Vehicle control method and device, vehicle and computer readable storage medium

Abstract

Embodiments of the present application provide a vehicle control method, device, vehicle and computer readable storage medium. The vehicle control method comprises: obtaining a vehicle operating state parameter, a first battery state parameter of a first low-voltage battery, a second battery state parameter of a second low-voltage battery, and an electrical coupling relationship between the first low-voltage battery and the second low-voltage battery; performing a power compensation trigger judgment according to the vehicle operating state parameter, the first battery state parameter, the second battery state parameter, and a power compensation trigger condition, and generating a judgment result; in response to the judgment result indicating that the vehicle meets the power compensation trigger condition, determining a target power compensation voltage according to the first battery state parameter, the second battery state parameter, and the electrical coupling relationship; and performing battery power compensation on the first low-voltage battery and / or the second low-voltage battery according to the target power compensation voltage. The present application solves the technical problem that intelligent power compensation of dual power supply is difficult to implement in related technologies.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a vehicle control method, device, vehicle, and computer-readable storage medium. Background Technology

[0002] As a critical component of electric vehicles, the low-voltage battery is responsible for providing power to all low-voltage electrical appliances, such as headlights, audio systems, central control screens, and anti-theft systems, when the vehicle is not running or the high-voltage system is powered down. With the development of autonomous driving technology, in order to meet the stringent requirements of functional safety, the low-voltage electrical architecture of electric vehicles is gradually evolving from a single power source to a dual-circuit redundant power supply, namely, equipped with a main low-voltage lithium battery and redundant low-voltage lithium batteries.

[0003] However, when a vehicle is parked for an extended period, the low-voltage system still needs to continuously power modules such as anti-theft and vehicle networking, leading to continuous power consumption of the low-voltage battery and subsequent battery depletion. To prevent deep battery depletion and capacity decay, and to extend its lifespan, it is usually necessary to replenish the low-voltage battery through the high-voltage power battery. However, current technology struggles to achieve intelligent replenishment of dual low-voltage power supplies.

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

[0005] This application provides a vehicle control method, device, vehicle, and computer-readable storage medium to at least solve the technical problem of difficulty in achieving intelligent power replenishment with dual power sources in related technologies.

[0006] According to one aspect of the embodiments of this application, a vehicle control method is provided, comprising: acquiring vehicle operating state parameters, first battery state parameters of a first low-voltage battery, second battery state parameters of a second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery, wherein the first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply; performing a power replenishment trigger judgment based on the vehicle operating state parameters, the first battery state parameters, the second battery state parameters, and a power replenishment trigger condition, and generating a judgment result; responding to the judgment result indicating that the vehicle meets the power replenishment trigger condition, determining a target power replenishment voltage based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship; and performing battery power replenishment on the first low-voltage battery and / or the second low-voltage battery based on the target power replenishment voltage.

[0007] Furthermore, the vehicle operating status parameters include: power supply status, hood status, and cumulative charging fault value; the first battery status parameters include: first battery voltage and first battery state of charge; the second battery status parameters include: second battery voltage and second battery state of charge; and the charging trigger conditions include: prerequisite permission conditions and threshold conditions. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger conditions, a charging trigger judgment is performed, and a judgment result is generated. This includes: performing a charging permission verification operation based on the power supply status, hood status, cumulative charging fault value, and prerequisite permission conditions to obtain a first verification result; performing a charging trigger threshold verification operation based on the first battery voltage, first battery state of charge, second battery voltage, second battery state of charge, and threshold conditions to obtain a second verification result; and generating a judgment result based on the first and second verification results.

[0008] Further, based on the power supply status, hood status, cumulative power supply fault value, and pre-approval conditions, a power supply permit verification operation is performed to obtain a first verification result, including: determining whether the vehicle meets the pre-approval conditions based on the power supply status, hood status, and cumulative power supply fault value, wherein the pre-approval conditions include: the power supply status is in a power-off state, the hood status is in a locked state, and the cumulative power supply fault value is less than the fault count threshold; in response to the vehicle meeting the pre-approval conditions, the first verification result is determined to be a pass permit verification.

[0009] Further, the threshold conditions include: voltage threshold conditions and state of charge (SCC) threshold conditions. Based on the first battery voltage, the first battery SCC, the second battery voltage, the second battery SCC, and the threshold conditions, a charging trigger threshold comparison operation is performed to obtain a second verification result. This includes: determining whether the first battery voltage and the second battery voltage meet the voltage threshold conditions to obtain a voltage verification result, wherein the voltage threshold conditions include: the first battery voltage is less than the voltage threshold and the second battery voltage is less than the voltage threshold; determining whether the first battery SCC and the second battery SCC meet the SCC threshold conditions to obtain a SCC verification result, wherein the SCC threshold conditions include: the first battery SCC is less than the SCC threshold and the second battery SCC is less than the SCC threshold; responding to a voltage verification result that passes voltage verification or a SCC verification result that passes SCC, a timer is started, and multiple sets of first battery state parameters and multiple sets of second battery state parameters are acquired within the timer's timing period based on a preset sampling period; and determining the second verification result based on the multiple sets of first battery state parameters, multiple sets of second battery state parameters, and the threshold conditions.

[0010] Furthermore, the first battery state parameters also include: the first battery current and the first battery temperature; the second battery state parameters also include: the second battery current and the second battery temperature. Based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship, the target replenishment voltage is determined, including: performing deviation feedback control calculations based on the first battery state of charge, the first battery current, and the first battery temperature to obtain a first replenishment request voltage; performing deviation feedback control calculations based on the second battery state of charge, the second battery current, and the second battery temperature to obtain a second replenishment request voltage; and determining the target replenishment voltage based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship.

[0011] Furthermore, the electrical coupling relationship includes parallel coupling and independent decoupling. Determining the target replenishment voltage based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship includes: in response to the electrical coupling relationship being parallel coupling, determining the target replenishment voltage based on the magnitude relationship between the first replenishment request voltage and the second replenishment request voltage; and in response to the electrical coupling relationship being independent decoupling, using the first replenishment request voltage as the target replenishment voltage.

[0012] Furthermore, the vehicle control method also includes: in response to a charging exit trigger event, controlling the vehicle to perform a charging exit action, wherein the charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration longer than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within a target state of charge range for a duration longer than a second duration threshold, or the first battery current and the second battery current both being within a target current range for a duration longer than a second duration threshold.

[0013] According to another aspect of the embodiments of this application, a vehicle control device is also provided, comprising: an acquisition module, configured to acquire vehicle operating state parameters, first battery state parameters of a first low-voltage battery, second battery state parameters of a second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery, wherein the first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply; a judgment module, configured to perform a power replenishment trigger judgment based on the vehicle operating state parameters, the first battery state parameters, the second battery state parameters, and a power replenishment trigger condition, and generate a judgment result; a determination module, configured to determine a target power replenishment voltage based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship in response to the judgment result indicating that the vehicle meets the power replenishment trigger condition; and an execution module, configured to perform battery power replenishment on the first low-voltage battery and / or the second low-voltage battery based on the target power replenishment voltage.

[0014] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the executable program, wherein the executable program executes the methods in various embodiments of this application when it runs.

[0015] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0016] In this embodiment, vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the first and second low-voltage batteries are acquired. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger condition, a charging trigger judgment is performed, generating a judgment result. In response to the judgment result indicating that the vehicle meets the charging trigger condition, a target charging voltage is determined based on the first battery status parameters, the second battery status parameters, and the electrical coupling relationship. Based on the target charging voltage, battery charging is performed on the first low-voltage battery and / or the second low-voltage battery. By acquiring vehicle operating status parameters, the first battery status parameters of the first low-voltage battery, the second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the two batteries, this application can comprehensively perceive the real-time operating conditions and internal connection status of the dual-power system, providing multi-dimensional data support for accurate decision-making. Then, based on the vehicle's operating status parameters, the status parameters of the first battery and the second battery, as well as the charging trigger conditions, a charging trigger judgment is made to ensure that charging is only initiated when truly needed, avoiding energy waste caused by ineffective charging. Furthermore, in response to the judgment result indicating that the vehicle meets the charging trigger conditions, the target charging voltage is dynamically determined by combining the status parameters and electrical coupling relationship of the two batteries. This overcomes the low efficiency of traditional fixed-voltage charging and achieves efficient charging of both batteries. Finally, charging is performed on the first low-voltage battery and / or the second low-voltage battery according to the target charging voltage, simultaneously ensuring the reliability of the main power supply and the emergency availability of the backup power supply, preventing deep battery depletion. Therefore, this application achieves the technical effect of intelligent charging of dual power supplies, thereby solving the technical problem of difficulty in achieving intelligent charging of dual power supplies in related technologies. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application;

[0019] Figure 2 This is a schematic diagram of the structure of an intelligent power replenishment system according to an embodiment of this application;

[0020] Figure 3 This is a flowchart illustrating an intelligent power replenishment method according to an embodiment of this application;

[0021] Figure 4 This is a structural block diagram of a vehicle control device according to an embodiment of this application. Detailed Implementation

[0022] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] According to an embodiment of this application, an embodiment of a vehicle control method is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0025] This embodiment provides a vehicle control method. Figure 1 This is a flowchart of a vehicle control method according to an embodiment of this application, such as... Figure 1 As shown, the method includes the following steps:

[0026] Step S10: Obtain vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is the backup power supply.

[0027] Step S11: Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger conditions, perform a charging trigger judgment and generate a judgment result.

[0028] Step S12: In response to the judgment result indicating that the vehicle meets the charging triggering condition, the target charging voltage is determined based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship.

[0029] Step S13: Perform battery charging on the first low-voltage battery and / or the second low-voltage battery according to the target charging voltage.

[0030] The aforementioned first low-voltage battery is the main power source for the low-voltage electrical appliances deployed in the vehicle, typically referring to the main low-voltage lithium battery. The main low-voltage lithium battery is responsible for providing power to low-voltage loads such as headlights, audio system, central control screen, windows, anti-theft system, and sensors during daily driving and normal parking.

[0031] The aforementioned second low-voltage battery serves as a backup power source for low-voltage electrical appliances, typically referring to a redundant low-voltage lithium battery. This redundant low-voltage lithium battery acts as a backup in case of main power failure, ensuring the continuity of power supply to critical systems (such as autonomous driving-related modules). The first and second low-voltage batteries together constitute a dual-loop redundant low-voltage electrical architecture.

[0032] The aforementioned vehicle operating status parameters are fundamental data for determining whether the first and second low-voltage batteries are ready for recharging. These parameters include, but are not limited to, power supply status, hood status, vehicle speed, and the overall high-voltage power-on / off status of the vehicle. These parameters are used to assess the vehicle's current operating condition, ensuring that recharging is only triggered in safe and necessary scenarios. For example, recharging should only be performed when the vehicle is off, the hood is closed, and the vehicle is stationary or traveling at low speed, to prevent safety risks or energy waste caused by frequent high-voltage power-on while driving.

[0033] The aforementioned first battery state parameters are used to characterize the electrochemical state information of the first low-voltage battery. The first battery state parameters include, but are not limited to, state of charge (SOC), voltage, current, and state of health (SOH).

[0034] The aforementioned second battery state parameters are used to characterize the electrochemical state information of the second low-voltage battery. These second battery state parameters include, but are not limited to, state of charge, voltage, current, and state of health.

[0035] Among them, SOC reflects the remaining charge percentage of the battery, voltage reflects the potential difference of the battery, current reflects the charging and discharging power, and SOH reflects the aging degree of the battery.

[0036] Optionally, the first battery status parameters are collected by the Main Low-voltage Battery Management System (MLBMS), and the second battery status parameters are collected by the Redundant Low-voltage Battery Management System (RLBMS).

[0037] The aforementioned electrical coupling relationship refers to the state of the first low-voltage battery and the second low-voltage battery in terms of electrical connection topology, specifically manifested in the on / off state of the power isolation module (such as a PNG switch) connecting the first and second low-voltage batteries. When the power isolation module is open, the first and second low-voltage batteries are electrically isolated and operate independently. When the power isolation module is closed, the first and second low-voltage batteries are connected in parallel, jointly supplying power to the low-voltage bus or jointly receiving charging.

[0038] The aforementioned power-up triggering conditions are a set of logical judgment criteria used to determine when to initiate the high-voltage power-on and power-up process. Power-up triggering conditions typically include prerequisite conditions (such as power setting being OFF, hood being locked, and low-voltage power-up failure count being less than a threshold) and threshold conditions (such as the SOC of the filtered first and second low-voltage batteries being less than 50% of the calibrated power-up SOC threshold for more than 5 seconds). Meeting the power-up triggering conditions means that the low-voltage batteries are at risk of deep discharge, requiring the activation of the power-up mechanism to protect battery life.

[0039] Optionally, vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the first and second low-voltage batteries can be acquired in real time via a Controller Area Network (CAN) bus or hardwired connection. Specifically, the MLBMS and RLBMS perform high-frequency sampling of the SOC, voltage, and current of the low-voltage lithium batteries they manage, and use digital filtering algorithms (such as moving average filtering) to remove transient interference and generate stable status parameter data. In addition, the switching status of the power isolation module PNG is monitored to obtain the electrical coupling relationship.

[0040] Optionally, based on vehicle operating status parameters, first battery status parameters, second battery status parameters, and charging trigger conditions, a charging permission verification operation and a charging trigger threshold verification operation are performed to obtain a judgment result. This judgment result is used to indicate whether a charging operation needs to be performed on the first low-voltage battery and the second low-voltage battery.

[0041] The aforementioned target replenishment voltage refers to the desired voltage value output to the low-voltage battery system. This target replenishment voltage is not fixed but dynamically adjusted according to the real-time status of the battery.

[0042] Optionally, in determining the target charging voltage, the charging request voltages of the first low-voltage battery and the second low-voltage battery are first calculated separately. Then, the charging request voltages of the first and second low-voltage batteries are integrated based on their electrical coupling relationship. When the PNG switch is open, since the two batteries are isolated, only the main low-voltage lithium battery (i.e., the first low-voltage battery) is charged. In this case, the charging request voltage sent by the main low-voltage lithium battery can be selected as the target charging voltage. When the PNG switch is closed, the two batteries are connected in parallel and require a unified output voltage to charge both batteries simultaneously. In this case, the smaller value between the charging request voltage of the first low-voltage battery and the charging request voltage of the second low-voltage battery is taken as the target charging voltage to prevent the higher voltage from causing reverse impact or overcharging of the lower voltage, ensuring balanced and safe charging of both batteries.

[0043] Once the target charging voltage is determined, a high-voltage power-on request is sent to the Vehicle Control Unit (VCU) via CAN signal. The VCU executes the high-voltage power-on action, waking up the high-voltage battery and establishing a high-voltage circuit. Subsequently, the VCU controls the DC-DC converter (DCDC) module to convert the high-voltage DC voltage of the high-voltage battery into a low voltage, and outputs the determined target charging voltage to the low-voltage power distribution system, thereby performing battery charging for the first low-voltage battery and / or the second low-voltage battery.

[0044] In this embodiment, vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the first and second low-voltage batteries are acquired. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger condition, a charging trigger judgment is performed, generating a judgment result. In response to the judgment result indicating that the vehicle meets the charging trigger condition, a target charging voltage is determined based on the first battery status parameters, the second battery status parameters, and the electrical coupling relationship. Based on the target charging voltage, battery charging is performed on the first low-voltage battery and / or the second low-voltage battery. By acquiring vehicle operating status parameters, the first battery status parameters of the first low-voltage battery, the second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the two batteries, this application can comprehensively perceive the real-time operating conditions and internal connection status of the dual-power system, providing multi-dimensional data support for accurate decision-making. Then, based on the vehicle's operating status parameters, the status parameters of the first battery and the second battery, as well as the charging trigger conditions, a charging trigger judgment is made to ensure that charging is only initiated when truly needed, avoiding energy waste caused by ineffective charging. Furthermore, in response to the judgment result indicating that the vehicle meets the charging trigger conditions, the target charging voltage is dynamically determined by combining the status parameters and electrical coupling relationship of the two batteries. This overcomes the low efficiency of traditional fixed-voltage charging and achieves efficient charging of both batteries. Finally, charging is performed on the first low-voltage battery and / or the second low-voltage battery according to the target charging voltage, simultaneously ensuring the reliability of the main power supply and the emergency availability of the backup power supply, preventing deep battery depletion. Therefore, this application achieves the technical effect of intelligent charging of dual power supplies, thereby solving the technical problem of difficulty in achieving intelligent charging of dual power supplies in related technologies.

[0045] The vehicle control method in the embodiments of this application will be further described below.

[0046] Optionally, the vehicle operating status parameters include: power supply status, hood status, and cumulative charging fault value; the first battery status parameters include: first battery voltage and first battery state of charge; the second battery status parameters include: second battery voltage and second battery state of charge; and the charging triggering conditions include: prerequisite permission conditions and threshold conditions. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging triggering conditions, a charging trigger judgment is performed, and a judgment result is generated, including:

[0047] Step S111: Based on the power supply status, hood status, cumulative power supply failure value, and prerequisite permission conditions, perform a power supply permission verification operation to obtain the first verification result.

[0048] Step S112: Based on the first battery voltage, the first battery state of charge, the second battery voltage, the second battery state of charge, and the threshold condition, perform a recharge trigger threshold verification operation to obtain the second verification result.

[0049] Step S113: Generate a judgment result based on the first verification result and the second verification result.

[0050] The aforementioned power replenishment permission verification is the first line of defense before the intelligent power replenishment system is activated. It aims to assess the vehicle's current macroscopic physical condition and historical fault records to confirm whether the vehicle has the basic qualifications to perform power replenishment operations.

[0051] The aforementioned power status parameters reflect the operating mode of the vehicle's electrical architecture and typically include states such as completely off (OFF), accessory energized (ACC), and energized (ON). In charging scenarios, having the power status in the OFF position is a crucial safety prerequisite, indicating that the vehicle is stationary and the high-voltage system is de-energized. Performing low-voltage system maintenance at this time can avoid high-voltage risks.

[0052] The aforementioned hood status refers to the opening and closing status of the vehicle's engine hood, which is typically monitored by a hood lock sensor. A locked hood status (i.e., closed and locked) means the vehicle is in a closed environment, preventing safety accidents caused by accidental contact with high-voltage components or intrusion of foreign objects during power replenishment, and also conforms to vehicle anti-theft logic.

[0053] The aforementioned cumulative value for power supply failures is a counter used to record the number of historical anomalies in the power supply system, reflecting the past health status or failure frequency of the power supply system.

[0054] The aforementioned prerequisites are a set of logical rules used to determine whether a vehicle meets the basic safety requirements for battery charging. For example, prerequisites may include: the power supply must be in the OFF position, the hood must be locked, and the cumulative number of battery charging failures must be less than the preset maximum allowed number (e.g., 4 times). These conditions together constitute the "access mechanism" for battery charging.

[0055] The first verification result mentioned above is used to indicate whether the vehicle meets the prerequisite permit conditions.

[0056] The aforementioned power replenishment trigger threshold verification is the core decision-making step for intelligent power replenishment. It aims to comprehensively evaluate the actual power and voltage levels of the dual low-voltage batteries in order to determine whether the battery is truly in a state of depletion that requires energy replenishment.

[0057] The first battery voltage refers to the real-time potential difference across the first low-voltage battery, and the second battery voltage refers to the real-time potential difference across the second low-voltage battery. The state of charge (SOC) of the first battery refers to the percentage of its current remaining capacity relative to its rated capacity, and the state of charge (SOC) of the second battery refers to the percentage of its current remaining capacity relative to its rated capacity.

[0058] The threshold conditions described above are a set of numerical limits used to define the degree of battery depletion. For example, the threshold conditions may include: a first battery voltage below a calibrable recharge voltage threshold (e.g., 12.9V) and this state lasting for a first preset duration (e.g., 20s); and a first battery state of charge below a calibrable recharge SOC threshold (e.g., 50%) and this state lasting for a second preset duration (e.g., 5s). Similar voltage and SOC threshold conditions apply to a second low-voltage battery.

[0059] The second verification result mentioned above is used to indicate whether the vehicle meets the threshold condition.

[0060] The above judgment results are used to indicate whether to approve the high-voltage power-on and subsequent power replenishment operations. The first verification result represents the safety permission for power replenishment, and the second verification result represents the basis for whether power replenishment is required. Only when both the first and second verification results pass, is the final judgment result considered to meet the power replenishment triggering condition.

[0061] Optionally, based on the power supply status, hood status, cumulative power replenishment fault value, and prior approval conditions, a power replenishment permission verification operation is performed to obtain a first verification result, including:

[0062] Step S1111: Determine whether the vehicle meets the pre-approval conditions based on the power supply status, hood status, and cumulative power supply fault value. The pre-approval conditions include: the power supply status is in the off state, the hood status is in the locked state, and the cumulative power supply fault value is less than the fault count threshold.

[0063] Step S1112: In response to the vehicle meeting the pre-approval conditions, the first verification result is determined to be a pass verification.

[0064] The core logical step in performing the power replenishment permit verification is to determine whether the vehicle meets the prerequisite conditions based on the power supply status, hood status, and cumulative power replenishment fault value. Specifically, first, the power supply status signal is checked to confirm whether it is a specific indicator representing power failure (such as "OFF"). Next, the hood status signal is checked to confirm whether it is a specific indicator representing locking (such as "Locked"). Finally, the cumulative power replenishment fault value is read to confirm whether it is strictly less than a preset fault count threshold. Only when all three judgment results are true simultaneously is the vehicle determined to meet the prerequisite conditions. For example, if the power supply is OFF, the hood is locked, and the cumulative power replenishment fault value is 2 (assuming the threshold is 4), then the vehicle meets the prerequisite conditions. If the power supply is ON, even if other conditions are met, the vehicle does not meet the prerequisite conditions.

[0065] Optionally, when the vehicle meets the pre-approval conditions, the first verification result is set to "Permit verification passed". If the vehicle does not meet the pre-approval conditions, the first verification result will be set to "Permit verification failed".

[0066] By determining whether a vehicle meets the prerequisites for permission based on the power supply status, hood status, and cumulative power charging failure value, the safety prerequisites for power charging operations can be strictly controlled, preventing power charging from being started under unsafe or faulty conditions.

[0067] Optionally, the threshold conditions include: voltage threshold conditions and state of charge threshold conditions. Based on the first battery voltage, the first battery state of charge, the second battery voltage, the second battery state of charge, and the threshold conditions, a recharge trigger threshold comparison operation is performed to obtain a second verification result, including:

[0068] Step S1121: Determine whether the voltage of the first battery and the voltage of the second battery meet the voltage threshold condition, and obtain the voltage verification result. The voltage threshold condition includes: the voltage of the first battery is less than the voltage threshold and the voltage of the second battery is less than the voltage threshold.

[0069] Step S1122: Determine whether the state of charge of the first battery and the state of charge of the second battery meet the state of charge threshold conditions, and obtain the state of charge verification result. The state of charge threshold conditions include: the state of charge of the first battery is less than the state of charge threshold and the state of charge of the second battery is less than the state of charge threshold.

[0070] Step S1123: In response to the voltage verification result being passed or the state of charge verification result being passed, start the timer and acquire multiple sets of first battery state parameters and multiple sets of second battery state parameters within the timer's timing period based on a preset sampling period.

[0071] Step S1124: Determine the second verification result based on multiple sets of first battery state parameters, multiple sets of second battery state parameters, and threshold conditions.

[0072] The voltage threshold conditions mentioned above are numerical limits used to assess whether a low-voltage battery is in a state of depletion. The voltage threshold is a preset lower voltage limit (e.g., 12.9V). When the battery terminal voltage is lower than the voltage threshold, it indicates that the battery is in a state of deep discharge or excessive load, and there is a risk of depletion.

[0073] The first battery voltage refers to the real-time potential difference across the first low-voltage battery, and the second battery voltage refers to the real-time potential difference across the second low-voltage battery.

[0074] The voltage verification result is a binary logic signal used to indicate whether the voltages of the first and second batteries are simultaneously below a voltage threshold. Specifically, the voltage threshold condition requires that both the first and second battery voltages are below the voltage threshold. This means that the voltage verification is only considered successful when the voltages of both the primary and redundant low-voltage batteries are below the set threshold. This ensures that voltage-based power replenishment is only triggered when both power supply systems show signs of low voltage, avoiding misjudgments due to instantaneous voltage fluctuations in a single battery.

[0075] Optionally, the voltage of the first battery is first checked to see if it is lower than a voltage threshold, and then the voltage of the second battery is checked to see if it is lower than a voltage threshold. The voltage verification result is considered passed only if both the first and second battery voltages are lower than the voltage threshold. If only one battery voltage is lower than the voltage threshold, or if both battery voltages are higher than the voltage threshold, the voltage verification result is considered failed.

[0076] The aforementioned state of charge (SOC) threshold is a numerical limit used to assess whether a low-voltage battery is in a state of depletion. The SOC threshold is a preset lower limit (e.g., 50%). When the battery's SOC is below the SOC threshold, it indicates that the battery has little remaining energy and needs to be replenished to prevent deep depletion.

[0077] The first battery state of charge refers to the percentage of the current remaining capacity of the first low-voltage battery to its rated capacity, and the second battery state of charge refers to the percentage of the current remaining capacity of the second low-voltage battery to its rated capacity.

[0078] The aforementioned state of charge (SOC) verification result is a binary logic signal used to indicate whether the SOC of the first low-voltage battery and the SOC of the second low-voltage battery are simultaneously below the SOC threshold. Specifically, the SOC threshold condition requires that the SOC of both the first and second batteries be below the SOC threshold. This means that the SOC verification is considered passed only when the SOCs of both the primary and redundant low-voltage batteries are below the set threshold.

[0079] Optionally, the system first checks whether the state of charge (SOC) of the first battery is less than the SOC threshold, and then checks whether the SOC of the second battery is less than the SOC threshold. If both the first and second batteries have an SOC less than the threshold, the SOC verification result is considered passed. If only one battery has an SOC below the threshold, or both batteries have an SOC above the threshold, the SOC verification result is considered failed.

[0080] In response to a voltage verification result of passing voltage verification or a state of charge verification result of passing state of charge verification, a timer is started, and multiple sets of first battery state parameters and multiple sets of second battery state parameters are acquired within the timer's duration based on a preset sampling period. This process introduces a time-dimensional verification mechanism to filter out instantaneous interference and confirm the fact of continuous power depletion.

[0081] Optionally, when the voltage verification result is passed, or the state of charge (SCC) verification result is passed, an internal timer is started, and the first battery voltage, first battery SCC, second battery voltage, and second battery SCC data are collected at a fixed preset sampling period (e.g., 100ms). The preset sampling period is the time interval for data collection, used to generate time series data.

[0082] The aforementioned multiple sets of first battery state parameters and multiple sets of second battery state parameters refer to a series of discrete state data points collected at a preset sampling period during the timer's timing (e.g., for 5 or 20 seconds). Periodic sampling aims to observe the changing trend of the battery state over a period of time, confirming whether the low voltage or low SOC state is persistent, rather than a momentary fluctuation. For example, if the first battery voltage is below 12.9V for 5 seconds, the voltage-based continuous triggering condition is met; if the first battery SOC is below 50% for 5 seconds, the SOC-based continuous triggering condition is met.

[0083] Optionally, a timer is activated upon detection of a voltage or successful SOC check. Subsequently, the latest status data sent by the battery system is read in each sampling cycle and stored in a buffer. The timer continues to run until a preset duration threshold (e.g., 5 seconds or 20 seconds) is reached.

[0084] Furthermore, multiple sets of first and second battery state parameters are compared with threshold conditions. If, in multiple sets of data, the first battery voltage at each sampling time is less than the voltage threshold and the second battery voltage at each sampling time is less than the voltage threshold, then the second verification result is determined to be a pass for threshold verification. Alternatively, if the first battery state of charge at each sampling time is less than the state of charge threshold and the second battery state of charge at each sampling time is less than the state of charge threshold, then the second verification result is determined to be a pass for threshold verification.

[0085] The dual-battery status was initially screened using voltage and state-of-charge threshold conditions, and multiple sets of status parameters were collected by starting a timer for continuous verification. This effectively filtered out transient signal interference and confirmed the fact that the batteries were continuously depleted.

[0086] Optionally, the first battery state parameters further include: first battery current and first battery temperature; the second battery state parameters further include: second battery current and second battery temperature; and the target replenishment voltage is determined based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship, including:

[0087] Step S121: Based on the first battery state of charge, the first battery current and the first battery temperature, perform deviation feedback control calculation to obtain the first replenishment request voltage;

[0088] Step S122: Based on the state of charge of the second battery, the current of the second battery, and the temperature of the second battery, perform deviation feedback control calculation to obtain the second replenishment request voltage;

[0089] Step S123: Determine the target power supply voltage based on the first power supply request voltage, the second power supply request voltage, and the electrical coupling relationship.

[0090] The aforementioned first battery state of charge refers to the percentage of the current remaining capacity of the first low-voltage battery to its rated capacity, reflecting the energy storage level of the first low-voltage battery. The first battery current refers to the real-time current flowing through the first low-voltage battery; a positive value usually indicates discharge, and a negative value indicates charging. The first battery temperature refers to the real-time temperature inside or on the surface of the first low-voltage battery; temperature directly affects the battery's internal resistance, polarization characteristics, and charge acceptance capability.

[0091] The aforementioned deviation feedback control calculation is a closed-loop control algorithm based on error feedback (such as proportional-integral-derivative control algorithm, PID algorithm), which aims to dynamically adjust the output by comparing the target value with the actual value to eliminate deviation. The first charging request voltage is the charging voltage value expected to be provided by the DC-DC converter, calculated by the main low-voltage battery management system based on the first battery's state of charge, first battery current, and first battery temperature, and is used to drive the first low-voltage battery to charge.

[0092] Optionally, the specific implementation of the deviation feedback control calculation may include two stages of control. In the first stage, the difference between the charging cutoff SOC (e.g., 100%) and the current state of charge of the first battery is calculated, and this difference is used in a first PID algorithm (with proportional-integral-derivative parameters calibrated experimentally) to calculate the first charging request current. This current is limited between the upper and lower limits obtained from a table based on the current SOC and the first battery temperature to ensure charging safety. In the second stage, the difference between the first charging request current and the current current of the first battery is calculated, and this difference is used in a second PID algorithm to calculate the first recharge request voltage. This voltage is also limited between safe upper and lower limits.

[0093] The aforementioned second battery state of charge (SOC) refers to the percentage of the current remaining capacity of the second low-voltage battery relative to its rated capacity. The second battery current refers to the real-time current flowing through the second low-voltage battery. The second battery temperature refers to the real-time temperature of the second low-voltage battery. The second charge request voltage is the desired charging voltage value calculated by the redundant low-voltage battery management system based on the second battery SOC, second battery current, and second battery temperature using deviation feedback control. The calculation logic for the second charge request voltage is similar to that of the first charge request voltage, also based on a dual PID algorithm. It calculates the requested current based on the SOC difference, then calculates the requested voltage based on the current difference, and is constrained by the safety boundaries corresponding to the current SOC and temperature.

[0094] The aforementioned electrical coupling relationship is determined by the state of the power isolation module (such as a PNG switch). When the PNG switch is open, the first low-voltage battery and the second low-voltage battery are electrically isolated and operate independently. When the PNG switch is closed, the first low-voltage battery and the second low-voltage battery are electrically coupled and are in parallel.

[0095] The aforementioned target replenishment voltage refers to the desired voltage value output to the low-voltage battery system.

[0096] When the electrical coupling is open, the two batteries are isolated, and only the main battery is charged. In this case, the first requested charging voltage can be directly taken as the target charging voltage. When the electrical coupling is closed, the two batteries are connected in parallel, and a unified voltage must be output to charge both batteries simultaneously. In this case, the smaller value between the first and second requested charging voltages is taken as the target charging voltage.

[0097] By calculating the first and second charge request voltages through deviation feedback control, personalized charging requirements can be dynamically generated based on the respective SOC, current, and temperature of the two batteries, overcoming the shortcomings of low efficiency and poor adaptability of fixed-voltage charging. By integrating the request voltages according to the electrical coupling relationship to determine the target charge voltage, it can adapt to different connection states of the two batteries, ensuring balanced charging in parallel and independent control in isolation, thus improving the flexibility and safety of the charge system.

[0098] Optionally, the electrical coupling relationship includes parallel coupling and independent decoupling. The target replenishment voltage is determined based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship, including:

[0099] Step S1231: In response to the parallel coupling relationship, determine the target power supply voltage based on the magnitude relationship between the first power supply request voltage and the second power supply request voltage.

[0100] In step S1232, in response to the electrical coupling relationship being independently decoupled, the first power replenishment request voltage is used as the target power replenishment voltage.

[0101] Optionally, the electrical coupling relationship includes two states: parallel coupling and independent decoupling. Parallel coupling means that when the power isolation module switch is closed, the positive terminals of the first low-voltage battery and the second low-voltage battery are connected in parallel, and the negative terminals are connected in parallel. At this time, the two batteries share the same bus voltage, and current can flow between them. Independent decoupling means that when the power isolation module switch is open, the first low-voltage battery and the second low-voltage battery are electrically isolated from each other, operating independently. There is no direct current exchange path between them; they communicate with the vehicle domain controller only through their respective battery management systems.

[0102] Responding to the parallel coupling relationship, the target replenishment voltage is determined based on the magnitude relationship between the first and second replenishment request voltages. This process aims to ensure the safety and balance of the two batteries in parallel operation. Specifically, the magnitudes of the first and second replenishment request voltages are compared, and the smaller value is selected as the target replenishment voltage. For example, if the first replenishment request voltage is 13.5V and the second replenishment request voltage is 13.2V, then the target replenishment voltage is determined to be 13.2V. Prioritizing the needs of the lower-voltage battery avoids the risk of overcharging the higher-voltage battery and prevents uncontrollable circulating currents between the two batteries due to excessive voltage differences.

[0103] In response to the independent decoupling of the electrical coupling relationship, the first charging request voltage is used as the target charging voltage. This process aims to ensure that the first low-voltage battery receives precise charging according to its own needs in the battery isolation state. Specifically, when the electrical coupling relationship is determined to be independent decoupling (i.e., the PNG switch is open), the second charging request voltage is ignored, and the first charging request voltage is directly set as the target charging voltage. In the decoupled state, the second low-voltage battery is disconnected from the charging circuit, and the voltage output by the DC-DC converter only acts on the first low-voltage battery. At this time, the state of the first low-voltage battery (SOC, current, temperature) is the sole basis for determining the charging voltage.

[0104] By dynamically adjusting the target charging voltage based on the electrical coupling relationship, optimal charging control of the dual-power system under different connection topologies is achieved. In parallel coupling, by taking the smaller value of the first and second charging request voltages, overcharging and circulating current are effectively prevented, ensuring the safe balance of the two batteries. In independent decoupling, the first charging request voltage is directly used, ensuring the accuracy and independence of the main battery charging.

[0105] Optionally, the vehicle control method further includes: in response to a charging exit trigger event, controlling the vehicle to perform a charging exit action, wherein the charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration longer than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within a target state of charge range for a duration longer than a second duration threshold, or the first battery current and the second battery current both being within a target current range for a duration longer than a second duration threshold.

[0106] The aforementioned power replenishment exit trigger event is a set of logical conditions used to determine whether the intelligent power replenishment process should be terminated. It aims to ensure that the power replenishment operation can end in a timely and safe manner when the expected goal is achieved, an abnormal state is detected, or specific safety conditions are met.

[0107] The aforementioned voltage converter refers to a DC-DC converter, used to convert the electrical energy from a high-voltage power battery into low-voltage electrical energy. Non-buck mode means the DC-DC converter is not in its normal buck charging operation (e.g., in a fault state, standby state, or boost / isolation mode). The first duration threshold is a preset time constant (e.g., 30 seconds) used to confirm that this abnormal state is persistent rather than a transient fluctuation.

[0108] The aforementioned target state of charge range refers to a safe range where the battery has sufficient charge (e.g., SOC greater than 90% and less than 100%). The second duration threshold is a preset time constant (e.g., 20 minutes) used to ensure that the battery has indeed been fully charged and stabilized within this range, preventing frequent start-stop cycles caused by SOC fluctuations.

[0109] The target current range mentioned above typically refers to a low current range close to zero (e.g., less than 0.5A), indicating that the battery is fully charged or the charging process has terminated naturally. The second duration threshold is also used to confirm that this low current state is continuous, meaning that the charging process is complete.

[0110] The aforementioned power-off action refers to disconnecting the high-voltage circuit between the high-voltage battery and the DC-DC converter, causing the DC-DC converter to stop working, thereby cutting off the charging power to the low-voltage battery system.

[0111] For example, if the DC-DC converter is in non-buck mode and this condition persists for more than 30 seconds, it is determined that the charging timeout or fault has occurred, and the charging process is terminated. If the SOC of both batteries is greater than 90% and this condition persists for more than 20 minutes, it is determined that the charging is complete, and the charging process is terminated. If the current of both batteries is less than 0.5A and this condition persists for more than 5 minutes, it is determined that the charging current has been cut off, and the charging process is terminated.

[0112] By defining various power replenishment exit trigger events, including DCDC abnormality, sufficient power, and charging current cutoff, precise termination control of the intelligent power replenishment process is achieved.

[0113] Optionally, Figure 2 This is a schematic diagram of the structure of an intelligent power replenishment system according to an embodiment of this application, as shown below. Figure 2 As shown, the intelligent power replenishment system includes: a high-voltage battery, a high-voltage load, a DC-DC converter, a power isolation module, a main low-voltage lithium battery, and redundant low-voltage lithium batteries.

[0114] Optionally, Figure 3 This is a flowchart illustrating an intelligent power replenishment method according to an embodiment of this application, as shown below. Figure 3 As shown, the low-voltage dual power supply system consists of two low-voltage lithium batteries, each equipped with a main low-voltage battery management system and a redundant low-voltage battery management system. The MLBMS monitors the SOC, voltage, and current of the main low-voltage lithium battery under all vehicle operating conditions, while the RLBMS monitors the SOC, voltage, and current of the redundant low-voltage lithium battery under all vehicle operating conditions. Furthermore, the monitored SOC, voltage, and current should be filtered to avoid short-term, large-range signal jumps. The filtering time is 10 seconds.

[0115] Optionally, when the SOC of the main low-voltage lithium battery or the redundant low-voltage lithium battery is lower than 50% of the battery SOC wake-up threshold, the body domain controller (Zone Control Unit, ZCU) should be actively woken up, and the SOC, current, and voltage of the main low-voltage lithium battery and the redundant low-voltage lithium battery should be sent to the ZCU via CAN signal. The ZCU continuously and periodically reads the SOC, current, and voltage of the main low-voltage lithium battery / redundant low-voltage lithium battery.

[0116] Furthermore, the ZCU will determine the following intelligent charging prerequisites: the power supply is in the OFF position, the hood lock is in the locked state, and the low-voltage charging failure count is less than 4. If the prerequisites are met, when the filtered main low-voltage lithium battery SOC or redundant low-voltage lithium battery SOC is lower than the calibrated charging SOC threshold of 50% and this state lasts for 5 seconds, or when the filtered main low-voltage lithium battery voltage or redundant low-voltage lithium battery voltage is lower than the calibrated charging voltage threshold of 12.9V and this state lasts for 20 seconds, the ZCU will send a high-voltage request to the vehicle controller VCU via a CAN signal. The VCU will then execute the high-voltage action and start charging.

[0117] Optionally, the MLBMS and RLBMS calculate the charging request voltage of the main low-voltage lithium battery and the redundant low-voltage lithium battery respectively using a dual PID algorithm. Specifically: First, the difference between the charging cutoff SOC (which can be 100%) and the current SOC of the lithium battery is calculated and substituted into the PID control algorithm (the three parameters P, I, and D can be obtained through experimental calibration) to calculate the charging request current. The charging request current should be controlled within the upper and lower limits (the upper and lower limits can be obtained from the battery attribute table based on the current SOC and temperature). Then, the difference between the charging request current and the current of the current lithium battery is calculated and substituted into the PID control algorithm (the three parameters P, I, and D can be obtained through experimental calibration) to calculate the charging request voltage. The charging request voltage should be controlled within the upper and lower limits (the upper and lower limits can be obtained from the battery attribute table based on the current SOC and temperature). The PID algorithm can dynamically adjust the charging voltage according to the current battery capacity, improving charging efficiency and safety. When the power isolation module PNG switch is open, the charging request voltage sent by the main low-voltage lithium battery should be taken as the target request voltage (i.e., the target replenishment voltage). When the power isolation module PNG switch is closed, the smaller value between the charging request voltage sent by the main low-voltage lithium battery and the charging request voltage sent by the redundant low-voltage lithium battery should be taken as the target request voltage. When the DC-DC converter experiences a hardware failure or DC-DC communication is lost, the backup voltage of 13.8V should be taken as the constant voltage charging voltage for the battery.

[0118] Optionally, after applying high voltage, the DC-DC converter converts the high voltage of the high-voltage battery into the target requested voltage to charge the main low-voltage lithium battery and redundant low-voltage lithium batteries. The high-voltage power-on request should remain unchanged for the minimum hold time of 20 minutes. Charging will immediately stop and a high-voltage reduction request will be sent to the VCU when the following conditions occur: the DC-DC converter currently does not support charging; the DC-DC converter is not in buck mode and the duration exceeds 30 seconds. In this case, it is determined that the high-voltage power-on request has timed out, the low-voltage charging failure count is incremented by 1, charging is stopped, and a high-voltage reduction request is sent to the VCU; when the filtered main low-voltage lithium battery SOC and redundant low-voltage lithium battery SOC are both higher than the low-voltage battery SOC threshold upper limit of 90% and the minimum hold time of the requested setting has ended, charging is stopped, and a high-voltage reduction request is sent to the VCU; when the intelligent... If the preconditions for power replenishment are not met (i.e., the power status is not OFF or the hood lock status is not locked), this condition is not subject to the 20-minute minimum hold time for requesting the setting, and power replenishment can be immediately terminated, and a high-voltage request will be sent to the VCU. When both the filtered main low-voltage lithium battery current and the redundant low-voltage lithium battery current are below the power replenishment current lower limit threshold of 0.5A and the minimum hold time for requesting the setting has ended, the low-voltage power replenishment failure count will be cleared, power replenishment will be terminated, and a high-voltage request will be sent to the VCU. When the power replenishment failure count reaches 4, power replenishment will be terminated immediately, and a high-voltage request will be sent to the VCU. When the above termination conditions are met, the high-voltage power-down should remain unchanged for 5 minutes within the minimum hold time for requesting the setting.

[0119] Optionally, when the ZCU experiences any of the following communication failures, it cannot determine whether the battery status requires charging, and will not request high voltage: Main low-voltage lithium battery SOC signal reception timeout exceeding 3 seconds of fault confirmation time; Redundant low-voltage lithium battery SOC signal reception timeout exceeding 3 seconds of fault confirmation time; Main low-voltage lithium battery voltage signal reception timeout exceeding 3 seconds of fault confirmation time; Redundant low-voltage lithium battery voltage signal reception timeout exceeding 3 seconds of fault confirmation time; Main low-voltage lithium battery current signal reception timeout exceeding 3 seconds of fault confirmation time; Redundant low-voltage lithium battery current signal reception timeout exceeding 3 seconds of fault confirmation time; PNG switch status signal reception timeout exceeding 3 seconds of fault confirmation time.

[0120] Optionally, when the filtered main low-voltage lithium battery SOC or redundant low-voltage lithium battery SOC is less than 25%, the vehicle speed is less than the preset vehicle speed, and the DC-DC converter is not in buck mode and continues for more than 1 minute beyond the response time, a vehicle power-off command is sent to the VCU.

[0121] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0122] According to an embodiment of this application, a device embodiment for a vehicle control device is provided. It should be noted that the device can be used to execute the above-described vehicle control method.

[0123] According to another aspect of the embodiments of this application, a vehicle control device is also provided. Figure 4 This is a structural block diagram of a vehicle control device according to an embodiment of this application, such as... Figure 4 As shown, the vehicle control device 400 includes: an acquisition module 401, used to acquire vehicle operating status parameters, first battery status parameters of a first low-voltage battery, second battery status parameters of a second low-voltage battery, and the electrical coupling relationship between the first and second low-voltage batteries, wherein the first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply; a judgment module 402, used to perform a power replenishment trigger judgment based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the power replenishment trigger conditions, and generate a judgment result; a determination module 403, used to determine a target power replenishment voltage based on the first battery status parameters, the second battery status parameters, and the electrical coupling relationship in response to the judgment result indicating that the vehicle meets the power replenishment trigger conditions; and an execution module 404, used to perform battery power replenishment on the first low-voltage battery and / or the second low-voltage battery according to the target power replenishment voltage.

[0124] Optionally, the vehicle operating status parameters include: power supply status, hood status, and cumulative charging fault value; the first battery status parameters include: first battery voltage and first battery state of charge; the second battery status parameters include: second battery voltage and second battery state of charge; the charging trigger conditions include: pre-approval conditions and threshold conditions; the judgment module 402 is further configured to: perform a charging permission verification operation based on the power supply status, hood status, cumulative charging fault value, and pre-approval conditions to obtain a first verification result; perform a charging trigger threshold verification operation based on the first battery voltage, first battery state of charge, second battery voltage, second battery state of charge, and threshold conditions to obtain a second verification result; and generate a judgment result based on the first and second verification results.

[0125] Optionally, the judgment module 402 is further configured to: determine whether the vehicle meets the pre-approval conditions based on the power supply status, the hood status, and the cumulative value of the power replenishment fault, wherein the pre-approval conditions include: the power supply status is in a power-off state, the hood status is in a locked state, and the cumulative value of the power replenishment fault is less than the fault count threshold; in response to the vehicle meeting the pre-approval conditions, determine the first verification result as passing the approval verification.

[0126] Optionally, the threshold conditions include: voltage threshold conditions and state of charge threshold conditions. The judgment module 402 is further configured to: determine whether the voltage of the first battery and the voltage of the second battery meet the voltage threshold conditions to obtain a voltage verification result, wherein the voltage threshold conditions include: the voltage of the first battery is less than the voltage threshold and the voltage of the second battery is less than the voltage threshold; determine whether the state of charge of the first battery and the state of charge of the second battery meet the state of charge threshold conditions to obtain a state of charge verification result, wherein the state of charge threshold conditions include: the state of charge of the first battery is less than the state of charge threshold and the state of charge of the second battery is less than the state of charge threshold; in response to the voltage verification result being a pass voltage verification or the state of charge verification result being a pass state of charge verification, start a timer to start timing, and acquire multiple sets of first battery state parameters and multiple sets of second battery state parameters within the timer timing duration based on a preset sampling period; determine a second verification result based on the multiple sets of first battery state parameters, the multiple sets of second battery state parameters, and the threshold conditions.

[0127] Optionally, the first battery state parameters further include: first battery current and first battery temperature; the second battery state parameters further include: second battery current and second battery temperature; the determining module 403 is further configured to: perform deviation feedback control calculation based on the first battery state of charge, first battery current and first battery temperature to obtain a first replenishment request voltage; perform deviation feedback control calculation based on the second battery state of charge, second battery current and second battery temperature to obtain a second replenishment request voltage; and determine a target replenishment voltage based on the first replenishment request voltage, the second replenishment request voltage and the electrical coupling relationship.

[0128] Optionally, the electrical coupling relationship includes parallel coupling and independent decoupling. The determining module 403 is further configured to: in response to the electrical coupling relationship being parallel coupling, determine the target replenishment voltage based on the magnitude relationship between the first replenishment request voltage and the second replenishment request voltage; and in response to the electrical coupling relationship being independent decoupling, use the first replenishment request voltage as the target replenishment voltage.

[0129] Optionally, the execution module 404 is further configured to: control the vehicle to perform a charging exit action in response to a charging exit trigger event, wherein the charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration longer than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within the target state of charge range for a duration longer than a second duration threshold, or the first battery current and the second battery current both being within the target current range for a duration longer than a second duration threshold.

[0130] According to another aspect of the embodiments of this application, a vehicle is also provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes the methods in various embodiments of this application when it runs.

[0131] Optionally, in this embodiment, the executable program performs the following steps when it runs:

[0132] Step S10: Obtain vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is the backup power supply.

[0133] Step S11: Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger conditions, perform a charging trigger judgment and generate a judgment result.

[0134] Step S12: In response to the judgment result indicating that the vehicle meets the charging triggering condition, the target charging voltage is determined based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship.

[0135] Step S13: Perform battery charging on the first low-voltage battery and / or the second low-voltage battery according to the target charging voltage.

[0136] Optionally, the vehicle operating status parameters include: power supply status, hood status, and cumulative charging fault value; the first battery status parameters include: first battery voltage and first battery state of charge; the second battery status parameters include: second battery voltage and second battery state of charge; and the charging trigger conditions include: prerequisite permission conditions and threshold conditions. When the executable program runs, it performs the following steps: based on the power supply status, hood status, cumulative charging fault value, and prerequisite permission conditions, it performs a charging permission verification operation to obtain a first verification result; based on the first battery voltage, first battery state of charge, second battery voltage, second battery state of charge, and threshold conditions, it performs a charging trigger threshold verification operation to obtain a second verification result; and based on the first and second verification results, it generates a judgment result.

[0137] Optionally, the executable program performs the following steps when it runs: determining whether the vehicle meets the pre-approval conditions based on the power position status, hood status, and cumulative power replenishment fault value, wherein the pre-approval conditions include: the power position status is in the power off state, the hood status is in the locked state, and the cumulative power replenishment fault value is less than the fault count threshold; in response to the vehicle meeting the pre-approval conditions, determining the first verification result as passing the approval verification.

[0138] Optionally, the threshold conditions include: voltage threshold conditions and state of charge (SCC) threshold conditions. When the executable program runs, it performs the following steps: determining whether the voltage of the first battery and the voltage of the second battery meet the voltage threshold conditions to obtain a voltage verification result, wherein the voltage threshold conditions include: the voltage of the first battery is less than the voltage threshold and the voltage of the second battery is less than the voltage threshold; determining whether the state of charge (SCC) of the first battery and the state of charge (SCC) of the second battery meet the SCC threshold conditions to obtain a SCC verification result, wherein the SCC threshold conditions include: the SCC of the first battery is less than the SCC threshold and the SCC of the second battery is less than the SCC threshold; responding to a voltage verification result that passes voltage verification, or a SCC verification result that passes SCC, starting a timer and acquiring multiple sets of first battery state parameters and multiple sets of second battery state parameters within the timer's duration based on a preset sampling period; and determining a second verification result based on the multiple sets of first battery state parameters, the multiple sets of second battery state parameters, and the threshold conditions.

[0139] Optionally, the first battery state parameters further include: first battery current and first battery temperature; the second battery state parameters further include: second battery current and second battery temperature. When the executable program runs, it performs the following steps: based on the first battery state of charge, first battery current, and first battery temperature, it performs deviation feedback control calculation to obtain a first replenishment request voltage; based on the second battery state of charge, second battery current, and second battery temperature, it performs deviation feedback control calculation to obtain a second replenishment request voltage; based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship, it determines a target replenishment voltage.

[0140] Optionally, the electrical coupling relationship includes parallel coupling and independent decoupling. When the executable program runs, it performs the following steps: in response to the electrical coupling relationship being parallel coupling, a target replenishment voltage is determined based on the numerical relationship between the first replenishment request voltage and the second replenishment request voltage; in response to the electrical coupling relationship being independent decoupling, the first replenishment request voltage is used as the target replenishment voltage.

[0141] Optionally, the executable program executes the following steps when running: in response to a charging exit trigger event, the vehicle is controlled to perform a charging exit action, wherein the charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration longer than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within the target state of charge range for a duration longer than a second duration threshold, or the first battery current and the second battery current both being within the target current range for a duration longer than a second duration threshold.

[0142] According to another aspect of the embodiments of this application, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored executable program, wherein, when the executable program is running, it controls the device where the computer-readable storage medium is located to perform the methods of various embodiments of this application.

[0143] Optionally, in this embodiment, the executable program can be configured to store an executable program for performing the following steps:

[0144] Step S10: Obtain vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is the backup power supply.

[0145] Step S11: Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger conditions, perform a charging trigger judgment and generate a judgment result.

[0146] Step S12: In response to the judgment result indicating that the vehicle meets the charging triggering condition, the target charging voltage is determined based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship.

[0147] Step S13: Perform battery charging on the first low-voltage battery and / or the second low-voltage battery according to the target charging voltage.

[0148] Optionally, the vehicle operating status parameters include: power supply status, hood status, and cumulative charging fault value; the first battery status parameters include: first battery voltage and first battery state of charge; the second battery status parameters include: second battery voltage and second battery state of charge; and the charging trigger conditions include: prerequisite permission conditions and threshold conditions. The executable program can be configured to store an executable program for performing the following steps: performing a charging permission verification operation based on the power supply status, hood status, cumulative charging fault value, and prerequisite permission conditions to obtain a first verification result; performing a charging trigger threshold verification operation based on the first battery voltage, first battery state of charge, second battery voltage, second battery state of charge, and threshold conditions to obtain a second verification result; and generating a judgment result based on the first and second verification results.

[0149] Optionally, the executable program can be configured to store an executable program for performing the following steps: determining whether the vehicle meets the pre-approval conditions based on the power position status, hood status, and cumulative value of power replenishment faults, wherein the pre-approval conditions include: the power position status is in a power-off state, the hood status is in a locked state, and the cumulative value of power replenishment faults is less than a fault count threshold; in response to the vehicle meeting the pre-approval conditions, determining the first verification result as passing the approval verification.

[0150] Optionally, the threshold conditions include: voltage threshold conditions and state of charge (SCC) threshold conditions. The executable program can be configured to store an executable program for performing the following steps: determining whether the voltage of the first battery and the voltage of the second battery meet the voltage threshold conditions to obtain a voltage verification result, wherein the voltage threshold conditions include: the voltage of the first battery is less than the voltage threshold and the voltage of the second battery is less than the voltage threshold; determining whether the state of charge (SCC) of the first battery and the state of charge (SCC) of the second battery meet the SCC threshold conditions to obtain a SCC verification result, wherein the SCC threshold conditions include: the state of charge of the first battery is less than the SCC threshold and the state of charge of the second battery is less than the SCC threshold; responding to a voltage verification result that passes voltage verification or a SCC verification result that passes SCC, starting a timer and acquiring multiple sets of first battery state parameters and multiple sets of second battery state parameters within the timer's timing period based on a preset sampling period; and determining a second verification result based on the multiple sets of first battery state parameters, the multiple sets of second battery state parameters, and the threshold conditions.

[0151] Optionally, the first battery state parameters further include: first battery current and first battery temperature; the second battery state parameters further include: second battery current and second battery temperature; the executable program can be configured to store an executable program for performing the following steps: performing deviation feedback control calculations based on the first battery state of charge, first battery current, and first battery temperature to obtain a first replenishment request voltage; performing deviation feedback control calculations based on the second battery state of charge, second battery current, and second battery temperature to obtain a second replenishment request voltage; and determining a target replenishment voltage based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship.

[0152] Optionally, the electrical coupling relationship includes parallel coupling and independent decoupling. The executable program can be configured to store an executable program for performing the following steps: in response to the electrical coupling relationship being parallel coupling, determining a target replenishment voltage based on the magnitude relationship between the first replenishment request voltage and the second replenishment request voltage; in response to the electrical coupling relationship being independent decoupling, using the first replenishment request voltage as the target replenishment voltage.

[0153] Optionally, the executable program can be configured to store an executable program for performing the following steps: in response to a charging exit trigger event, controlling the vehicle to perform a charging exit action, wherein the charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration longer than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within a target state of charge range for a duration longer than a second duration threshold, or the first battery current and the second battery current both being within a target current range for a duration longer than a second duration threshold.

[0154] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0155] In this application, "multiple" refers to two or more.

[0156] In this application, unless otherwise expressly defined, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0157] The terms “first,” “second,” “third,” “fourth,” etc., in this application (if any) are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0158] In this application, the term "and / or" 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, or B existing alone. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0159] In the embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0160] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0161] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0162] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0163] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A vehicle control method, characterized in that, include: The vehicle operating status parameters, the first battery status parameters of the first low-voltage battery, the second battery status parameters of the second low-voltage battery, and the electrical coupling relationship between the first low-voltage battery and the second low-voltage battery are obtained. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is the backup power supply. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging trigger conditions, a charging trigger judgment is made, and a judgment result is generated. In response to the judgment result indicating that the vehicle meets the charging trigger condition, the target charging voltage is determined based on the first battery state parameter, the second battery state parameter, and the electrical coupling relationship. Based on the target charging voltage, perform battery charging on the first low-voltage battery and / or the second low-voltage battery.

2. The vehicle control method according to claim 1, characterized in that, The vehicle operating status parameters include: power supply status, hood status, and cumulative charging failure value. The first battery status parameters include: first battery voltage and first battery state of charge. The second battery status parameters include: second battery voltage and second battery state of charge. The charging triggering conditions include: prerequisite permission conditions and threshold conditions. Based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the charging triggering conditions, a charging trigger judgment is performed, and the judgment result is generated, including: Based on the power supply status, the hood status, the cumulative value of the power replenishment fault, and the prerequisite permission conditions, a power replenishment permission verification operation is performed to obtain the first verification result. Based on the first battery voltage, the first battery state of charge, the second battery voltage, the second battery state of charge, and the threshold condition, a charging trigger threshold verification operation is performed to obtain a second verification result; The judgment result is generated based on the first verification result and the second verification result.

3. The vehicle control method according to claim 2, characterized in that, Based on the power supply status, the hood status, the cumulative value of power replenishment faults, and the prerequisite permission conditions, the power replenishment permission verification operation is performed to obtain the first verification result, including: Based on the power supply status, the hood status, and the cumulative value of the power replenishment fault, it is determined whether the vehicle meets the pre-approval conditions. The pre-approval conditions include: the power supply status is in the power off state, the hood status is in the locked state, and the cumulative value of the power replenishment fault is less than the fault count threshold. In response to the vehicle meeting the prerequisite permission conditions, the first verification result is determined to be a successful permission verification.

4. The vehicle control method according to claim 2, characterized in that, The threshold conditions include: voltage threshold conditions and state of charge threshold conditions. Based on the first battery voltage, the first battery state of charge, the second battery voltage, the second battery state of charge, and the threshold conditions, a recharge trigger threshold comparison operation is performed to obtain the second verification result, including: Determine whether the voltage of the first battery and the voltage of the second battery meet the voltage threshold condition to obtain a voltage verification result, wherein the voltage threshold condition includes: the voltage of the first battery is less than the voltage threshold and the voltage of the second battery is less than the voltage threshold; Determine whether the state of charge of the first battery and the state of charge of the second battery meet the state of charge threshold condition to obtain the state of charge verification result. The state of charge threshold condition includes: the state of charge of the first battery is less than the state of charge threshold and the state of charge of the second battery is less than the state of charge threshold. In response to the voltage verification result being a pass voltage verification, or the state of charge verification result being a pass state of charge verification, a timer is started, and multiple sets of first battery state parameters and multiple sets of second battery state parameters are acquired within the timer's timing period based on a preset sampling period. The second verification result is determined based on the multiple sets of first battery state parameters, the multiple sets of second battery state parameters, and the threshold condition.

5. The vehicle control method according to claim 2, characterized in that, The first battery state parameters further include: a first battery current and a first battery temperature; the second battery state parameters further include: a second battery current and a second battery temperature; and the target replenishment voltage is determined based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship, including: Based on the first battery state of charge, the first battery current and the first battery temperature, deviation feedback control calculation is performed to obtain the first replenishment request voltage; Based on the state of charge of the second battery, the current of the second battery, and the temperature of the second battery, deviation feedback control calculations are performed to obtain the second replenishment request voltage. The target power supply voltage is determined based on the first power supply request voltage, the second power supply request voltage, and the electrical coupling relationship.

6. The vehicle control method according to claim 5, characterized in that, The electrical coupling relationship includes parallel coupling and independent decoupling. The target replenishment voltage is determined based on the first replenishment request voltage, the second replenishment request voltage, and the electrical coupling relationship, including: In response to the electrical coupling relationship being the parallel coupling, the target replenishment voltage is determined based on the magnitude relationship between the first replenishment request voltage and the second replenishment request voltage; In response to the electrical coupling relationship being independently decoupled, the first power replenishment request voltage is used as the target power replenishment voltage.

7. The vehicle control method according to claim 5, characterized in that, The vehicle control method further includes: In response to a charging exit trigger event, the vehicle is controlled to perform a charging exit action. The charging exit trigger event includes: the voltage converter operating in non-buck mode for a duration greater than a first duration threshold, or the first battery state of charge and the second battery state of charge both being within a target state of charge range for a duration greater than a second duration threshold, or the first battery current and the second battery current both being within a target current range for a duration greater than the second duration threshold.

8. A vehicle control device, characterized in that, include: The acquisition module is used to acquire vehicle operating status parameters, first battery status parameters of the first low-voltage battery, second battery status parameters of the second low-voltage battery, and electrical coupling relationship between the first low-voltage battery and the second low-voltage battery. The first low-voltage battery is the main power supply for low-voltage electrical appliances deployed on the vehicle, and the second low-voltage battery is a backup power supply. The judgment module is used to perform a power replenishment trigger judgment based on the vehicle operating status parameters, the first battery status parameters, the second battery status parameters, and the power replenishment trigger conditions, and generate a judgment result. The determination module is used to determine the target charging voltage based on the first battery state parameters, the second battery state parameters, and the electrical coupling relationship in response to the judgment result indicating that the vehicle meets the charging triggering condition. An execution module is configured to perform battery replenishment on the first low-voltage battery and / or the second low-voltage battery according to the target replenishment voltage.

9. A vehicle, characterized in that, include: Memory, which stores executable programs; A processor for running the executable program, wherein the executable program, when running, performs the vehicle control method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored executable program, wherein, when the executable program is executed, it controls the device on which the computer-readable storage medium is located to perform the vehicle control method according to any one of claims 1 to 7.

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