Heating method of a controller, controller and vehicle

Abstract

The application provides a heating method of a controller, a controller and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: obtaining a current operating temperature and a current state of a target controller, wherein the target controller is used to represent a controller that may exist false alarms in the case that the current operating temperature is less than a preset temperature threshold; determining a target heating strategy based on the current state and the current operating temperature, wherein the target heating strategy is used to adjust a heating working condition corresponding to the current state; and heating the target controller in the target heating strategy, so that the operating temperature of the target controller is greater than or equal to the preset temperature threshold. Based on the above scheme, the false alarm probability of the controller can be reduced.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more particularly to a heating method for a controller, a controller, and a vehicle. Background Technology

[0002] The controller in the vehicle may give false alarms in low-temperature environments, causing it to malfunction. This can lead to performance degradation or failure of some vehicle functions in low-temperature environments, potentially affecting the vehicle's operational safety.

[0003] Therefore, reducing the probability of false alarms from the controller is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a heating method for a controller, a controller, and a vehicle, which can reduce the probability of false alarms from the controller.

[0005] In a first aspect, this application provides a heating method for a controller, the method comprising: Obtain the current operating temperature and current status of the target controller, where the target controller is used to represent the controller that will generate false alarms when the current operating temperature is lower than the preset temperature threshold; Based on the current state and the current operating temperature, a target heating strategy is determined, wherein the target heating strategy is used to adjust the heating conditions corresponding to the current state; The target controller is heated using a target heating strategy to make its operating temperature greater than or equal to a preset temperature threshold.

[0006] In this embodiment, to reduce the false alarm probability of the target controller in low-temperature environments, a corresponding target heating strategy can be determined by jointly considering the current state and current operating temperature of the target controller. This target heating strategy is then used to heat the target controller, raising its operating temperature above a preset temperature threshold. This removes the target controller from the low-temperature environment where false alarms are likely, significantly reducing the false alarm probability. Furthermore, instead of directly comparing the target controller's current operating temperature with the preset temperature threshold before heating, the current state of the target controller is also considered. The heating strategy is determined by jointly considering both the current operating temperature and the current state, thus taking into account the impact of different operating conditions on the heating strategy. This makes the heating strategy more aligned with the actual operating scenario of the target controller, achieving on-demand heating and avoiding unnecessary heating, thereby improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the false alarm probability of the controller is further reduced.

[0007] Furthermore, instead of heating all controllers, selective heating is applied to controllers that may generate false alarms due to low temperatures. This allows for independent heating of controllers, avoiding energy waste caused by indiscriminate heating of all controllers. This is more energy-efficient than heating all controllers uniformly.

[0008] In conjunction with the first aspect, in some implementations of the first aspect, the above-mentioned determination of the target heating strategy based on the current state and the current operating temperature includes: Determine the negative temperature deviation between the current operating temperature and the preset temperature threshold; The target heating strategy is determined based on the negative temperature deviation and the current state.

[0009] In this embodiment, the negative temperature deviation between the current operating temperature of the target controller and a preset temperature threshold reflects the heating requirements of the target controller. Based on the current state of the target controller, and combined with the negative temperature deviation between the current operating temperature and the preset temperature threshold, a heating strategy that meets the heating requirements and current state of the target controller can be obtained, improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the probability of false alarms from the controller is further reduced.

[0010] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, the determination of the target heating strategy based on the negative temperature deviation and the current state includes: When the current state is non-working, the target pulse frequency and target duty cycle of the heating element in the target controller are determined based on the negative temperature deviation. The heating strategy consisting of the target pulse frequency and the target duty cycle is determined as the target heating strategy; Given that the current state is the working state, the target heating current and target heating duration of the target controller are determined based on the negative temperature deviation. The heating strategy consisting of the target heating current and the target heating time is defined as the target heating strategy.

[0011] In this embodiment, the heating method of the target controller is determined by its current state, and the heating requirement of the target controller is determined by the negative temperature deviation between its current operating temperature and a preset temperature threshold. This allows for a heating strategy that meets both the target controller's heating requirements and its current state, improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the probability of false alarms from the controller is further reduced.

[0012] In combination with the first aspect and the above implementation methods, in some implementation methods of the first aspect, obtaining the current operating temperature of the target controller includes: The initial temperature, current runtime, and current operating intensity of the target controller are obtained. The initial temperature represents the temperature of the target controller before this power-on, and the current runtime represents the total runtime of the target controller after this power-on. The target correction amount is determined based on the current running time, current running intensity, temperature change per unit time of the target controller, and the first temperature coefficient; Based on the target correction amount, the initial temperature is corrected to obtain the current operating temperature.

[0013] In this embodiment, the current operating temperature of the target controller is determined by its initial temperature, runtime, and operating intensity. This takes into account the influence of multiple factors on the target controller's operating temperature, thereby improving the accuracy of the target controller's current operating temperature. Based on a more accurate current operating temperature, the accuracy of the heating strategy is further improved, thereby reducing the probability of false alarms from the controller.

[0014] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, the determination of the target correction amount based on the current running time, current running intensity, the temperature change per unit time of the target controller, and the first temperature coefficient includes: The current runtime is adjusted based on the current operating intensity to obtain the first runtime; The current running time is corrected based on the first temperature coefficient to obtain the second running time; The target runtime is obtained by attenuating the first runtime based on the second runtime. The target correction amount is obtained based on the target runtime and the temperature change per unit time.

[0015] In this embodiment, the current operating time of the target controller is corrected by the current operating intensity of the target controller and the first temperature coefficient to obtain the corrected duration (i.e., the target operating time). This results in a more accurate thermal effect duration that better reflects the actual heat generation of the target controller, thus improving the accuracy of the target operating time. Based on the improved accuracy of the target operating time, the accuracy of the target correction amount is further improved, thereby enhancing the accuracy of the current operating temperature of the target controller.

[0016] In combination with the first aspect and the above implementation methods, in some implementation methods of the first aspect, obtaining the initial temperature of the target controller includes: Obtain the power-down temperature of the target controller at the last power-down time, the current ambient temperature of the target controller, and the time interval between the last power-down time of the target controller and the current time. The target temperature decay is determined based on the power-down temperature, the current ambient temperature, and the interval duration. Based on the target temperature decay, the power-down temperature is decayed to obtain the initial temperature.

[0017] In this embodiment, the initial temperature of the target controller is determined by the power-down temperature at the last power-down, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time. This takes into account the influence of multiple factors on the initial temperature of the target controller, thereby improving the accuracy of the initial temperature. Based on a more accurate initial temperature, the accuracy of the heating strategy is further improved, thereby reducing the probability of false alarms from the controller.

[0018] Combining the first aspect and the above implementation methods, in some implementation methods of the first aspect, the determination of the target temperature decay based on the power-down temperature, the current ambient temperature, and the interval duration includes: Determine the temperature difference between the power-on temperature and the current ambient temperature; The second temperature coefficient is determined based on the temperature difference. The amount of temperature change is determined based on the time interval. The target temperature decay is obtained by correcting the temperature change based on the second temperature coefficient.

[0019] In this embodiment, the target temperature decay is determined by the power-down temperature of the target controller at its last power-down, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time. This takes into account the influence of multiple factors on the target temperature decay, thereby improving the accuracy of the target temperature decay. Based on a more accurate target temperature decay, the accuracy of the target controller's initial temperature is further improved, thereby reducing the probability of false alarms from the controller.

[0020] In conjunction with the first aspect and the above implementation methods, in some implementations of the first aspect, the method further includes: Obtain the power-down temperature of the target controller at the last power-down and the current ambient temperature of the target controller; Determine the temperature difference between the power-on temperature and the current ambient temperature; The first temperature coefficient is determined based on the temperature difference.

[0021] In this embodiment, a first temperature coefficient is determined by the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller. This takes into account the influence of the power-down temperature and the current ambient temperature of the target controller on the first temperature coefficient, thereby improving its accuracy. Based on a more accurate first temperature coefficient, the accuracy of the current operating temperature of the target controller is further improved, thereby reducing the probability of false alarms from the controller.

[0022] Secondly, this application provides a heating device for a controller, the device comprising: The acquisition module is used to acquire the current operating temperature and current status of the target controller, wherein the target controller is used to represent the controller that will generate false alarms when the current operating temperature is lower than the preset temperature threshold; The processing module is used to determine the target heating strategy based on the current state and the current operating temperature. The target heating strategy is used to adjust the heating conditions corresponding to the current state. The target controller is heated according to the target heating strategy so that the operating temperature of the target controller is greater than or equal to the preset temperature threshold.

[0023] Thirdly, this application provides a controller, including a storage module and a processing module. The storage module is used to store executable program code, and the processing module is used to call and run the executable program code from the storage module, causing the controller to execute the methods in the first aspect or any possible implementation of the first aspect.

[0024] Fourthly, this application provides a vehicle including a memory and a processor. The memory is used to store executable program code, and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the methods described in the first aspect or any possible implementation thereof.

[0025] Fifthly, this application provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in the first aspect or any possible implementation thereof.

[0026] Sixthly, this application provides a computer-readable storage medium storing computer program code that, when executed on a computer, causes the computer to perform the methods described in the first aspect or any possible implementation thereof. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a scenario for the heating method of the controller provided in an embodiment of this application; Figure 2This is a schematic flowchart of a heating method for a controller provided in an embodiment of this application; Figure 3 This is another schematic flowchart of a heating method for a controller provided in an embodiment of this application; Figure 4 This is a schematic diagram of the heating device of the controller provided in the embodiment of this application; Figure 5 This is a schematic diagram of the controller provided in an embodiment of this application; Figure 6 This is a schematic diagram of the vehicle structure provided in the embodiments of this application. Detailed Implementation

[0028] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0029] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0030] To ensure vehicle operational safety, fault detection of the vehicle's controllers is necessary. This allows for timely reporting of faults and triggering appropriate fault protection mechanisms when a controller malfunctions. However, in low-temperature environments, controllers may exhibit reduced operational stability, potentially leading to false alarms. These false alarms can cause the controlled objects to malfunction, resulting in performance degradation or failure of certain functions in low-temperature conditions. Consequently, this can also lead to performance degradation or failure of some vehicle functions in low-temperature environments, compromising vehicle operational safety. The controller can be any controller within the vehicle, and there must be at least one controller, such as at least one of a four-wheel drive controller, steering controller, braking controller, or suspension controller. Furthermore, each controller must control at least one controlled object; the controlled objects controlled by different controllers can be completely different, partially the same, or completely identical.

[0031] Taking a four-wheel drive controller as an example, the controller can monitor the drive current of the drive motor in the vehicle to determine whether the drive motor is in an open circuit, short circuit, or overcurrent state. When monitoring the drive current, the controller can use a low-resistance sampling resistor and an operational amplifier to sample and amplify the current signal, and then use the amplified current signal for fault diagnosis. For example, when the low-resistance sampling resistor is 2mΩ, the drive motor circuit charge is 4A, and the circuit voltage is 8mV, the 8mV circuit voltage can be amplified 40 times to obtain an amplified voltage of 320mV. This amplified voltage can then be used to determine whether the drive motor is in an open circuit, short circuit, or overcurrent state. Alternatively, the 8mV circuit voltage can be amplified 100 times to obtain an amplified voltage of 800mV, which can then be used to determine whether the drive motor is in an open circuit, short circuit, or overcurrent state. It should be understood that the amplification factor of the loop voltage can be 40 times, 100 times, or 20 times, etc., and the embodiments of this application do not limit this.

[0032] However, in low-temperature environments, the electronic components of the four-wheel drive controller (e.g., capacitors, chips, interfaces, etc.) may experience a significant input offset voltage (VOS) deviation. This deviation, after being processed by the operational amplifier, may result in a large deviation in the amplified voltage. Using this significantly deviated amplified voltage to determine whether the drive motor is in an open-circuit, short-circuit, or overcurrent state can easily lead to errors. For example, if the drive motor is not actually in an open-circuit state, but the significantly deviated amplified voltage is used to determine that it is, a false fault alarm will occur. This will prevent the vehicle from engaging four-wheel drive, affecting the normal operation of the vehicle's four-wheel drive function. For example, when the VOS offset is ±3mV and the loop voltage is 8mV, amplifying the loop voltage by 40 times will result in a deviation of ±120mV in the amplified voltage. This causes the amplified voltage to fluctuate significantly within the range of 200mV to 440mV, easily leading the four-wheel drive controller (Motor Control Unit, MCU) to incorrectly identify the drive motor as open-circuit when it is operating normally and not in an open-circuit state, resulting in false fault alarms. Furthermore, in low-temperature environments, some controllers may experience prolonged fluctuations of the amplified voltage around 0mV (e.g., 500ms or 600ms), causing the controller to misjudge the corresponding controlled object as being in a short-circuit or open-circuit state, frequently triggering false fault alarms and affecting the normal operation of the controlled object. Therefore, low-temperature environments significantly affect the accuracy of controller fault diagnosis.

[0033] Related technologies involve determining whether a motor temperature sensor has a short circuit fault by combining the controller's own temperature and the ambient temperature. If a short circuit fault is found in the motor temperature sensor, corresponding fault warnings and reports are issued. The main focus is on fault detection and alerts; however, no specific technical solutions are provided to address the probability of false alarms from the controller in low-temperature environments.

[0034] Figure 1 This is a schematic diagram of a scenario for the heating method of the controller provided in an embodiment of this application.

[0035] For example, such as Figure 1 As shown, Figure 1 The system includes a vehicle 101 and a controller 102. At least one controller 102 is installed in the vehicle 101.

[0036] In low-temperature environments, the controller 102 may experience severe VOS offset, which can make it easy for the controller 102 to make incorrect fault judgments, reduce the accuracy of fault judgments, and increase the probability of false alarms.

[0037] In view of this, this application proposes a heating method for the controller, a controller, and a vehicle. Through the embodiments of this application, a heating strategy that conforms to the current state and current operating temperature of the target controller is determined, and the controller is heated using the heating strategy to raise the operating temperature of the controller to above a preset temperature threshold, thereby removing the controller from the low-temperature environment where false alarms may occur, and thus greatly reducing the probability of false alarms of the controller.

[0038] The following is combined Figures 2 to 3 The heating method of the controller provided in the embodiments of this application will be described in detail.

[0039] Figure 2 This is a schematic flowchart illustrating a heating method for a controller provided in an embodiment of this application. This method can be implemented by a vehicle (e.g., Figure 1 The vehicle 101 in the vehicle executes the command, or the controller in the vehicle executes the command.

[0040] For example, such as Figure 2 As shown, the method 200 includes the following implementation process: S210, obtain the current operating temperature and current status of the target controller.

[0041] The target controller refers to a controller that will generate false alarms when the current operating temperature is below a preset temperature threshold. Specifically, it represents a controller susceptible to false alarms due to low temperatures, such as at least one of a four-wheel drive controller, steering controller, braking controller, or suspension controller. Because controllers may experience significant VOS offsets in low-temperature environments, the probability of false alarms at low temperatures is much higher than at higher temperatures. Furthermore, there is at least one target controller. The preset temperature threshold can represent the lowest temperature at which the target controller will not generate false alarms due to temperature effects, such as 0°C or -5°C; this embodiment does not limit this. Different target controllers may have different preset temperature thresholds due to differences in materials and manufacturing processes, but they can also be the same. The preset temperature threshold can be obtained through pre-configuration or real-vehicle testing and pre-stored in the vehicle's storage unit or in a cloud server connected to the vehicle for easy retrieval.

[0042] The current state of the target controller can be either a working state or a non-working state. A working state indicates that the target controller is running, while a non-working state indicates that the target controller is not running.

[0043] For example, when the vehicle is powered on, it is possible to detect whether the target controller is powered on. Detecting that the target controller is powered on indicates that it has entered service. To reduce the probability of false alarms in low-temperature environments, the current operating temperature and current status of the target controller can be obtained. Conversely, detecting that the target controller is not powered on indicates that it has not yet entered service, and its power-on status can be continuously monitored.

[0044] Optionally, when the target controller is detected to be powered on, in order to reduce the probability of false alarms in low-temperature environments, the heating process of the target controller can be automatically triggered, and the current operating temperature and current status of the target controller can be automatically obtained.

[0045] For example, the current state of the target controller can be detected through its enable pin. If an enable signal is detected high through the enable pin, the target controller is confirmed to be in an active state. If no enable signal is detected high through the enable pin, the target controller is confirmed to be in a non-active state. Alternatively, the current state of the target controller can be detected through its loop current. If a stable loop current exists in the target controller, the target controller is confirmed to be in an active state. If no loop current exists in the target controller, the target controller is confirmed to be in a non-active state.

[0046] Optionally, the current operating temperature of the target controller can be collected in real time by a temperature sensor installed on the target controller.

[0047] S220 determines the target heating strategy based on the current state and current operating temperature.

[0048] The target heating strategy is used to adjust the heating conditions corresponding to the current state. These conditions can include the heating parameters and / or heating intensity corresponding to the current state. The current state of the target controller is related to the heating state; different current states result in different heating conditions, i.e., different heating parameters and / or heating intensities. For example, when the target controller is in an operating state, the corresponding heating conditions include heating current and / or heating duration. When the target controller is in a non-operating state, the corresponding heating conditions include pulse frequency and / or duty cycle. This is because, when the target controller is in a non-operating state, the heating intensity cannot be changed by adjusting the heating current and heating duration. Furthermore, the pulse signals generated by the heating elements in the target controller do not interfere with the normal operation of the target controller. Therefore, the heating intensity can be controlled by adjusting the pulse frequency and duty cycle of the heating elements. Furthermore, when the target controller is in the working state, the heating intensity of the target controller can be changed by adjusting the magnitude of the heating current and the duration of the heating. In order to avoid the pulse signal generated when heating through the heating element interfering with the normal operation of the target controller, the heating intensity can be controlled by adjusting the heating current and the duration of the heating.

[0049] Furthermore, the current operating temperature of the target controller is related to the heating intensity; different current operating temperatures correspond to different heating intensities. In other words, the target heating strategy varies depending on the target controller's state and operating temperature.

[0050] For example, the heating strategy (which can be called the "target heating strategy") corresponding to the current state and current operating temperature of the target controller is determined. This is because the current operating temperature of the target controller determines its heating requirement, which in turn determines the heating intensity of the target heating strategy. Specifically, the lower the current operating temperature of the target controller, the more heating is needed, resulting in a greater heating requirement and a correspondingly higher heating intensity; conversely, the higher the current operating temperature, the less heating is needed, resulting in a smaller heating requirement and a correspondingly lower heating intensity. In other words, the current operating temperature of the target controller is negatively correlated with its heating requirement, and its heating requirement is positively correlated with its heating intensity. Therefore, the current operating temperature of the target controller must be considered when determining the target heating strategy. Furthermore, the current state of the target controller determines its heating method; different states employ different heating methods to ensure proper heating. Therefore, the current state of the target controller must also be considered when determining the target heating strategy.

[0051] Optionally, the target heating strategy can be determined by the current state and operating temperature of the target controller, as well as a preset temperature threshold. This is because the preset temperature threshold is the lowest temperature at which the target controller will not be affected by temperature-related false alarms. The temperature difference between the current operating temperature of the target controller and the preset temperature threshold determines the heating requirement of the target controller. The larger the temperature difference between the current operating temperature of the target controller and the preset temperature threshold, the more heating is needed, resulting in a greater heating demand and a higher heating intensity. Conversely, the smaller the temperature difference between the current operating temperature of the target controller and the preset temperature threshold, the less heating is needed, resulting in a lower heating demand and a lower heating intensity. In other words, the temperature difference between the current operating temperature of the target controller and the preset temperature threshold is positively correlated with the heating demand of the target controller, and the heating demand is positively correlated with the heating intensity. Therefore, the preset temperature threshold needs to be considered when determining the target heating strategy.

[0052] In one implementation, determining the target heating strategy based on the current state and the current operating temperature includes: determining the negative temperature deviation between the current operating temperature and a preset temperature threshold; and determining the target heating strategy based on the negative temperature deviation and the current state.

[0053] For example, the temperature difference between the current operating temperature of the target controller and the preset temperature threshold is defined as the negative temperature deviation, i.e., negative temperature deviation = current operating temperature of the target controller - preset temperature threshold. This is because the preset temperature threshold is the lowest temperature at which the target controller will not be affected by temperature and will not generate false alarms. It can be understood that when the current operating temperature of the target controller is greater than or equal to the preset temperature threshold, low-temperature false alarms generally will not occur. Only when the current operating temperature of the target controller is less than the preset temperature threshold is a low-temperature false alarm possible, and the lower the current operating temperature of the target controller is than the preset temperature threshold, the higher the probability of a low-temperature false alarm. Therefore, to determine an accurate target heating strategy, the negative temperature deviation between the current operating temperature of the target controller and the preset temperature threshold needs to be considered.

[0054] Furthermore, based on the negative temperature deviation and the current state of the target controller, the target heating strategy is determined together. The larger the negative temperature deviation, the greater the heating intensity of the corresponding target heating strategy; that is, the negative temperature deviation is positively correlated with the heating intensity of the heating strategy.

[0055] In this embodiment, the negative temperature deviation between the current operating temperature of the target controller and a preset temperature threshold reflects the heating requirements of the target controller. Based on the current state of the target controller, and combined with the negative temperature deviation between the current operating temperature and the preset temperature threshold, a heating strategy that meets the heating requirements and current state of the target controller can be obtained, improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the probability of false alarms from the controller is further reduced.

[0056] Furthermore, the above-mentioned determination of the target heating strategy based on the negative temperature deviation and the current state includes: when the current state is a non-operating state, determining the target pulse frequency and target duty cycle of the heating element in the target controller based on the negative temperature deviation; determining the heating strategy composed of the target pulse frequency and target duty cycle as the target heating strategy; when the current state is an operating state, determining the target heating current and target heating duration of the target controller based on the negative temperature deviation; determining the heating strategy composed of the target heating current and target heating duration as the target heating strategy.

[0057] There is a correlation between negative temperature deviation and the target pulse frequency and target duty cycle; both are positively correlated. Similarly, there is a correlation between the pulse frequency and duty cycle of the heating element and the heating intensity; both are positively correlated. It should be understood that different negative temperature deviations generally correspond to different target pulse frequencies and target duty cycles. Different pulse frequencies and / or duty cycles of the heating element generally correspond to different heating intensities.

[0058] Specifically, there is a correlation between negative temperature deviation and the target heating current and target heating duration; both are positively correlated. Similarly, there is a correlation between the target controller's heating current and heating duration and the heating intensity; both are positively correlated. It should be understood that different negative temperature deviations generally correspond to different target heating currents and target heating durations. Different heating currents and / or heating durations of the target controller generally correspond to different heating intensities.

[0059] For example, when the target controller is currently in a non-operating state, the heating parameters for the heating condition can be determined as the pulse frequency and duty cycle of the heating element in the target controller. Furthermore, based on the negative temperature deviation, the pulse frequency (which can be called the "target pulse frequency") and duty cycle (which can be called the "target duty cycle") corresponding to the negative temperature deviation are determined. The heating strategy composed of the target pulse frequency and the target duty cycle is then defined as the target heating strategy.

[0060] For example, when the target controller is currently in an operating state, the heating parameters for the heating condition can be determined as the heating current and heating duration of the target controller. Furthermore, based on the negative temperature deviation, the heating current (which can be referred to as the "target heating current") and heating duration (which can be referred to as the "target heating duration") corresponding to the negative temperature deviation are determined. The heating strategy composed of the target heating current and the target heating duration is then defined as the target heating strategy.

[0061] In this embodiment, the heating method of the target controller is determined by its current state, and the heating requirement of the target controller is determined by the negative temperature deviation between its current operating temperature and a preset temperature threshold. This allows for a heating strategy that meets both the target controller's heating requirements and its current state, improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the probability of false alarms from the controller is further reduced.

[0062] S230 heats the target controller using a target heating strategy, so that the operating temperature of the target controller is greater than or equal to a preset temperature threshold.

[0063] For example, when the target heating strategy is obtained, the target controller can be controlled to heat according to the target heating strategy to increase the operating temperature of the target controller. The operating temperature of the target controller is increased to be greater than or equal to the preset temperature threshold, so that the operating temperature of the target controller rises and gets out of the low temperature environment where false alarms may occur, thereby greatly reducing the probability of false alarms of the target controller.

[0064] In such Figure 2 In method 200, to reduce the false alarm probability of the target controller in low-temperature environments, a corresponding target heating strategy is determined by combining the current state and current operating temperature of the target controller. This target heating strategy is then used to heat the target controller, raising its operating temperature above a preset temperature threshold. This removes the target controller from the low-temperature environment where false alarms are likely, significantly reducing the false alarm probability. Furthermore, instead of directly comparing the target controller's current operating temperature with the preset temperature threshold before heating, the current state of the target controller is also considered. The heating strategy is determined by combining the current operating temperature and current state, taking into account the impact of different operating conditions on the heating strategy. This makes the heating strategy more aligned with the actual operating scenario of the target controller, achieving on-demand heating and avoiding unnecessary heating, thus improving the accuracy of the heating strategy. Furthermore, with a more accurate heating strategy, the false alarm probability of the controller is further reduced.

[0065] Furthermore, instead of heating all controllers, selective heating is applied to controllers that may generate false alarms due to low temperatures. This allows for independent heating of controllers, avoiding energy waste caused by indiscriminate heating of all controllers. This is more energy-efficient than heating all controllers uniformly.

[0066] It should be understood that false alarms in the target controller are caused by input offset voltage in the electronic components of the target controller at low temperatures. The heating of the target controller in this embodiment is to increase its temperature, thereby eliminating the input offset voltage caused by low temperatures and reducing the probability of false alarms. Battery heating, on the other hand, primarily addresses the problem of reduced battery activity at low temperatures, such as by improving lithium-ion activity and reducing battery internal resistance. A comparison reveals that the heating purposes of the target controller and the battery are different. The purpose of heating the target controller is to reduce the probability of false alarms at low temperatures, while the purpose of heating the battery is to improve battery performance. Furthermore, the heating strategy for the target controller considers the impact of different operating conditions on the heating strategy, making the final heating strategy more reliable. Battery heating, however, is generally related to battery capacity and falls under the category of energy management, without involving differentiated processing of the target controller's operating conditions. Moreover, the target controller, as the control end, will have false alarm outputs, while the battery, as the controlled end, will not have false alarm outputs. The functional positioning of the target controller and the battery is different, and they should not be confused.

[0067] It should be noted that S210~S230 above is a simplified description of the heating method of the controller provided in the embodiments of this application. The following will further elaborate on... Figure 2 The specific implementation methods shown in the embodiments are described in detail below: When executing S210, obtaining the current operating temperature of the target controller includes: obtaining the initial temperature, current running time, and current operating intensity of the target controller; determining the target correction amount based on the current running time, current operating intensity, the temperature change per unit time of the target controller, and the first temperature coefficient; and correcting the initial temperature based on the target correction amount to obtain the current operating temperature.

[0068] The initial temperature represents the temperature of the target controller before power-on; that is, the initial temperature of the target controller is the temperature at which it is about to be powered on but has not yet completed power-on. The current runtime represents the total runtime of the target controller during this power-on period. This can be understood as the total runtime from power-on to power-off, reflecting the cumulative duration of continuous operation. For example, if the total runtime from power-on to power-off is 5 hours, then the current runtime of the target controller is 5 hours. Finally, the current operating intensity characterizes the operating load and power output level of the target controller per unit time. The operating load and power output level per unit time are positively correlated with the current operating intensity of the target controller.

[0069] It should be noted that the initial temperature, current runtime, and current operating intensity of the target controller are all positively correlated with its current operating temperature. This is because a higher initial temperature results in a higher baseline temperature for the target controller, leading to easier heat accumulation and consequently a higher current operating temperature. Similarly, a longer runtime leads to greater heat accumulation and a higher current operating temperature. Furthermore, a higher current operating intensity results in more heat generation and a faster temperature rise, further contributing to a higher current operating temperature. In short, the current operating temperature of the target controller is related to its initial temperature, runtime, and operating intensity.

[0070] For example, when obtaining the current operating temperature of the target controller, the initial temperature, current operating time, and current operating intensity of the target controller can be obtained in real time. Based on the current operating time, current operating intensity, temperature change per unit time, and a first temperature coefficient, a corresponding correction amount (which can be called the "target correction amount") can be determined. Then, the initial temperature of the target controller is corrected using the target correction amount to obtain the corrected temperature, and this corrected temperature is determined as the current operating temperature of the target controller.

[0071] Optionally, the current operating temperature of the target controller is obtained based on the initial temperature of the target controller, the current running time, the current operating intensity, the temperature change per unit time of the target controller, and the first temperature coefficient. Specifically, a target correction amount is determined based on the current running time, the current operating intensity, the temperature change per unit time of the target controller, and the first temperature coefficient; the initial temperature is corrected based on the target correction amount to obtain the current operating temperature.

[0072] The target correction amount is used to correct the initial temperature of the target controller. Furthermore, the temperature change per unit time of the target controller is the temperature rise of the target controller per unit time, which can be obtained through historical temperature data statistics or experimental testing; this application embodiment does not limit this.

[0073] For example, the current runtime of the target controller is recorded and stored by a clock module in the target controller. The clock module may include at least one of a calendar clock, a timer, etc. Furthermore, the effective current of the target controller is read in real time by a current sampling module in the target controller, and the ratio of the effective current to the controller's rated maximum current is determined as the load rate of the target controller. The current operating intensity of the target controller is obtained through the correspondence between the load rate and the operating intensity. There is a positive correlation between the load rate and the operating intensity of the target controller.

[0074] It should be understood that due to limitations in installation technology and installation costs, most controllers in vehicles do not have their own temperature sensors. Therefore, in most cases, the operating temperature of the controller cannot be directly collected through the temperature sensor, and an indirect estimation method is required to predict the operating temperature of the controller, as detailed in S210.

[0075] In this embodiment, the current operating temperature of the target controller is determined by its initial temperature, runtime, and operating intensity. This takes into account the influence of multiple factors on the target controller's operating temperature, thereby improving the accuracy of the target controller's current operating temperature. Based on a more accurate current operating temperature, the accuracy of the heating strategy is further improved, thereby reducing the probability of false alarms from the controller.

[0076] In one implementation, determining the target correction amount based on the current runtime, current operating intensity, temperature change per unit time of the target controller, and a first temperature coefficient includes: correcting the current runtime based on the current operating intensity to obtain a first runtime; correcting the current runtime based on the first temperature coefficient to obtain a second runtime; attenuating the first runtime based on the second runtime to obtain a target runtime; and obtaining the target correction amount based on the target runtime and the temperature change per unit time.

[0077] For example, the current runtime of the target controller is corrected by the current operating intensity of the target controller to obtain the corrected runtime (which can be called the "first runtime"). Specifically, the product of the current operating intensity and the current runtime of the target controller is determined as the first runtime, i.e., first runtime = current operating intensity of the target controller × current runtime of the target controller. This is because the current runtime of the target controller is the cumulative operating time and cannot be directly equated to the actual thermal effect duration of the target controller. It can be understood that when the current runtime of the target controller is the same, the heat generation corresponding to different operating intensities is different. When the operating intensity is high, the corresponding heat generation is more, and when the operating intensity is low, the corresponding heat generation is less. That is, when the current runtime of the target controller is the same, the operating intensity and the heat generation are positively correlated. Therefore, in order to obtain the actual thermal effect duration (which can be called the "thermal effect equivalent duration") that better reflects the actual heat generation of the target controller, the current runtime of the target controller can be weighted and corrected using the current operating intensity of the target controller to obtain the first runtime, thereby improving the accuracy of the current operating temperature of the target controller.

[0078] Furthermore, the current runtime of the target controller is corrected using a first temperature coefficient to obtain a corrected runtime (which can be called the "second runtime"). Specifically, the product of the first temperature coefficient and the current runtime of the target controller is determined as the second runtime, i.e., second runtime = first temperature coefficient × current runtime of the target controller. This is because the heat dissipation efficiency of the target controller varies at different temperatures; the higher the temperature, the faster the heat dissipation. Therefore, it is necessary to introduce a first temperature coefficient to dynamically correct the current runtime of the target controller to match its actual heat dissipation capacity at different temperatures, thereby obtaining a second runtime that better reflects the actual heat dissipation of the target controller and improving the accuracy of the target controller's current operating temperature. The first temperature coefficient is used to characterize the effective heat dissipation time of the target controller at different temperatures.

[0079] Furthermore, upon obtaining the first and second runtimes, the first runtime can be attenuated using the second runtime to obtain the attenuated runtime, which is then determined as the target runtime of the target controller. Specifically, the difference between the first and second runtimes is calculated and determined as the target runtime of the target controller, i.e., target runtime = first runtime - second runtime. This is because, as the target controller continues to operate, heat generation accumulates, while heat dissipation also continues. The earlier the heat is generated, the more it is dissipated. Therefore, a dynamic balance correction between heat generation and heat dissipation is needed to offset the effect of heat dissipation on heat accumulation. By attenuating the first runtime, a target runtime that better reflects the actual heat accumulation of the target controller is obtained, thereby improving the accuracy of the target controller's current operating temperature.

[0080] Furthermore, when the target runtime of the target controller is obtained, the effective temperature rise of the target controller within the target runtime is obtained by using the temperature change per unit time of the target controller and the target runtime. Specifically, the product of the target runtime and the temperature change per unit time is determined as the target correction amount, that is, the target correction amount = target runtime × temperature change per unit time of the target controller. An example is provided using formula (1):

[0081] In formula (1), T represents the current operating temperature of the target controller, T1 represents the initial temperature of the target controller, K represents the current operating time of the target controller, L represents the current operating intensity of the target controller, M represents the first temperature coefficient, and ΔT represents the temperature change of the target controller per unit time. L and M are dimensionless values. K and unit time belong to the same time unit dimension; for example, if K is in hours, then unit time is also in hours, or if K is in minutes, then unit time is also in minutes.

[0082] Optionally, the target correction amount is determined based on the first runtime, the second runtime, and the temperature change per unit time of the target controller. Specifically, the first runtime is attenuated based on the second runtime to obtain the target runtime; the target correction amount is obtained based on the target runtime and the temperature change per unit time.

[0083] In this embodiment, the current operating time of the target controller is corrected by the current operating intensity of the target controller and the first temperature coefficient to obtain the corrected duration (i.e., the target operating time). This results in a more accurate thermal effect duration that better reflects the actual heat generation of the target controller, thus improving the accuracy of the target operating time. Based on the improved accuracy of the target operating time, the accuracy of the target correction amount is further improved, thereby enhancing the accuracy of the current operating temperature of the target controller.

[0084] In one implementation, obtaining the initial temperature of the target controller includes: obtaining the power-down temperature of the target controller at the last power-down time and the current ambient temperature of the target controller, as well as the interval between the last power-down time and the current time; determining the target temperature decay amount based on the power-down temperature, the current ambient temperature, and the interval; and decaying the power-down temperature based on the target temperature decay amount to obtain the initial temperature.

[0085] For example, the system obtains the power-off temperature of the target controller at its latest power-off point before the current power-on (i.e., the power-off temperature at the last power-off) and the power-off time (i.e., the power-off time of the last power-off), as well as the current ambient temperature of the target controller. It calculates the difference between the power-off time of the last power-off and the current time, and defines this difference as the interval between the last power-off time and the current time, i.e., interval = current time - last power-off time of the target controller. Using the power-off temperature of the target controller at its last power-off, the current ambient temperature of the target controller, and the interval, the system jointly determines the temperature decay of the target controller (which can be called the "target temperature decay"). This is because, as the interval between the last power-down moment of the target controller and the current moment (i.e., the duration of the continuous power-off of the target controller) increases, the temperature of the target controller gradually approaches the ambient temperature, and the corresponding temperature decay also gradually increases. In other words, the power-down temperature of the target controller at its last power-down moment, the interval between the last power-down moment and the current moment, and the current ambient temperature of the target controller all correspond to the target temperature decay. The power-down temperature of the target controller at its last power-down moment and the interval between the last power-down moment and the current moment are positively correlated with the target temperature decay, while the current ambient temperature of the target controller is negatively correlated with the target temperature decay. Therefore, when determining the target temperature decay, it is necessary to consider the power-down temperature of the target controller at its last power-down moment, the current ambient temperature of the target controller, and the interval between the last power-down moment and the current moment. In other words, the operating temperature of the target controller will increase as the target controller operates and decrease when the target controller is powered off.

[0086] Furthermore, the target temperature decay is used to attenuate the power-down temperature of the target controller during its last power-down, resulting in a decayed temperature, which is then determined as the initial temperature of the target controller. Specifically, the difference between the power-down temperature of the target controller during its last power-down and the target temperature decay is determined as the initial temperature of the target controller, i.e., the initial temperature of the target controller = the power-down temperature of the target controller during its last power-down - the target temperature decay.

[0087] The power-down temperature of the target controller at its last power-down is its operating temperature at that time. The method for determining this temperature is the same as that for determining the current operating temperature, and will not be repeated here. Furthermore, the power-down time of the target controller's last power-down can be recorded and stored by the clock module within the target controller. It should be understood that both the power-down temperature and the power-down time of the target controller's last power-down can be stored in the vehicle's storage unit or in a cloud server connected to the vehicle for easy retrieval.

[0088] The current ambient temperature of the target controller can be acquired in real time by temperature sensors in the vehicle. The target temperature decay is used to characterize the heat dissipation during the interval between the last power-down time of the target controller and the current time. There is a corresponding relationship between the heat dissipation during the interval between the last power-down time of the target controller and the current time, and the heat dissipation during the interval between the last power-down time of the target controller and the current time is positively correlated with the target temperature decay.

[0089] Optionally, the initial temperature of the target controller is determined based on its power-down temperature at the last power-down, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time. Specifically, a target temperature decay amount is determined based on the target controller's last power-down temperature, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time; the initial temperature of the target controller is then determined based on the target temperature decay amount and the target controller's last power-down temperature. More specifically, the initial temperature of the target controller is obtained by decaying the target controller's last power-down temperature based on the target temperature decay amount.

[0090] In this embodiment, the initial temperature of the target controller is determined by the power-down temperature at the last power-down, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time. This takes into account the influence of multiple factors on the initial temperature of the target controller, thereby improving the accuracy of the initial temperature. Based on a more accurate initial temperature, the accuracy of the heating strategy is further improved, thereby reducing the probability of false alarms from the controller.

[0091] In one implementation, determining the target temperature decay based on the power-down temperature, the current ambient temperature, and the interval duration includes: determining the temperature difference between the power-down temperature and the current ambient temperature; determining a second temperature coefficient based on the temperature difference; determining the temperature change based on the interval duration; and correcting the temperature change based on the second temperature coefficient to obtain the target temperature decay.

[0092] The second temperature coefficient is used to characterize the influence of the temperature difference between the power-down temperature of the target controller and the current ambient temperature on the temperature decay of the target controller (also known as the "influence weight"). The influence of the temperature difference between the power-down temperature of the target controller and the current ambient temperature on the temperature decay of the target controller is related to the second temperature coefficient. The influence of the temperature difference between the power-down temperature of the target controller and the current ambient temperature on the temperature decay of the target controller is positively correlated with the second temperature coefficient.

[0093] There is a corresponding relationship between the temperature difference and the second temperature coefficient; they are positively correlated. This is because the greater the temperature difference between the target controller's last power-down temperature and its current ambient temperature, the greater the potential for temperature drop, resulting in higher heat dissipation efficiency and faster temperature decay. Therefore, the temperature difference between the target controller's last power-down temperature and its current ambient temperature is positively correlated with the second temperature coefficient. Furthermore, different temperature differences between the target controller's last power-down temperature and its current ambient temperature generally correspond to different, but they can also be the same, in terms of the corresponding second temperature coefficient.

[0094] There is a corresponding relationship between the interval duration and the temperature change; they are positively correlated. This is because the target controller's temperature gradually increases from the ambient temperature as it operates. Furthermore, due to the principle of temperature equilibrium, the longer the interval between the target controller's last power-down time and the current time, the closer its temperature will be to the ambient temperature, resulting in a faster temperature drop and a greater temperature change. Therefore, the interval between the target controller's last power-down time and the current time is positively correlated with the temperature change. Also, different interval durations between the target controller's last power-down time and the current time generally result in different, but they can also be the same. It should be understood that the temperature change represents how much the target controller's temperature drops within the interval duration; that is, the temperature change can be understood as the amount of temperature decay (or "temperature drop") of the target controller within the interval duration.

[0095] For example, the difference temperature between the target controller's power-down temperature at the last power-down and the target controller's current ambient temperature is calculated. Specifically, the difference between the target controller's power-down temperature at the last power-down and the target controller's current ambient temperature is taken as the difference temperature, i.e., difference temperature = target controller's power-down temperature at the last power-down - target controller's current ambient temperature.

[0096] Furthermore, when determining the temperature difference, the corresponding temperature coefficient (which can be called the "second temperature coefficient") can be determined from this temperature difference. Additionally, the temperature change corresponding to the interval between the last power-down time of the target controller and the current time can be determined. After obtaining the temperature change and the second temperature coefficient, the temperature change can be corrected using the second temperature coefficient to obtain the corrected temperature, which is then determined as the target temperature decay. Specifically, the product of the second temperature coefficient and the temperature change is determined as the target temperature decay. That is, target temperature decay = temperature change × second temperature coefficient.

[0097] Examples are provided in Tables 1 and 2: Table 1

[0098] In Table 1, when the interval is 0h < X ≤ 0.5h, the corresponding temperature change is 0℃. When the interval is 0.5h < X ≤ 1h, the corresponding temperature change is 2℃. When the interval is 1h < X ≤ 4h, the corresponding temperature change is 5℃. When the interval is 4h < X ≤ 8h, the corresponding temperature change is 10℃. When the interval is > 8h, the corresponding temperature change is 30℃. Alternatively, when the interval is > 8h, due to the longer time, the target controller has completely cooled down, and the initial temperature of the target controller is the current ambient temperature. It should be understood that when the vehicle is powered off, because the current operating temperature of the target controller is generally much higher than the current ambient temperature, the temperature of the target controller will gradually approach the ambient temperature until equilibrium is reached due to heat conduction. The longer the interval between the current operating temperature of the target controller and the current ambient temperature, the faster the corresponding temperature change.

[0099] Table 2

[0100] In Table 2, when the temperature difference is 0℃ < X ≤ 10℃, the corresponding N is 1.0. When the temperature difference is 10℃ < X ≤ 20℃, the corresponding N is 1.1. When the temperature difference is 20℃ < X ≤ 30℃, the corresponding N is 1.2. When the temperature difference is > 30℃, the corresponding N is 1.3.

[0101] It should be understood that as the target controller continues to operate, its operating temperature will continuously increase, generally far exceeding its ambient temperature. Therefore, the temperature difference is typically positive, meaning it is greater than 0°C. Furthermore, the ambient temperature of the target controller does not refer to the external ambient temperature read by the vehicle's Controller Area Network (CAN), but rather to the local air temperature surrounding the target controller itself, which can be obtained in real-time through temperature sensors placed around the target controller. Different controllers may have different or the same ambient temperature. For example, the ambient temperature of the interior controllers in a vehicle is usually lower than that of the engine controller.

[0102] Optionally, the target temperature decay is determined based on the temperature difference between the target controller's last power-down temperature and its current ambient temperature, and the time interval. Specifically, a second temperature coefficient is determined based on the temperature difference between the target controller's last power-down temperature and its current ambient temperature; the temperature change is determined based on the time interval; and the target temperature decay is determined based on the temperature change and the second temperature coefficient. More specifically, the temperature change is corrected based on the second temperature coefficient to obtain the target temperature decay.

[0103] Optionally, a second temperature coefficient is determined based on the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller. Specifically, based on the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller, the temperature difference between the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller is determined; the second temperature coefficient is then determined based on this temperature difference.

[0104] In this embodiment, the target temperature decay is determined by the power-down temperature of the target controller at its last power-down, the current ambient temperature of the target controller, and the interval between the last power-down time and the current time. This takes into account the influence of multiple factors on the target temperature decay, thereby improving the accuracy of the target temperature decay. Based on a more accurate target temperature decay, the accuracy of the target controller's initial temperature is further improved, thereby reducing the probability of false alarms from the controller.

[0105] In one implementation, the power-down temperature of the target controller at the last power-down and the current ambient temperature of the target controller are obtained; the temperature difference between the power-down temperature and the current ambient temperature is determined; and a first temperature coefficient is determined based on the temperature difference.

[0106] There is a corresponding relationship between the temperature difference and the first temperature coefficient; they are positively correlated. This is because the larger the temperature difference between the target controller's last power-down temperature and its current ambient temperature, the greater the potential for temperature drop, resulting in higher heat dissipation efficiency and faster heat dissipation. Therefore, the temperature difference between the target controller's last power-down temperature and its current ambient temperature is positively correlated with the first temperature coefficient. Furthermore, different temperature differences between the target controller's last power-down temperature and its current ambient temperature generally correspond to different, but they can also be the same, in terms of the first temperature coefficient.

[0107] For example, the difference temperature between the target controller's power-down temperature at the last power-down and the target controller's current ambient temperature is calculated. Specifically, the difference between the target controller's power-down temperature at the last power-down and the target controller's current ambient temperature is taken as the difference temperature, i.e., difference temperature = target controller's power-down temperature at the last power-down - target controller's current ambient temperature.

[0108] Furthermore, when determining the temperature difference, the corresponding temperature coefficient (which can be called the "first temperature coefficient") can be determined from this temperature difference. Table 3 provides an example illustration: Table 3

[0109] In Table 3, when the temperature difference is 0℃ < X ≤ 10℃, the corresponding M is 1.0. When the temperature difference is 10℃ < X ≤ 20℃, the corresponding M is 1.1. When the temperature difference is 20℃ < X ≤ 30℃, the corresponding M is 1.3. When the temperature difference is > 30℃, the corresponding M is 1.5.

[0110] The first temperature coefficient and the second temperature coefficient can be the same or different. It should be understood that both the first and second temperature coefficients are temperature decay coefficients, which are positively correlated with the heat dissipation efficiency of the target controller and negatively correlated with the ambient temperature.

[0111] Optionally, a first temperature coefficient is determined based on the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller. Specifically, based on the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller, the temperature difference between the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller is determined; the first temperature coefficient is then determined based on this temperature difference.

[0112] In this embodiment, a first temperature coefficient is determined by the power-down temperature of the target controller at its last power-down and the current ambient temperature of the target controller. This takes into account the influence of the power-down temperature and the current ambient temperature of the target controller on the first temperature coefficient, thereby improving its accuracy. Based on a more accurate first temperature coefficient, the accuracy of the current operating temperature of the target controller is further improved, thereby reducing the probability of false alarms from the controller.

[0113] Figure 3 This is another schematic diagram of a heating method for a controller provided in an embodiment of this application.

[0114] For example, such as Figure 3 As shown, the method 300 includes the following implementation process: S1, obtain the initial temperature, current running time, current running intensity and current status of the target controller.

[0115] S2 determines the target correction amount based on the current running time, current running intensity, temperature change per unit time of the target controller, and the first temperature coefficient.

[0116] For example, the operating intensity is illustrated by taking the four-wheel drive controller in a vehicle as an example. The operating intensity corresponding to the four-wheel drive controller is determined based on the vehicle model and road conditions.

[0117] When the vehicle is a sedan and the road conditions are urban, the demand for four-wheel drive is low, and the four-wheel drive controller is generally set to low intensity, for example, intensity A.

[0118] When the vehicle type is a Sport Utility Vehicle (SUV) and the driving conditions are urban, the demand for four-wheel drive is high, and the operating intensity of the four-wheel drive controller is generally medium, for example, operating intensity B.

[0119] When the vehicle is an SUV and the road conditions are off-road, the demand for four-wheel drive is extremely high, and the operating intensity of the four-wheel drive controller is generally high, for example, operating intensity C.

[0120] In this context, operating intensity A is less than operating intensity B, which is less than operating intensity C. For example, operating intensity A is 1, operating intensity B is 1.1, and operating intensity C is 1.2.

[0121] S3, based on the target correction amount, corrects the initial temperature to obtain the current operating temperature.

[0122] S4: Determine if the current operating temperature is lower than the preset temperature threshold. If yes, proceed to S5; otherwise, proceed to S1.

[0123] For example, when the current operating temperature of the target controller is obtained, if it is determined that the current operating temperature of the target controller is less than the preset temperature threshold, it means that the target controller is in a low temperature environment and a false alarm is very likely to occur. Therefore, in order to reduce the probability of false alarms of the target controller in a low temperature environment, the target controller needs to be subjected to additional heating treatment, and S5 can be executed.

[0124] Optionally, when the current operating temperature of the target controller is lower than a preset temperature threshold, a temperature compensation signal can be triggered to output heating information. The temperature compensation signal is used to indicate that the target controller is undergoing heating treatment. The heating information is used to remind the user that the target controller is undergoing heating treatment, so that the user can keep the vehicle stationary and wait for heating to complete before driving normally. For example, "Target controller temperature compensation in progress, please keep the vehicle stationary."

[0125] Conversely, if the current operating temperature of the target controller is determined to be greater than or equal to the preset temperature threshold, it means that the target controller is not in a low-temperature environment and the probability of false alarm is small. Therefore, no additional heating treatment is required for the target controller, and S1 can continue to be executed.

[0126] S5 determines the target heating strategy based on the current state and current operating temperature.

[0127] Assuming that the target controller is currently in an inactive state, the corresponding target pulse frequency is 10 Hz and the duty cycle is 20%, so that the sampling circuit of the target controller performs computational heating with low power and low heating intensity, causing the temperature of the target controller's computational chip to rise by 15°C in a short time (e.g., 10 to 30 seconds).

[0128] Assuming that the target controller is currently in an inactive state, the corresponding target pulse frequency is 50Hz and the duty cycle is 80%, so that the sampling circuit of the target controller performs local calculations and self-heating at a high power, resulting in a high heating intensity and causing the temperature of the target controller's computing chip to rise by 25°C in a short period of time.

[0129] Assuming that the target controller is currently in an inactive state, the corresponding target pulse frequency is 100Hz and the duty cycle is 100%, so that the sampling circuit of the target controller performs computational heating at the highest power, resulting in the highest heating intensity and causing the temperature of the target controller's computational chip to rise by 25°C in a short period of time.

[0130] Assuming the target controller is currently in an operational state, the corresponding target heating current is 5A and the target heating time is 10s, so that the sampling circuit of the target controller can self-heat at a high power, resulting in a high heating intensity and causing the temperature of the target controller's computing chip to rise by 40°C in a short time.

[0131] Assuming the target controller is currently in an operational state, the corresponding target heating current is 5A and the target heating time is 20s, so that the sampling circuit of the target controller can self-heat at a higher power, resulting in a higher heating intensity and causing the temperature of the target controller's computing chip to rise by 40°C in a short time.

[0132] It should be noted that the highest heating intensity is not used directly to heat the target controller because different heating intensities correspond to different power consumption. The higher the heating intensity, the higher the power consumption, and excessive heating intensity may cause overheating damage to the target controller. Therefore, in order to meet the requirement of balancing power consumption and heat generation, the heating intensity is matched to the current operating temperature of the target controller.

[0133] S6, use the target heating strategy to heat the target controller so that the operating temperature of the target controller is greater than or equal to the preset temperature threshold.

[0134] It should be understood that the heating method of the controller provided in this application embodiment is generally executed only once when the controller is powered on. This is because the controller temperature will naturally rise after running for a period of time, and there is no need to repeat the heating process before the controller is powered off. Furthermore, when the controller is powered on, initialization is performed first, setting both the controller's operating temperature and initial temperature to 0°C for initialization self-test. After the initialization self-test is completed, the heating process is then performed... Figure 3 The heating steps S1 to S6 are described. Furthermore, the controller heating method provided in this embodiment can be implemented via software program loading or firmware over-the-air (FOTA) upgrades, without requiring changes to the vehicle's hardware. This method is characterized by low cost, ease of deployment, and wider adoption.

[0135] It should be noted that, Figure 3 All relevant steps are in Figure 2 The corresponding embodiments are described in detail, and will not be repeated here.

[0136] It should be understood that the correspondence mentioned in the embodiments of this application can be obtained through pre-configuration or real vehicle testing, and can be pre-stored in the vehicle's storage unit or in a cloud server that communicates with the vehicle so that the vehicle can retrieve it at any time.

[0137] It should be understood that the above examples are provided to help those skilled in the art understand the embodiments of this application, and are not intended to limit the embodiments of this application to the specific values ​​or scenarios exemplified. Those skilled in the art can obviously make various equivalent modifications or variations based on the above examples, and such modifications or variations also fall within the scope of the embodiments of this application.

[0138] The above text combined Figures 1 to 3 The heating method of the controller provided in the embodiments of this application is described in detail below; the following will be combined with Figure 4 and Figure 5 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0139] Figure 4 This is a schematic diagram of the heating device of the controller provided in the embodiment of this application.

[0140] For example, such as Figure 4 As shown, the device 400 includes: The acquisition module 410 is used to acquire the current operating temperature and current status of the target controller, wherein the target controller is used to represent the controller that will have false alarms when the current operating temperature is lower than the preset temperature threshold; The processing module 420 is used to determine a target heating strategy based on the current state and the current operating temperature. The target heating strategy is used to adjust the heating conditions corresponding to the current state. The target controller is heated according to the target heating strategy so that the operating temperature of the target controller is greater than or equal to a preset temperature threshold.

[0141] In one possible implementation, the processing module 410 is specifically used for: Determine the negative temperature deviation between the current operating temperature and the preset temperature threshold; The target heating strategy is determined based on the negative temperature deviation and the current state.

[0142] In one possible implementation, the processing module 410 is specifically used for: When the current state is non-working, the target pulse frequency and target duty cycle of the heating element in the target controller are determined based on the negative temperature deviation. The heating strategy consisting of the target pulse frequency and the target duty cycle is determined as the target heating strategy; Given that the current state is the working state, the target heating current and target heating duration of the target controller are determined based on the negative temperature deviation. The heating strategy consisting of the target heating current and the target heating time is defined as the target heating strategy.

[0143] In one possible implementation, the acquisition module 410 is specifically used for: The initial temperature, current runtime, and current operating intensity of the target controller are obtained. The initial temperature represents the temperature of the target controller before this power-on, and the current runtime represents the total runtime of the target controller after this power-on. The target correction amount is determined based on the current running time, current running intensity, temperature change per unit time of the target controller, and the first temperature coefficient; Based on the target correction amount, the initial temperature is corrected to obtain the current operating temperature.

[0144] In one possible implementation, the acquisition module 410 is specifically used for: The current runtime is adjusted based on the current operating intensity to obtain the first runtime; The current running time is corrected based on the first temperature coefficient to obtain the second running time; The target runtime is obtained by attenuating the first runtime based on the second runtime. The target correction amount is obtained based on the target runtime and the temperature change per unit time.

[0145] In one possible implementation, the acquisition module 410 is specifically used for: Obtain the power-down temperature of the target controller at the last power-down time, the current ambient temperature of the target controller, and the time interval between the last power-down time of the target controller and the current time. The target temperature decay is determined based on the power-down temperature, the current ambient temperature, and the interval duration. Based on the target temperature decay, the power-on temperature is decayed to obtain the initial temperature.

[0146] In one possible implementation, the acquisition module 410 is specifically used for: Determine the temperature difference between the power-on temperature and the current ambient temperature; The second temperature coefficient is determined based on the temperature difference. The amount of temperature change is determined based on the time interval. The target temperature decay is obtained by correcting the temperature change based on the second temperature coefficient.

[0147] In one possible implementation, the acquisition module 410 is specifically used for: Obtain the power-down temperature of the target controller at the last power-down and the current ambient temperature of the target controller; Determine the temperature difference between the power-on temperature and the current ambient temperature; The first temperature coefficient is determined based on the temperature difference.

[0148] It should be noted that the aforementioned device 400 is embodied in the form of a functional module. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0149] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or combined processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0150] Therefore, the modules of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] Figure 5This is a schematic diagram of the controller provided in the embodiments of this application.

[0152] For example, such as Figure 5 As shown, the vehicle includes a controller 500, which includes a storage module 510 and a processing module 520. The storage module 510 stores executable program code 5101, and the processing module 520 is used to call and execute the executable program code 5101 to perform a heating method of the controller.

[0153] Figure 6 This is a schematic diagram of the vehicle structure provided in the embodiments of this application.

[0154] For example, such as Figure 6 As shown, the vehicle 600 includes a memory 610 and a processor 620, wherein the memory 610 stores executable program code 6101, and the processor 620 is used to call and execute the executable program code 6101 to perform a heating method of a controller.

[0155] This application can divide the vehicle into functional modules based on the above method example. 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 functional division. In actual implementation, there may be other division methods.

[0156] When each functional module is divided according to its corresponding function, the vehicle may include: an acquisition module and a processing module, etc. 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.

[0157] The vehicle provided in this application is used to execute the heating method of the controller described above, and thus can achieve the same effect as the above implementation method.

[0158] When using integrated units, the vehicle may include a processing module and a storage module. The processing module is used to control and manage the vehicle's movements. The storage module is used to support the vehicle in executing relevant program code and data.

[0159] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, 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.

[0160] This application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the methods described in the foregoing embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, DVDs (Digital Video Discs), CD-ROMs (Compact Disc Read-Only Memory), microdrives, magneto-optical disks, ROMs (Read-Only Memory), RAMs (Random Access Memory), EPROMs (Erasable Programmable Read-Only Memory), EEPROMs (Electrically Erasable Programmable Read Only Memory), DRAMs (Dynamic Random Access Memory), VRAMs (Video Random Access Memory), 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.

[0161] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a controller heating method as described in the above embodiments.

[0162] In addition, the vehicle provided in the embodiments of this application may specifically be a chip, component or module. The vehicle may include a connected processor and a memory. The memory is used to store instructions. When the vehicle is running, the processor can call and execute the instructions to make the chip execute a heating method of a controller in the above embodiments.

[0163] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0164] 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.

[0165] 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.

[0166] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A heating method for a controller, characterized in that, The method includes: The current operating temperature and current status of the target controller are obtained, wherein the target controller is used to represent the controller that will generate false alarms when the current operating temperature is less than a preset temperature threshold; Based on the current state and the current operating temperature, a target heating strategy is determined, wherein the target heating strategy is used to adjust the heating conditions corresponding to the current state; The target controller is heated using the target heating strategy so that the operating temperature of the target controller is greater than or equal to the preset temperature threshold.

2. The method according to claim 1, characterized in that, The step of determining the target heating strategy based on the current state and the current operating temperature includes: Determine the negative temperature deviation between the current operating temperature and the preset temperature threshold; The target heating strategy is determined based on the negative temperature deviation and the current state.

3. The method according to claim 2, characterized in that, The step of determining the target heating strategy based on the negative temperature deviation and the current state includes: When the current state is a non-working state, the target pulse frequency and target duty cycle of the heating element in the target controller are determined based on the negative temperature deviation; The heating strategy composed of the target pulse frequency and the target duty cycle is determined as the target heating strategy; When the current state is the working state, the target heating current and target heating duration of the target controller are determined based on the negative temperature deviation; The heating strategy consisting of the target heating current and the target heating duration is determined as the target heating strategy.

4. The method according to any one of claims 1 to 3, characterized in that, The process of obtaining the current operating temperature of the target controller includes: The initial temperature, current runtime, and current operating intensity of the target controller are obtained, wherein the initial temperature represents the temperature of the target controller before this power-on, and the current runtime represents the total runtime of the target controller during this power-on. The target correction amount is determined based on the current running time, the current running intensity, the temperature change per unit time of the target controller, and the first temperature coefficient; Based on the target correction amount, the initial temperature is corrected to obtain the current operating temperature.

5. The method according to claim 4, characterized in that, The determination of the target correction amount based on the current running time, the current running intensity, the temperature change per unit time of the target controller, and the first temperature coefficient includes: The current runtime is adjusted based on the current runtime intensity to obtain a first runtime; The current running time is corrected based on the first temperature coefficient to obtain a second running time; The target runtime is obtained by attenuating the first runtime based on the second runtime. The target correction amount is obtained based on the target runtime and the temperature change per unit time.

6. The method according to claim 4, characterized in that, The process of obtaining the initial temperature of the target controller includes: The power-down temperature of the target controller at the last power-down time and the current ambient temperature of the target controller are obtained, as well as the time interval between the last power-down time of the target controller and the current time. The target temperature decay amount is determined based on the power-down temperature, the current ambient temperature, and the interval duration. Based on the target temperature decay amount, the power-down temperature is decayed to obtain the initial temperature.

7. The method according to claim 6, characterized in that, The determination of the target temperature decay based on the power-down temperature, the current ambient temperature, and the interval duration includes: Determine the temperature difference between the power-on temperature and the current ambient temperature; Based on the temperature difference, a second temperature coefficient is determined; The temperature change is determined based on the interval duration; The temperature change is corrected based on the second temperature coefficient to obtain the target temperature decay.

8. The method according to claim 4, characterized in that, The method further includes: Obtain the power-down temperature of the target controller at the last power-down time and the current ambient temperature of the target controller; Determine the temperature difference between the power-on temperature and the current ambient temperature; The first temperature coefficient is determined based on the temperature difference.

9. A controller, characterized in that, The controller includes: The storage module is used to store executable program code; A processing module is configured to call and run the executable program code from the storage module, causing the controller to perform the method as described in any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor for calling and running the executable program code from the memory, causing the vehicle to perform the method as described in any one of claims 1 to 8.

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