another aspect of the present invention, an embodiment of the present invention provides a control guidance signal detection device, comprising: a data acquisition module, configured to acquire a control guidance signal including a complete waveform, and acquire current waveform feature parameters based on the control guidance signal; an anomaly detection module, configured to compare the current waveform feature parameters with the previous valid waveform feature parameters, and determine whether the change of the current waveform feature parameters exceeds a preset range; and a data update module, configured to update the stored valid waveform feature parameters if, relative to the previous valid waveform feature parameters, the change of the current waveform feature parameters exceeds the preset range and continues for a first preset time.

[0021] According to another aspect of the present invention, an embodiment of the present invention provides a vehicle controller, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method described above.

[0022] According to another aspect of the present invention, one embodiment of the present invention provides a vehicle including a vehicle body and a controller for performing the steps of the method described above.

[0023] According to another aspect of the present invention, one embodiment of the present invention provides a computer-readable storage medium storing a computer program that, when executed, implements the method as described above.

[0024] This invention provides a control guidance signal detection method, device, vehicle controller, and vehicle. The method involves acquiring a control guidance signal including a complete waveform, obtaining current waveform feature parameters based on the control guidance signal, comparing the current waveform feature parameters with the previous valid waveform feature parameters, and determining whether the change in the current waveform feature parameters exceeds a preset range. If the change in the current waveform feature parameters exceeds the preset range relative to the previous valid waveform feature parameters and persists for a first preset time, the stored valid waveform feature parameters are updated. By acquiring a control guidance signal with a complete waveform, the method enables timely and accurate detection of the control guidance signal, suppresses jumps caused by short-term interference, facilitates accurate acquisition of status data and abnormal information, improves the stability of data reported to the application layer, prevents over-protection, and enhances the reliability of the charging and discharging system.

[0025] The above description is merely an overview of the technical solution disclosed herein. In order to better understand the technical means of this disclosure and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this disclosure more apparent and understandable, specific embodiments of this disclosure are described below. Attached Figure Description

[0026] The above and other objects, features, and advantages of this application will become more apparent from the more detailed description of the embodiments of this application in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the embodiments of this application to explain this application and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0027] Figure 1 The diagram shown is a flowchart of a control guidance signal detection method provided in an embodiment of this application.

[0028] Figure 2 The diagram shown is a schematic diagram of an extended sampling time for a control guidance signal detection method provided in an embodiment of this application.

[0029] Figure 3 The diagram shown is a schematic diagram of the control and guidance signal detection device provided in an embodiment of this application.

[0030] Figure 4 The diagram shown is a structural schematic of a vehicle controller provided in an embodiment of this application. Detailed Implementation

[0031] 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.

[0032] Furthermore, in exemplary embodiments, since the same reference numerals denote the same components having the same structure or the same steps of the same method, if one embodiment has been described by way of example, then in other exemplary embodiments only structures or methods different from those described in the embodiment will be described.

[0033] Throughout the specification and claims, when a component is described as being “connected” to another component, that component may be “directly connected” to the other component or “electrically connected” to the other component via a third component. Furthermore, unless explicitly stated otherwise, the term “comprising” and its corresponding terms should be understood only to include the stated component and not to exclude any other component.

[0034] During the AC charging and discharging process of the vehicle, the charger collects the connection confirmation (CC) and control pilot (CP) pulse-width modulation (PWM) signals sent by the power supply equipment to confirm the output capability of the power supply equipment. CC is used to confirm whether the charging gun is plugged in properly; the power supply equipment and the charger confirm the available power of the power supply equipment and the vehicle's ready status through CP.

[0035] When a vehicle discharges to an external source in vehicle-to-vehicle (V2V) mode, the control guidance signal is susceptible to conducted grounding interference, which can easily lead to abnormal sampling of the PWM amplitude and duty cycle of the charging CP, thereby interrupting vehicle-to-vehicle charging. Specifically, the conducted grounding interference on the control guidance signal occurs when noise, voltage fluctuations, and other disturbances on the CP control guide line are conducted into the signal. These disturbances include noise from the motor, compressor, DC-DC converter, on-board charger (OBC) switching, relay engagement and disengagement, and main circuit current fluctuations. All of these noises first reach the ground line and then are incorporated into the CP signal, causing distortion and misinterpretation. The CP signal is typically a ±12V, 1kHz PWM signal, and uses protective earthing (PE) as a reference, making it easily susceptible to high-frequency noise superimposed on it. If the ground wire is not "clean", it can easily lead to high-frequency glitches, spikes, and jitters on the CP signal, miscalculation of the PWM duty cycle, and misjudgment of the voltage threshold, such as a jump of 6V or 9V. The whole vehicle or charger will report abnormal CP signal, communication abnormality, charging interruption, V2V discharge abnormality, etc.

[0036] To address the issue in related technologies where conducted grounding interference causes abnormal PWM sampling of the CP detection signal, resulting in vehicle-to-vehicle charging interruption, this application provides a control guidance signal detection method. Figure 1 The diagram shown is a flowchart illustrating a control guidance signal detection method according to an embodiment of this application. This control guidance signal detection method is applied to a vehicle controller; as shown... Figure 1 As shown, the control and guidance signal detection method includes: Step S11: Acquire control guidance signals including complete waveforms, and obtain the current waveform characteristic parameters based on the control guidance signals.

[0037] Pulse voltage ripple below 2.5V can be filtered out in hardware. This hardware refers to the analog conditioning circuitry before the Pulse signal enters the Microcontroller Unit (MCU), specifically the RC filter, clamping diode, operational amplifier, and voltage divider circuitry at the Pulse front end. Hardware components such as RC low-pass filters, clamping diodes, operational amplifiers, and voltage divider networks can be incorporated to filter out ripple or noise below 2.5V. Small-amplitude noise and ripple from the ground wire, ranging from a few tenths of a volt to around 2V, can be filtered out to prevent them from entering the MCU. Only true Pulse edges greater than 2.5V will be captured by the Input Capture Unit (ICU) in the MCU. This prevents the ICU from capturing false edges, ensuring the Enhanced Capture Module (ECAP) in the MCU doesn't make erratic calculations, thus addressing conducted grounding interference at its source. The CP signal input acquired by the charger's underlying hardware is captured and preliminarily processed by the capture unit in the input microcontroller unit. The charger's duty cycle is determined by comparing the detected CP voltage with a fixed voltage of 2.5V, filtering out ripple below 2.5V, and obtaining a square wave that the microcontroller unit can acquire, which can then be used to calculate the duty cycle.

[0038] The enhanced capture unit in the microcontroller detects whether a complete PWM waveform has been captured. If no complete PWM waveform is detected, the acquisition of the CP signal continues until the acquired control guidance signal includes a complete PWM waveform. Acquiring a CP signal with a complete PWM waveform facilitates subsequent CP signal detection, suppressing jumps caused by short-term interference and improving the stability of the CP signal data reported to the application layer.

[0039] Status data includes the duty cycle of the control pilot signal and the PWM frequency. The duty cycle and PWM frequency are obtained based on the acquired control pilot signal, which includes the complete waveform.

[0040] Step S12: Compare the current waveform feature parameters with the previous valid waveform feature parameters to determine whether the change in the current waveform feature parameters exceeds a preset range.

[0041] The previous valid waveform characteristic parameters are obtained from the control guidance signal based on the previous complete waveform. After obtaining the duty cycle and PWM frequency of the control guidance signal, the current waveform characteristic parameters are compared with the previous valid waveform characteristic parameters to determine whether the changes in the duty cycle and PWM frequency exceed the preset range. The duty cycle of the control guidance signal is equal to the ratio of the high-level time to the period. The duty cycle of vehicle charging determines the maximum charging or discharging current. For vehicle-to-vehicle charging using a vehicle as a charging station, the duty cycle is generally 16% or 32%. The duty cycle and PWM frequency need to be kept stable, neither too large nor too small. If the duty cycle is too large, it indicates that the charging current is too large, posing an overcurrent risk and easily burning out components. If the duty cycle is too small, it indicates that the upper limit of the current calculated by the receiving vehicle according to the duty cycle is too low, and the actual charging power is far less than the capacity of the vehicle and cable, resulting in extremely low charging efficiency, inability to start high-voltage output, and the duty cycle may fall into a non-standard range, which the receiving vehicle will determine as an invalid signal and refuse to start charging. If the PWM frequency is too low, it may be due to a connection failure, preventing charging. If the PWM frequency is too high, it may cause signal distortion, communication interruption, a surge in switching losses, or increased electromagnetic interference (EMI).

[0042] Step S13: If the change of the current waveform feature parameter exceeds the preset range and continues for a first preset time relative to the previous valid waveform feature parameter, then update the stored valid waveform feature parameter.

[0043] If the change in the current waveform characteristic parameters exceeds the preset range, it is necessary to further determine the duration of this excess. If the duration is short, it may be due to abnormal fluctuations and can be ignored. However, if this is identified as an anomaly and related protective measures are taken, it may lead to unnecessary charging interruptions. Only when the duration is relatively long, such as exceeding a first preset time, is it necessary to update the stored valid waveform characteristic parameters so that corresponding measures can be taken based on the updated valid waveform characteristic parameters. The first preset time can be set as needed and is not specifically limited here; for example, it can be 50ms. Updating the stored valid waveform characteristic parameters means updating the new valid waveform characteristic parameters to the application layer so that the application layer can take corresponding measures.

[0044] The control guidance signal detection method of this application collects a control guidance signal including a complete waveform, obtains the current waveform feature parameters based on the control guidance signal, compares the current waveform feature parameters with the previous valid waveform feature parameters, and determines whether the change of the current waveform feature parameters exceeds a preset range. If the change of the current waveform feature parameters exceeds the preset range and lasts for a first preset time relative to the previous valid waveform feature parameters, the stored valid waveform feature parameters are updated. By collecting the control guidance signal of a complete waveform, the control guidance signal can be detected in a timely and accurate manner, facilitating the accurate acquisition of valid waveform feature parameters. The stored valid waveform feature parameters are only updated after it is determined that the change of the valid waveform feature parameters exceeds the preset range and lasts for a first preset time. This can suppress jumps caused by short-term interference, prevent over-protection, improve the stability of data reported to the application layer, and improve the reliability of the charging and discharging system.

[0045] To more clearly illustrate the technical solutions provided in the embodiments of this application, the following is in conjunction with... Figure 3 The method for detecting control and guidance signals provided in this application will be further described.

[0046] Considering that control guidance signals are susceptible to conducted grounding interference, it may be impossible to acquire a complete waveform control guidance signal within a certain sampling period, potentially leading to the inability to obtain effective waveform characteristic parameters subsequently. Therefore, in some embodiments of this application, acquiring a control guidance signal including a complete waveform includes: filtering out ripple below a preset voltage in hardware to obtain a square wave control guidance signal; acquiring the control guidance signal at a preset sampling period; detecting whether the control guidance signal sampled within the preset sampling period includes a complete waveform; if the control guidance signal does not include a complete waveform, extending the sampling time until a control guidance signal including a complete waveform is acquired or the sampling time reaches a first preset time.

[0047] The preset voltage can be set as needed, preferably 2.5V. The control pilot signal is generally a ±12V, 1kHz PWM signal, while conducted grounding interference is typically only a few tenths of a volt to about 2V. To filter out ripple below the preset voltage in hardware, the control pilot signal can be first passed through an RC low-pass filter to suppress high-frequency ripple; then, voltage noise below 2.5V is forcibly boosted / filtered out through resistor voltage division and a 2.5V diode threshold clamp; next, it is fed into a Schmitt trigger to further eliminate noise near the threshold; finally, it enters the microcontroller's analog-to-digital converter (ADC) module or capture port to measure the duty cycle and frequency, obtaining a square wave control pilot signal. This method effectively eliminates ripple below 2.5V in the control pilot signal, while preserving the complete 1kHz PWM waveform, and ensuring stable duty cycle and frequency measurements without jumps, facilitating subsequent acquisition of waveform characteristic parameters.

[0048] The control guidance signal is acquired by the input capture unit in the microcontroller unit at a preset sampling period. The input capture unit captures the rising and falling edges of the CP signal and acquires timestamp data, including high-level time, low-level time, and period time, thus completing preliminary edge capture and time statistics. The enhanced capture unit in the microcontroller unit reads the original captured value from the input capture unit, performs edge validity judgment, abnormal pulse rejection, period / level time calculation, and outputs the original duty cycle and PWM frequency. The enhanced capture unit detects whether the control guidance signal sampled within the preset sampling period includes a complete waveform. If the control guidance signal does not include a complete waveform, the sampling time is extended. For example, the enhanced capture unit can adjust the sampling period to 5ms, considering that a complete PWM waveform cannot be captured within 5ms. Figure 2 a. In the first 5ms, the complete PWM waveform is not yet clear. The enhanced capture unit can first determine whether a complete PWM waveform has been acquired. If not, it does not clear the data in the register and directly waits for the next cycle to check. Figure 2 b. Continue checking the second 5ms to obtain a complete PWM waveform. If a complete PWM waveform is not detected in the second 5ms, continue extending the sampling time until a control guidance signal including a complete waveform is acquired, or the sampling time reaches a second preset time. The second preset time can be set as needed, preferably 100ms. This embodiment of the application performs threshold shaping to filter out ripple below a preset voltage, reducing false edges / false triggers and making the microcontroller input closer to an ideal square wave, thus improving the accuracy and consistency of duty cycle calculation from the source. By extending the sampling period, the probability of capturing the control guidance signal of a complete waveform can be increased, avoiding miscalculations or data clearing due to insufficient sampling window.

[0049] Considering that the sampling period cannot be extended indefinitely, relevant interruption and extension processing is required after the second preset time is reached. Therefore, in some embodiments of this application, optionally, extending the sampling time until a control guide signal including a complete waveform is acquired or the sampling time reaches the second preset time includes: continuously acquiring the control guide signal for the next preset sampling period, and applying a timeout timer to calculate the sampling time until the control guide signal including a complete waveform is acquired; if the sampling time reaches the second preset time and no control guide signal including a complete waveform is acquired, then the acquired control guide signal is cleared to zero, and the process returns to the step of detecting whether the control guide signal sampled within the preset sampling period includes a complete waveform.

[0050] If the control guide signal does not include a complete waveform, the sampling time is extended. A timeout timer can be used to calculate the sampling time until a control guide signal including a complete waveform is acquired. If the sampling time is extended to a second preset time and no control guide signal including a complete waveform is acquired (i.e., if no complete PWM waveform of the control guide signal is captured for a consecutive second preset time), the acquired control guide signal is cleared, the register in the enhanced capture unit is cleared, and the enhanced capture unit is restarted. This means sampling is performed again for one sampling cycle, and it is checked whether the control guide signal sampled within the preset sampling cycle includes a complete waveform. This embodiment of the application, by clearing and restarting the clearing detection only after a consecutive second preset time of incomplete capture, avoids misjudging occasional missed captures as waveform loss and allows for automatic recovery during continuous anomalies, improving robustness and self-healing capabilities.

[0051] Considering that conducted grounding interference may be introduced into the control guidance signal, causing changes in waveform characteristic parameters, the range of change of waveform characteristic parameters can be evaluated. Based on this, in some embodiments of this application, the waveform characteristic parameters include duty cycle and PWM frequency; comparing the current waveform characteristic parameter with the previous valid waveform characteristic parameter to determine whether the change of the current waveform characteristic parameter exceeds a preset range includes: obtaining the current duty cycle based on the control guidance signal, comparing the current duty cycle with the previous duty cycle to determine whether the change of the current duty cycle exceeds a preset range; recording the current PWM frequency of the control guidance signal, comparing the current PWM frequency with the previous PWM frequency to determine whether the change of the current PWM frequency exceeds a preset range.

[0052] The waveform characteristic parameters include duty cycle and PWM frequency, which can be evaluated separately. The previous duty cycle refers to the duty cycle in the previous valid waveform characteristic parameters, and the previous PWM frequency refers to the PWM frequency in the previous valid waveform characteristic parameters. When comparing the current duty cycle with the previous duty cycle, the valid recorded values ​​of the current and previous duty cycles can be obtained. Comparing these values ​​determines whether the change in the current duty cycle exceeds a preset range. If the valid recorded values ​​of the current and previous duty cycles do not exceed the preset range, it indicates that the change in the current duty cycle is small and will not affect the normal charging of the vehicle; the duty cycle change can be ignored. If the valid recorded values ​​of the current and previous duty cycles exceed the preset range, it indicates that the change in the duty cycle is relatively large and may affect the normal charging of the vehicle; this cannot be ignored and further processing is required. When comparing the current PWM frequency with the previous PWM frequency, the current PWM frequency and the previous PWM frequency of the control guidance signal can be recorded. The valid recorded value of the current PWM frequency is compared with the valid recorded value of the previous PWM frequency to determine whether the change in the current PWM frequency exceeds a preset range. If the change in the current PWM frequency does not exceed the preset range, the current PWM frequency change is small and will not affect the normal charging of the vehicle, so the PWM frequency change can be ignored. If the change in the current PWM frequency exceeds the preset range, it indicates that the PWM frequency is relatively large and may affect the normal charging of the vehicle, so it cannot be ignored and further processing is required. This application embodiment, by setting duty cycle update thresholds and frequency update thresholds for duty cycle and PWM frequency respectively, can suppress duty cycle jumps and frequency transient fluctuations caused by short-term interference, making the control guidance signal smoother and more stable, and improving the reliability of the charging and discharging system.

[0053] Considering that the duty cycle mainly depends on the change in the magnitude of the change, the duty cycle can be compared with different thresholds. Based on this, in some embodiments of this application, optionally, if the change in the current duty cycle compared with the previous duty cycle is less than a first threshold, it is determined that the change in the current duty cycle does not exceed a preset range; if the change in the current duty cycle compared with the previous duty cycle is greater than or equal to the first threshold, it is determined that the change in the current duty cycle exceeds a preset range.

[0054] The first threshold can be set as needed and is not limited here. The preferred first threshold is 0.5%. If the change in the current duty cycle compared to the previous duty cycle is less than the first threshold, it indicates that the duty cycle change is small, and the change in the current duty cycle is within a preset range and can be ignored. If the change in the current duty cycle compared to the previous duty cycle is greater than or equal to the first threshold, it indicates that the duty cycle change is relatively small, and the change in the current duty cycle is determined to exceed the preset range. This embodiment of the application, by applying different threshold judgments to the change in duty cycle, can suppress duty cycle jumps caused by short-term interference, thereby improving the stability of frequency data and the reliability of power state judgment.

[0055] Considering that the PWM frequency mainly depends on the change in amplitude, the PWM frequency can be compared with different thresholds. Based on this, in some embodiments of this application, optionally, comparing the current PWM frequency with the previous PWM frequency to determine whether the change in the current PWM frequency exceeds a preset range includes: if the amplitude of the change between the current PWM frequency and the previous PWM frequency is less than a second threshold, then the change in the PWM frequency is determined not to exceed the preset range; if the amplitude of the change between the current PWM frequency and the previous PWM frequency is greater than or equal to the second threshold, then the change in the current PWM frequency exceeds the preset range.

[0056] The second threshold can be set as needed and is not limited here. The preferred second threshold is 10Hz. If the change in the current PWM frequency compared to the previous PWM frequency is less than the second threshold, it indicates that the PWM frequency change is relatively small, and it can be determined that the change in the PWM frequency does not exceed the preset range and can be ignored. If the change in the current PWM frequency compared to the previous PWM frequency is greater than or equal to the second threshold, it indicates that the PWM frequency change is relatively large, and it can be determined that the change in the current PWM frequency exceeds the preset range. This embodiment of the application, by applying different threshold judgments to the change in PWM frequency, can filter transient frequency fluctuations and improve the stability of frequency data and the reliability of power status judgment.

[0057] If the current duty cycle or current PWM frequency exceeds the preset range, it may be due to instantaneous conducted grounding interference, which will not affect vehicle charging and can be ignored. Therefore, not all cases where the current duty cycle or current PWM frequency exceeds the preset range require updating the stored valid waveform feature parameters. Based on this, in this embodiment, optionally, updating the stored valid waveform feature parameters if the change of the current waveform feature parameter exceeds the preset range and lasts for a first preset time relative to the previous valid waveform feature parameter includes: if it is determined that the change of the current duty cycle exceeds the preset range, then start a timer, and update the duty cycle data to the application layer when the change amplitude of the duty cycle is greater than or equal to the first threshold for the first preset time; if it is determined that the change of the current PWM frequency exceeds a second threshold, then start a timer, and update the PWM frequency data to the application layer when the change amplitude of the PWM frequency is greater than or equal to the second threshold for a fourth preset time.

[0058] The application layer consists of upper-level software code that processes control guidance signals, charging logic, and control strategies. It can take corresponding measures based on updated valid waveform characteristic parameters, such as whether to close the circuit, how much charge to apply, and whether to immediately disconnect the circuit in case of a fault. The fourth preset time can be the same as or different from the first preset time; it can be set as needed and is not specifically limited here, for example, it can be 50ms. If it is determined that the change in the current duty cycle exceeds the preset range, a timer is started to continuously compare the collected duty cycle with the previous duty cycle. If the collected duty cycles all exceed the first threshold of the previous duty cycle and continue for the first preset time, it indicates that the change in the duty cycle is large enough and lasts long enough to affect vehicle charging. The duty cycle data needs to be updated to the application layer so that the application layer can take corresponding measures based on the updated duty cycle data. If it is determined that the change in the current PWM frequency exceeds the second threshold, a timer is started to continuously compare the collected PWM frequency with the previous PWM frequency. If the collected PWM frequencies all exceed the second threshold of the previous PWM frequency, it indicates that the change in the PWM frequency is large enough and lasts for a sufficient period of time, which will affect the vehicle's charging. The duty cycle data needs to be updated to the application layer so that the application layer can take corresponding measures based on the updated duty cycle data. This embodiment of the application improves the ripple suppression depth by extending the filtering time, making the control guidance signal smoother and more stable, and improving the reliability of the charging and discharging system.

[0059] Considering that the acquired control pilot signal may not necessarily include a complete PWM waveform, it is possible that no control pilot signal can be detected, or only a continuous high level can be detected. Based on this, in some embodiments of this application, the method further includes: if the control pilot signal including a complete waveform is not captured, then reading the level signal of the pin used to acquire the control pilot signal; if the control pilot signal with a complete waveform is not acquired for a continuous third preset time and the level signal does not fluctuate, then updating the duty cycle data to the application layer according to the acquired level signal.

[0060] The third preset time can be the same as or different from the second preset time, and can be set as needed. No specific limitation is made here, but 100ms is preferred. If the enhanced capture unit fails to capture the control guidance signal including a complete waveform, the level signal of the pin used to acquire the control guidance signal can be read. This level signal may be high or low, and the duty cycle may be 100% or 0%. If the control guidance signal with a complete waveform is not acquired for the third preset time and the level signal does not fluctuate, the duty cycle data is updated to the application layer based on the acquired level signal. If a continuous high level occurs during charging, it may indicate a broken CP signal line, a power supply vehicle drive failure, a damaged CP driver chip, or an abnormal connection confirmation identification, preventing charging. In this case, the high level signal can be updated to the application layer to take relevant measures. If a continuous low level occurs during charging, it may indicate a short circuit to ground in the CP signal line, a burnt-out or ground-broken CP driver chip, a short circuit in the charging interface pin, or a fault in the vehicle's internal circuitry. In this case, the low level signal can be updated to the application layer for immediate protection. This application embodiment enhances the predictability of abnormal scenarios, reduces uncertain processing at the application layer, and improves the reliability of the charging and discharging system by providing a clear degraded output even when the control guidance signal is abnormally stable.

[0061] The control guidance signal detection method of this invention acquires a control guidance signal including a complete waveform, obtains current waveform feature parameters based on the control guidance signal, compares the current waveform feature parameters with the previous valid waveform feature parameters, and determines whether the change of the current waveform feature parameters exceeds a preset range. If the change of the current waveform feature parameters exceeds the preset range relative to the previous valid waveform feature parameters and continues for a first preset time, the stored valid waveform feature parameters are updated. By extending the filtering time and enhancing the ripple suppression capability, voltage spikes and noise interference are reduced. By setting an update threshold for changes in waveform feature parameters, duty cycle jumps caused by short-term interference are suppressed, frequency transient fluctuations are filtered, and frequency data stability and power status judgment reliability are improved. Without changing the hardware, the stability of the acquired control guidance signal's PWM waveform is improved, thus enhancing the reliability of the charging and discharging system.

[0062] Figure 3 The diagram shown is a schematic representation of a control guidance signal detection device according to an embodiment of this application. This control guidance signal detection device is applied to a vehicle controller, such as... Figure 3 As shown, the control and guidance signal detection device 300 includes: Data acquisition module 301 is used to acquire control guidance signals including complete waveforms, and to acquire current waveform characteristic parameters based on the control guidance signals; Anomaly detection module 302 is used to compare the current waveform feature parameters with the previous valid waveform feature parameters to determine whether the change of the current waveform feature parameters exceeds a preset range; The data update module 303 is used to update the stored valid waveform feature parameters if the change of the current waveform feature parameters exceeds a preset range and continues for a first preset time relative to the previous valid waveform feature parameters.

[0063] In some implementations, the data acquisition module 301 is used to: filter out ripple below a preset voltage in hardware to obtain a control guidance signal in the form of a square wave; acquire the control guidance signal at a preset sampling period; detect whether the control guidance signal sampled within the preset sampling period includes a complete waveform; if the control guidance signal does not include a complete waveform, extend the sampling time until a control guidance signal including a complete waveform is acquired or the sampling time reaches a second preset time.

[0064] In some embodiments, the data acquisition module 301 is further configured to: continuously acquire the control guidance signal for the next preset sampling period, and apply a timeout timer to calculate the sampling time until the control guidance signal including a complete waveform is acquired; if the sampling time reaches the second preset time and the control guidance signal including a complete waveform is not acquired, then the acquired control guidance signal is cleared to zero, and the process returns to the step of detecting whether the control guidance signal sampled within the preset sampling period includes a complete waveform.

[0065] In some implementations, the waveform characteristic parameters include duty cycle and PWM frequency; the anomaly detection module 302 is used to: obtain the current duty cycle according to the control guidance signal, compare the current duty cycle with the previous duty cycle, and determine whether the change of the current duty cycle exceeds a preset range; record the current PWM frequency of the control guidance signal, and compare the current PWM frequency with the previous PWM frequency, and determine whether the change of the current PWM frequency exceeds a preset range.

[0066] In some implementations, the anomaly detection module 302 is further configured to: determine that the change in the current duty cycle is within a preset range if the change in the current duty cycle compared to the previous duty cycle is less than a first threshold; determine that the change in the current duty cycle is beyond a preset range if the change in the current duty cycle compared to the previous duty cycle is greater than or equal to the first threshold; determine that the change in the current duty cycle is beyond a preset range if the change in the current PWM frequency compared to the previous PWM frequency is less than a second threshold; and determine that the change in the current PWM frequency is beyond a preset range if the change in the current PWM frequency compared to the previous PWM frequency is greater than or equal to the second threshold.

[0067] In some implementations, the data update module 303 is used to: if it is determined that the change in the current duty cycle exceeds a preset range, start a timer, and update the duty cycle data to the application layer when the change in the duty cycle is greater than or equal to the first threshold for a continuous first preset time; if it is determined that the change in the current PWM frequency exceeds a second threshold, start a timer, and update the PWM frequency data to the application layer when the change in the PWM frequency is greater than or equal to the second threshold for a continuous first preset time.

[0068] In some implementations, the data update module 303 is further configured to: if the control guide signal including a complete waveform is not captured, read the level signal of the pin used to acquire the control guide signal; if the control guide signal with a complete waveform is not acquired for a third preset time and the level signal does not fluctuate, update the duty cycle data to the application layer according to the acquired level signal.

[0069] Specific limitations regarding the control and guidance signal detection device can be found in the limitations regarding the control and guidance signal detection method described above, and will not be repeated here. Each module in the aforementioned control and guidance signal detection device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in hardware or independently of the processor in the computer device, or stored in software in the memory of the computer device, so that the processor can call and execute the operations corresponding to each module.

[0070] Regarding the apparatus in the above embodiments, the specific manner in which each unit performs its operation has been described in detail in the embodiments concerning the control and guidance signal detection method, and will not be elaborated upon here.

[0071] Figure 4 This is a schematic diagram of the structure of a vehicle controller provided in an embodiment of this application.

[0072] For example, such as Figure 4 As shown, the vehicle controller includes a memory 401 and a processor 402. The memory 401 stores executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform the control guidance signal detection method.

[0073] This embodiment can divide the vehicle controller into functional modules according to the above method embodiment. For example, each module can correspond to a separate function module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical function division. In actual implementation, there may be other division methods.

[0074] When each function is divided into its own modules, the vehicle controller may include: a data acquisition module, an anomaly detection module, and a data update module.

[0075] It should be noted that all relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0076] The vehicle controller provided in this embodiment is used to execute the control guidance signal detection method described above, and therefore can achieve the same effect as the above implementation method.

[0077] When using integrated units, the vehicle controller may include a processing module and a storage module. The processing module is used to control and manage the actions of the vehicle controller. The storage module supports the vehicle controller in executing program code and data.

[0078] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits as disclosed in this application. The processor may also be a combination of computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and microprocessors, etc., and the storage module may be a memory.

[0079] An embodiment of the present invention also provides a vehicle, including a vehicle body and a controller, the controller being used to perform the steps of the method described above.

[0080] This embodiment also provides a computer-readable storage medium (including but not limited to disk storage, CD-ROM, optical storage, etc.) storing computer program code. When the computer program code is run on a computer, the computer executes the above-mentioned related method steps to implement the control and guidance signal detection method provided in the above embodiment. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0081] This embodiment also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement the control and guidance signal detection method provided in the above embodiment.

[0082] The beneficial effects of the above embodiments can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0083] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0084] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0085] In the description of this disclosure, it should be understood that if the terms "upper", "lower", "front", "rear", "left" and "right" are used to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the position or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this disclosure.

[0086] It should be noted that, in the embodiments of this application, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. It should also be noted that 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. Without further limitations, 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 the element.

[0087] The above are merely embodiments of this disclosure and are not intended to limit the scope of this disclosure. Various modifications and variations can be made to this disclosure by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the scope of the claims of this disclosure.

Claims

1. A method for detecting control and guidance signals, characterized in that, The control and guidance signal detection method includes: Acquire control guidance signals including complete waveforms, and obtain the current waveform characteristic parameters based on the control guidance signals; Compare the current waveform feature parameters with the previous valid waveform feature parameters to determine whether the change in the current waveform feature parameters exceeds a preset range; If, relative to the previous valid waveform feature parameter, the change of the current waveform feature parameter exceeds a preset range and continues for a first preset time, then the stored valid waveform feature parameter is updated.

2. The method according to claim 1, characterized in that, The acquisition includes control guidance signals for the complete waveform, including: The ripple below the preset voltage is filtered out in hardware to obtain a control guide signal in the form of a square wave; The control guidance signal is acquired at a preset sampling period; Detect whether the control guidance signal sampled within the preset sampling period includes a complete waveform; If the control guidance signal does not include a complete waveform, the sampling time is extended until a control guidance signal including a complete waveform is acquired or the sampling time reaches a second preset time.

3. The method according to claim 2, characterized in that, The extension of the sampling time until a control guidance signal including a complete waveform is acquired or the sampling time reaches a second preset time includes: The control guidance signal for the next preset sampling period is continuously acquired, and a timeout timer is applied to calculate the sampling time until the control guidance signal including the complete waveform is acquired. If the sampling time reaches the second preset time and no control guidance signal including a complete waveform is collected, the collected control guidance signal is cleared to zero, and the process returns to the step of detecting whether the control guidance signal sampled within the preset sampling period includes a complete waveform.

4. The method according to claim 1, characterized in that, The waveform characteristic parameters include duty cycle and PWM frequency; comparing the current waveform characteristic parameters with the previous valid waveform characteristic parameters to determine whether the change in the current waveform characteristic parameters exceeds a preset range includes: The current duty cycle is obtained according to the control guidance signal, and the current duty cycle is compared with the previous duty cycle to determine whether the change of the current duty cycle exceeds the preset range. Record the current PWM frequency of the control guidance signal, and compare the current PWM frequency with the previous PWM frequency to determine whether the change in the current PWM frequency exceeds a preset range.

5. The method according to claim 4, characterized in that, The step of comparing the current duty cycle with the previous duty cycle to determine whether the change in the current duty cycle exceeds a preset range includes: If the change in the current duty cycle compared to the previous duty cycle is less than a first threshold, then it is determined that the change in the current duty cycle has not exceeded a preset range. If the change in the current duty cycle compared to the previous duty cycle is greater than or equal to the first threshold, then it is determined that the change in the current duty cycle exceeds a preset range.

6. The method according to claim 4, characterized in that, The step of comparing the current PWM frequency with the previous PWM frequency to determine whether the change in the current PWM frequency exceeds a preset range includes: If the change in the current PWM frequency compared to the previous PWM frequency is less than the second threshold, then it is determined that the change in the PWM frequency has not exceeded the preset range. If the change in the current PWM frequency compared to the previous PWM frequency is greater than or equal to the second threshold, then it is determined that the change in the current PWM frequency exceeds the preset range.

7. The method according to claim 5, characterized in that, If, relative to the previous valid waveform feature parameter, the change in the current waveform feature parameter exceeds a preset range and persists for a first preset time, then the stored valid waveform feature parameters are updated, including: If it is determined that the change in the current duty cycle exceeds the preset range, a timer is started, and when the change in the duty cycle is greater than or equal to the first threshold for a first preset time, the duty cycle data is updated to the application layer. If it is determined that the change in the current PWM frequency exceeds the second threshold, a timer is started, and when the change in the PWM frequency is greater than or equal to the second threshold for a continuous fourth preset time, the PWM frequency data is updated to the application layer.

8. The method according to claim 1, characterized in that, The method further includes: If the control pilot signal, including the complete waveform, is not captured, the level signal of the pin used to acquire the control pilot signal is read. If the control guidance signal with a complete waveform is not acquired for a third preset time and the level signal does not fluctuate, the duty cycle data is updated to the application layer based on the acquired level signal.

9. A vehicle controller, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 1 to 8.

10. A vehicle, comprising a vehicle body, characterized in that, It also includes a controller for performing the steps of the method as described in any one of claims 1 to 8.

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