Vehicle control method and apparatus, and vehicle and storage medium

Abstract

A vehicle control method, comprising: during the process of purging a fuel cell of a vehicle, if an OTA upgrade request is received, executing an OTA upgrade after purging is completed; and when the vehicle is in an OTA upgrade mode, if a purging request for the fuel cell is received, purging the fuel cell after the OTA upgrade is completed. Further disclosed are an apparatus using the method, and a vehicle and a computer-readable storage medium. The method can prevent functional conflicts between an OTA upgrade function and a purging function.

Description

Vehicle control method, device, vehicle and storage medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on July 25, 2023, with application number 202310919041X and application name “A method, device, vehicle and storage medium for vehicle control”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of vehicles, and in particular to a method, device, vehicle, and storage medium for vehicle control in the field of vehicles. Background Art

[0003] With global resources becoming increasingly scarce and environmental pollution becoming increasingly serious, environmental protection has become a growing concern across various industries, including the automotive industry. Domestic and international automotive companies and their parts developers are increasingly concerned about whether a fuel that can both protect the environment and conserve resources can be used in vehicles. As a result, hydrogen fuel cells, as a clean, efficient, and pollution-free electrochemical power generation device, have attracted widespread attention both domestically and internationally. At the same time, hydrogen fuel cell vehicles have become the mainstream of current automotive industry development. Consequently, the safety and economic efficiency of fuel cell vehicles have become a topic of widespread concern for various automotive companies.

[0004] Currently, fuel cell vehicles require fuel cell purging, and sometimes also require OTA (Over-the-Air Technology) upgrades. Consequently, there may be functional conflicts between the purging and OTA upgrade functions. Therefore, how to avoid these conflicts has become a pressing technical issue.

[0005] Summary of the Invention

[0006] The present application provides a vehicle control method, device, vehicle, and storage medium, which can avoid functional conflicts between OTA upgrade functions and purge functions.

[0007] In a first aspect, the present application provides a method for vehicle control, which includes: during the process of purging a vehicle's fuel cell, if an OTA upgrade request is received, performing the OTA upgrade after the purging is completed; when the vehicle is in OTA upgrade mode, if a fuel cell purge request is received, purging the fuel cell after the OTA upgrade is completed.

[0008] In the above technical solution, if an OTA upgrade request is received during the purging of the vehicle's fuel cell, the OTA upgrade request will not be responded to immediately. Instead, the OTA upgrade will be performed after the purging is completed. When the vehicle is in OTA upgrade mode, if a fuel cell purge request is received, the fuel cell will not be responded to immediately. Instead, the fuel cell will be purged after the OTA upgrade is completed. By setting the execution logic between the OTA upgrade function and the purge function, it is helpful to avoid functional conflicts between the OTA upgrade function and the purge function, improve the rationality of the vehicle control logic, and successfully execute the OTA upgrade and purge.

[0009] In one possible implementation, if an OTA upgrade request is received, the OTA upgrade is performed after the purge is completed, including: if the OTA upgrade request is a request to upgrade the high-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a high-voltage state, so as to upgrade the high-voltage components in the high-voltage state; if the OTA upgrade request is a request to upgrade the low-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a low-pressure state, so as to upgrade the low-pressure components in the low-pressure state.

[0010] In one possible implementation, if the OTA upgrade request is a request to upgrade a high-voltage component, the method also includes: determining the state of the entire vehicle; when the state of the entire vehicle is a first high-voltage state, controlling the vehicle to maintain in the first high-voltage state; wherein, in the first high-voltage state, the vehicle cannot be driven; when the state of the entire vehicle is a second high-voltage state, switching the second high-voltage state to the first high-voltage state; wherein, in the second high-voltage state, the entire vehicle can be driven; upgrading the high-voltage component in the high-voltage state includes: upgrading the high-voltage component in the first high-voltage state.

[0011] In one possible implementation, if the OTA upgrade request is a request to upgrade a low-voltage component, the entire vehicle state is controlled to maintain a low-pressure state after the purge is completed, so that the low-voltage component can be upgraded in the low-pressure state, including: if the OTA upgrade request is a request to upgrade a low-pressure component, the vehicle is requested to lower the high pressure; if the vehicle is detected to enter a low-pressure state within a preset time, it is determined that the purge is completed, and the entire vehicle state is controlled to maintain a low-pressure state, so that the low-pressure component can be upgraded in the low-pressure state.

[0012] In one possible implementation, if the OTA upgrade request is a request to upgrade a high-voltage component, the method further includes: detecting whether a target fault occurs in the vehicle's fuel cell system; wherein the target fault is a fault that prohibits high voltage on the vehicle; and in the event of a target fault, not performing an upgrade of the high-voltage component.

[0013] In one possible implementation, if an OTA upgrade request is received during purging of a vehicle's fuel cell, the method further includes: estimating a first time duration required for the purging to complete, and outputting the first time duration to remind the user; and / or, if a fuel cell purge request is received while the vehicle is in OTA upgrade mode, the method further includes: estimating a second time duration required for the OTA upgrade to complete, and outputting the second time duration to remind the user.

[0014] In one possible implementation, when the vehicle is in OTA upgrade mode, if a request for purging the fuel cell is received, the fuel cell is purged after the OTA upgrade is completed, including: when the vehicle is in OTA upgrade mode, if a request for purging the fuel cell is received, after the OTA upgrade is completed, the entire vehicle state is controlled to be in a high-pressure state to purge the fuel cell under high-pressure state.

[0015] In one possible implementation, after the OTA upgrade is completed, the state of the entire vehicle is controlled to be in a high-pressure state to purge the fuel cell in the high-pressure state, including: after the OTA upgrade of the high-voltage components is completed, the state of the entire vehicle is controlled to maintain a high-pressure state to purge the fuel cell in the high-pressure state; wherein, during the OTA upgrade of the high-voltage components, the state of the entire vehicle is in a high-pressure state; after the OTA upgrade of the low-pressure components is completed, the state of the entire vehicle is controlled to switch from a low-pressure state to a high-pressure state to purge the fuel cell in the high-pressure state; wherein, during the OTA upgrade of the low-pressure components, the state of the entire vehicle is in a low-pressure state.

[0016] In one possible implementation, when the vehicle is in OTA upgrade mode, the method further includes: suspending execution of the self-wake-up parking purge function, and resuming execution of the self-wake-up parking purge function after the vehicle exits OTA upgrade mode; wherein the self-wake-up parking purge function is: periodically waking up the fuel cell controller to perform parking purge on the fuel cell.

[0017] In a second aspect, a vehicle control device is provided, comprising: a first control module configured to, if an OTA upgrade request is received during a fuel cell purge of the vehicle, execute the OTA upgrade after the purge is complete; and a second control module configured to, if a fuel cell purge request is received while the vehicle is in OTA upgrade mode, execute the fuel cell purge after the OTA upgrade is complete.

[0018] In one possible implementation, the first control module is specifically used to: if the OTA upgrade request is a request to upgrade high-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a high-voltage state, so as to upgrade the high-voltage components in the high-pressure state; if the OTA upgrade request is a request to upgrade low-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a low-pressure state, so as to upgrade the low-pressure components in the low-pressure state.

[0019] In one possible implementation, the first control module is also used to: determine the state of the entire vehicle; when the state of the entire vehicle is a first high-pressure state, control the vehicle to maintain the first high-pressure state; wherein, in the first high-pressure state, the vehicle cannot be driven; when the state of the entire vehicle is a second high-pressure state, switch the second high-pressure state to the first high-pressure state; wherein, in the second high-pressure state, the entire vehicle can be driven; after the purging is completed, control the state of the entire vehicle to maintain the first high-pressure state, so as to upgrade the high-pressure components in the first high-pressure state.

[0020] In one possible implementation, the first control module is specifically used to: if the OTA upgrade request is a request to upgrade a low-voltage component, request the vehicle to lower the high pressure; if the vehicle is detected to enter a low-pressure state within a preset time, determine that the purge is completed, and control the entire vehicle state to maintain a low-pressure state, so as to upgrade the low-pressure component in the low-pressure state.

[0021] In one possible implementation, the first control module is specifically used to: if the OTA upgrade request is a request to upgrade a high-voltage component, detect whether a target fault occurs in the vehicle's fuel cell system; wherein the target fault is a fault that prohibits high voltage on the vehicle; in the event of a target fault, the upgrade of the high-voltage component is not performed.

[0022] In one possible implementation, the device also includes: an output module. During the process of purging the vehicle's fuel cell, if an OTA upgrade request is received, the output module is used to: estimate a first time required to complete the purge, and output the first time to remind the user; and / or, when the vehicle is in OTA upgrade mode, if a purge request for the fuel cell is received, the output module is used to: estimate a second time required to complete the OTA upgrade, and output the second time to remind the user.

[0023] In one possible implementation, the second control module 202 is specifically used to: when the vehicle is in OTA upgrade mode, if a request for purging the fuel cell is received, then after the OTA upgrade is completed, the entire vehicle state is controlled to be in a high-pressure state to purge the fuel cell under high-pressure state.

[0024] In one possible implementation, the second control module 202 is specifically used to: after the OTA upgrade of the high-voltage components is completed, control the state of the entire vehicle to maintain a high-voltage state, so as to purge the fuel cell under the high-voltage state; wherein, during the OTA upgrade of the high-voltage components, the state of the entire vehicle is a high-voltage state; after the OTA upgrade of the low-voltage components is completed, control the state of the entire vehicle to switch from a low-pressure state to a high-pressure state, so as to purge the fuel cell under the high-pressure state; wherein, during the OTA upgrade of the low-pressure components, the state of the entire vehicle is a low-pressure state.

[0025] In one possible implementation, the second control module 202 is also used to: suspend the execution of the self-wake-up parking purge function when the vehicle is in the OTA upgrade mode, and resume the execution of the self-wake-up parking purge function after the vehicle exits the OTA upgrade mode; wherein the self-wake-up parking purge function is: periodically waking up the fuel cell controller to perform parking purge on the fuel cell.

[0026] In a third aspect, the present application provides a vehicle comprising a memory and a processor. The memory is configured to store executable program code, and the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the method of the first aspect or any possible implementation of the first aspect.

[0027] In a fourth aspect, the present application provides a computer program product, which includes: computer program code, which, when running on a computer, enables the computer to execute the method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0028] In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program code. When the computer program code runs on a computer, the computer executes the method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] FIG1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0030] FIG2 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0031] FIG3 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] During operation, a large amount of liquid water will be generated in the flow channels inside the fuel cell stack and the external pipes of the fuel cell stack. In order to prevent the engine from failing to start due to the presence of liquid water when the fuel cell is started next time, or to prevent the liquid water from freezing and causing irreversible damage to the fuel cell stack membrane electrodes, the fuel cell usually needs to be purged.

[0033] Purge is the process of removing some of the water generated by the electrochemical reaction in the fuel cell and remaining in the fuel cell. This is to prevent excessive water from freezing in the fuel cell at low temperatures and causing irreversible damage to the fuel cell. Purge can be divided into shutdown purge and parking purge. The following describes these two types of purges:

[0034] Shutdown purge, also known as parking purge, is a manual purge performed after the vehicle is powered off during normal driving. For example, when the vehicle controller receives a shutdown request, it can purge the fuel cell to reduce residual liquid water in the flow channels within the stack and the external piping, as well as the water vapor content in the gas.

[0035] Parking purge can be understood as: the whole vehicle is manually powered off during abnormal driving, but it is a purge that is performed regularly when the vehicle is in the parked state and the driver is not in the vehicle. Specifically, after the vehicle is powered off, the driver leaves the vehicle, and it can be considered that the vehicle is currently in the parked state. In the parked state, the vehicle is usually parked in a garage or parking space. With the changes in environmental parameters such as temperature and humidity, if the purge is not performed when it is needed, condensed water is likely to form inside the fuel cell. The presence of condensed water will affect the next start-up of the fuel cell, and once the condensed water freezes due to the low external ambient temperature, it is very easy to cause irreversible damage to the stack membrane electrode, affecting the service life of the fuel cell. Therefore, when the vehicle is in the above-mentioned parking state, a regular parking purge is usually performed, that is, the whole vehicle is woken up regularly to purge the fuel cell.

[0036] With the development of connected vehicle technology, implementing over-the-air (OTA) technology for entire vehicles has become a trend. Using OTA to upgrade various vehicle components is an essential upgrade activity throughout the vehicle lifecycle. The overall OTA system architecture comprises the cloud, the vehicle, and the upgrade targets. The cloud can be a cloud server platform, and the OTA upgrade targets can be components within the vehicle. The vehicle includes a central electronic module (CEM), a head unit (HUT), and a telematics box (TBOX). The CEM performs OTA upgrades, the HUT requests the vehicle to enter / exit OTA mode, and the TBOX receives software, firmware, configuration, and other program files transmitted from the cloud. Using OTA technology, automakers can transmit updated software, firmware, configuration, and other program files from the cloud to the vehicle's central gateway, which then upgrades the vehicle's components via the vehicle's internal network.

[0037] However, the inventors of this application discovered that the OTA upgrade function and the purge function have different requirements for the vehicle status. For example, when the purge function needs to be executed, the vehicle needs to be in a high-voltage state. When executing the OTA upgrade function, if the high-voltage component is OTA upgraded, the vehicle needs to be in a high-voltage state. If the low-voltage component is OTA upgraded, the vehicle needs to be in a low-voltage state. Therefore, if the request execution time of the OTA upgrade function and the purge function overlaps, functional conflicts are likely to occur, resulting in confusion in the vehicle control logic. For example, if an upgrade request for a low-voltage component is received during the execution of the purge function, the vehicle will not know whether it should maintain the high-voltage state and continue to execute the purge function, or whether it should request the vehicle to reduce the high voltage to execute the upgrade request for the low-voltage component.

[0038] Based on this, an embodiment of the present application provides a vehicle control method, which is applied to a vehicle, which includes a fuel cell and is therefore also called a fuel cell vehicle. In this embodiment, functional conflicts between the OTA upgrade function and the purge function in the fuel cell vehicle can be avoided.

[0039] FIG1 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application.

[0040] Exemplarily, as shown in FIG1 , the method includes:

[0041] Step 101: During the purging of the fuel cell of the vehicle, if an OTA upgrade request is received, the OTA upgrade is performed after the purging is completed.

[0042] Step 102 : When the vehicle is in the OTA upgrade mode, if a fuel cell purge request is received, the fuel cell is purged after the OTA upgrade is completed.

[0043] In the embodiment shown in Figure 1, if an OTA upgrade request is received during a fuel cell purge, the OTA upgrade request is not immediately responded to. Instead, the OTA upgrade is performed after the purge is complete. That is, even if the execution times of the OTA upgrade and purge requests overlap, the system does not pause and wonder how to proceed. Instead, the system can rationally execute the ongoing purge first, and then execute the OTA upgrade after the purge is complete. While the vehicle is in OTA upgrade mode, if a fuel cell purge request is received, the system does not immediately respond to the purge request. Instead, the system can rationally execute the ongoing OTA upgrade first, and then execute the purge after the OTA upgrade is complete. In other words, even if the execution times of the OTA upgrade and purge requests overlap, the system does not pause and wonder how to proceed. Instead, the system can rationally execute the ongoing OTA upgrade first, and then execute the purge after the OTA upgrade is complete. In this embodiment, by configuring the execution logic between the OTA upgrade and purge functions, functional conflicts between the two functions are avoided, improving the rationality of the vehicle's control logic, and enabling the smooth execution of both the OTA upgrade and the purge.

[0044] The specific implementation of each step in the embodiment shown in Figure 1 is described below:

[0045] In step 101, if an OTA update request is received during the fuel cell purge process, the OTA update will not be immediately responded to. Instead, the OTA update will be performed after the purge is complete. In other words, if the purge function is in progress, the OTA update will not interrupt the purge function. If the purge function is in progress, the OTA update will not be performed. The OTA update will be performed only after the purge function is completed.

[0046] The fuel cell purge may be the aforementioned parked purge or parked purge. In this embodiment, regardless of whether the fuel cell is being purged during a parked purge or parked purge, an OTA upgrade request received during the parked purge or parked purge will not be responded to immediately. Instead, the OTA upgrade request will be responded to after the parked purge or parked purge is completed.

[0047] For example, the above OTA upgrade request can be a normal mode OTA upgrade request or a remote mode OTA upgrade request. The following describes the two modes of OTA upgrade requests:

[0048] The OTA upgrade request in normal mode can also be called the OTA upgrade request in online mode. The OTA upgrade request in normal mode can be understood as: an OTA upgrade request generated based on the operation of the user (such as the driver). For example, when the user obtains the update message pushed by the car manufacturer, if the user happens to be in the car, the corresponding upgrade button can be triggered through the HUT to generate an OTA upgrade request in normal mode. The HUT sends the OTA upgrade request in normal mode to the CEM via the CAN bus. When the user does not need to upgrade at present and hopes to trigger the OTA upgrade at a certain time point, the user can set the target time point on the HUT, so that the HUT can generate an OTA upgrade request in normal mode at the target time point and send the OTA upgrade request in normal mode to the CEM via the CAN bus.

[0049] A remote OTA update request can be understood as an OTA update request automatically pushed by the manufacturer without requiring user intervention. For example, the manufacturer can send a remote update power-on request signal to the CEM via the TBOX. This remote update power-on request signal can be understood as a remote OTA update request.

[0050] It is understandable that the purging of the fuel cell is generally controlled by the fuel cell controller (Fuel Control Unit, FCU), while the OTA upgrade is generally performed by the CEM. In this embodiment, the FCU and the CEM can share the working status. For example, if the FCU is performing a purge, the FCU can send the working status of the purge to the CEM, so that the CEM can know that the purge is currently being performed. If the CEM receives an OTA upgrade request, it will not perform the OTA upgrade immediately, but will wait until the purge is completed before performing the OTA upgrade. Specifically, if the FCU completes the purge, the FCU can send the working status of the purge completion to the CEM, so that the CEM can know that the purge is completed and then start the OTA upgrade.

[0051] For example, the HUT can also add detection items for the functional status of the purge function and the OTA upgrade function. When the HUT detects that the functional status of the purge function is "in progress" and the functional status of the OTA upgrade function is "request execution", the user can be prompted to "wait for the purge function to be completed before attempting the OTA upgrade." When the HUT detects that the functional status of the OTA upgrade function is "in progress" and the functional status of the purge function is "request execution", the user can be prompted to "wait for the OTA upgrade function to be completed before attempting the purge function."

[0052] In an exemplary embodiment, if the OTA upgrade request is a request to upgrade a high-voltage component, the entire vehicle state is controlled to maintain a high-voltage state after the purge is completed, so as to upgrade the high-voltage component in the high-voltage state.

[0053] It is understandable that the components in the vehicle may include high-voltage components and low-voltage components. Therefore, the OTA upgrade request may be a request to upgrade the high-voltage components, or it may be a request to upgrade the low-voltage components. Among them, the high-voltage components are the high-voltage system of the vehicle, or the components involved in the establishment of high voltage. The high-voltage components may include: vehicle controller, battery manager, power battery controller, drive motor, high-voltage distribution box, electric compressor, charger controller, DC / DC converter, high-voltage wiring harness, etc. Low-voltage components are non-high-voltage components, which are components that are not related to the vehicle's high-voltage system and do not participate in the establishment of high voltage. Low-voltage components may include: audio system, audio and video entertainment system, instrument system, body control module (BCM), lighting system, air conditioning control system, etc.

[0054] In a specific implementation, during the purging of the vehicle's fuel cell, the vehicle is in a high-pressure state. This high-pressure state may be a first high-pressure state or a second high-pressure state. In the first high-pressure state, the vehicle cannot be driven, and in the second high-pressure state, the vehicle can be driven. In other words, both the first high-pressure state and the second high-pressure state indicate that the entire vehicle is currently at high pressure, but the current state of the power system is different. In the first high-pressure state, the state of the power system is a state in which the vehicle cannot be driven, and in the second high-pressure state, the state of the power system is a state in which the vehicle can be driven. For example, the first high-pressure state can be recorded as a high-pressure ON state, and the second high-pressure state can be recorded as a high-pressure ready state.

[0055] In theory, the vehicle controller will lower the high voltage after the purge is complete. However, in this embodiment, a request to upgrade the high-voltage components is received during the fuel cell purge. Therefore, after the purge is complete, the high voltage is not lowered. Instead, the vehicle is controlled to maintain the high voltage state to upgrade the high-voltage components. This facilitates the direct and rapid start of the OTA upgrade after the purge is complete.

[0056] In an exemplary embodiment, if the OTA upgrade request is a request to upgrade a high-voltage component, the above method also includes: determining the state of the entire vehicle; when the state of the entire vehicle is a first high-voltage state, controlling the vehicle to maintain the first high-voltage state; when the state of the entire vehicle is a second high-voltage state, switching the second high-voltage state to the first high-voltage state; after the purge is completed, controlling the state of the entire vehicle to maintain the first high-voltage state, so as to upgrade the high-voltage component in the first high-voltage state.

[0057] As mentioned above, during the purging of the vehicle's fuel cell, the vehicle may be in a first high-pressure state or a second high-pressure state. As for the OTA upgrade function, if the OTA upgrade is performed in the second high-pressure state, it is easy for the vehicle to be in a drivable state, which may make the OTA upgrade unsafe. However, if the OTA upgrade is performed in the first high-pressure state, the vehicle is in a non-drivable state, which is beneficial to improve the safety of the OTA upgrade to a certain extent. Therefore, in this embodiment, when the whole vehicle state is in the second high-pressure state, the second high-pressure state is switched to the first high-pressure state. When the whole vehicle state is in the first high-pressure state, the vehicle is controlled to maintain the first high-pressure state to ensure that the OTA upgrade can be performed in the first high-pressure state later, thereby improving the safety of the OTA upgrade to a certain extent.

[0058] For example, the new energy power domain controller (Power train Domain Control Unit, PDCU) in the vehicle can switch the state of the whole vehicle from the second high-voltage state to the first high-voltage state if it receives a request to upgrade the high-voltage components when it detects that purge is in progress. In this embodiment, the PDCU can obtain the functional status of the purge function and the OTA upgrade function, and thus control the state of the whole vehicle according to the functional status. Among them, the functional status may include: the state of request execution, the state of being executed, and the state of execution completion. For example, if it is detected that the fuel cell of the vehicle is being purged, it means that the purge function is in the state of being executed. If an OTA upgrade request is received, it means that the OTA upgrade function is in the state of requesting execution. If it is detected that the purge is completed, it means that the purge function is in the state of execution completion.

[0059] In an exemplary embodiment, if the OTA upgrade request is a request to upgrade a high-voltage component, the above method also includes: detecting whether a target fault occurs in the vehicle's fuel cell system; wherein the target fault is a fault that prohibits high voltage on the vehicle; in the event of a target fault, the upgrade of the high-voltage component is not performed.

[0060] For example, the PDCU can detect whether a target fault occurs in the vehicle's fuel cell system, which can be a fault level 3. When the PDCU detects the occurrence of the target fault, it can send a feedback signal to the vehicle controller indicating that entry into the OTA upgrade mode is not permitted, so that the vehicle controller can be aware that entry into the OTA upgrade mode is not permitted.

[0061] For example, the target fault could be a hydrogen leak in the hydrogen storage system, with the concentration of the leaked hydrogen exceeding a preset threshold, meaning the leaked hydrogen concentration is high. In this case, upgrading the high-voltage components could create an explosion risk due to the high voltage applied to the vehicle. Therefore, in this embodiment, if the target fault is detected, the high-voltage component upgrade step is not performed, which helps avoid potential safety hazards during the OTA upgrade process.

[0062] For example, if a target fault is detected, a prompt message can also be sent to the user to remind the user that the vehicle currently has a target fault and cannot be upgraded via OTA, which helps the user take timely measures to repair the vehicle and eliminate the target fault.

[0063] Optionally, after detecting that the target fault has been eliminated, the steps for upgrading the high-voltage components, which were not performed when the target fault occurred, can be automatically executed if it is detected that the upgrade conditions are met. The upgrade conditions can be set according to actual needs. For example, by obtaining parameters such as the vehicle's current speed and high-voltage power-on status, it can be determined whether the upgrade conditions are met. The upgrade conditions are determined to be met when the vehicle's current speed is zero and the high-voltage power-on status is on, that is, when the vehicle is in a high-voltage state.

[0064] Optionally, after detecting that the target fault has been eliminated, a reminder message may be sent to the user to remind the user that the current target fault has been eliminated and to inquire whether the user needs to continue to perform the steps of upgrading the high-voltage components that were not performed when the target fault occurred. If a confirmation message is received from the user, the steps of upgrading the high-voltage components that were not performed when the target fault occurred are continued to upgrade the high-voltage components.

[0065] In an exemplary embodiment, if the OTA upgrade request is a request to upgrade a low-voltage component, the entire vehicle is controlled to maintain a low-voltage state after the purge is completed, so as to upgrade the low-voltage component in the low-voltage state.

[0066] For low-voltage components, if an OTA upgrade is to be performed, the entire vehicle must be in a low-voltage state. During the purge process, the entire vehicle is in a high-voltage state. In theory, if the purge is completed, the vehicle controller will control the vehicle to reduce the high voltage and control the entire vehicle to sleep for a period of time after the high voltage is reduced. In this embodiment, because an OTA upgrade request for a low-voltage component is received during the purge process, to ensure that both the purge and OTA functions can be executed normally, after the purge is completed, the vehicle is controlled to reduce the high voltage but will not be controlled to sleep. Instead, the vehicle is controlled to maintain a low-voltage state so that the low-voltage components can be upgraded in the low-voltage state, ensuring that the upgrade of the low-voltage components can be smoothly executed after the purge is completed.

[0067] In an exemplary embodiment, if the OTA upgrade request is a request to upgrade a low-pressure component, then after the purge is completed, the entire vehicle state is controlled to maintain a low-pressure state so that the low-pressure component can be upgraded in the low-pressure state, including: if the OTA upgrade request is a request to upgrade a low-pressure component, then the vehicle is requested to lower the high pressure; if the vehicle is detected to enter a low-pressure state within a preset time, then it is determined that the purge is completed, and the entire vehicle state is controlled to maintain a low-pressure state so that the low-pressure component can be upgraded in the low-pressure state.

[0068] The preset duration can be set based on the purge duration required for normal purge completion, which can be the duration required to normally complete a purge function. For example, the purge duration can be the duration between a first moment and a second moment, where the first moment is the moment when purge begins and the second moment is the moment when the vehicle is powered off and put into sleep after purge completion.

[0069] For example, assuming that the above-mentioned purge duration is 4-5 minutes, the above-mentioned preset duration can be set to 6 minutes. If the OTA upgrade request is a request to upgrade the low-pressure components, the vehicle can be requested to lower the high pressure. If the vehicle is detected to enter the low-pressure state within 6 minutes after the request to lower the high pressure, the purge can be confirmed to be completed, and the state of the entire vehicle can be controlled to maintain the low-pressure state to upgrade the low-pressure components in the low-pressure state. If the vehicle is not detected to enter the low-pressure state within 6 minutes after the request to lower the high pressure, the process of upgrading the low-pressure components can be exited. That is to say, in theory, if no relevant abnormality occurs, the purge function should have been completed within 6 minutes after the request to lower the high pressure, and the state of the entire vehicle should also be switched from the high-pressure state during the purge to the low-pressure state after the purge is completed. Therefore, in this embodiment, it can be detected whether the vehicle enters the low-pressure state within the preset time after the request to lower the high pressure. If it enters the low-pressure state, it means that the purge function has been completed, and the low-pressure state can be maintained to perform the steps of upgrading the low-pressure components in the low-pressure state. If the low-pressure state is not entered, it means that an abnormality may occur during the execution of the purge function, resulting in failure to switch to the low-pressure state when it should have been switched to the low-pressure state. In this case, the step of upgrading the low-pressure components can be exited.

[0070] For example, if the OTA upgrade request is a request to upgrade a low-voltage component, the HUT can request the PDCU to lower the high voltage. For example, the HUT can send a high-voltage lowering request to the PDCU. After receiving the high-voltage lowering request, if the PDCU detects that the purge function is being executed, it will temporarily not respond to the high-voltage lowering request. After detecting that the purge function is completed, the PDCU responds to the high-voltage lowering request to control the entire vehicle to lower the high voltage, thereby causing the vehicle to enter a low-pressure state, and controls the entire vehicle state to remain in a low-pressure state, so as to complete the upgrade of the low-voltage components in a low-pressure state.

[0071] In an exemplary embodiment, during the purging of a vehicle's fuel cell, if the received OTA upgrade request includes a request to upgrade both high-voltage components and a request to upgrade low-voltage components, the vehicle is controlled to maintain a first high-voltage state after the purging is complete, allowing the high-voltage components to be upgraded in the first high-voltage state. After the high-voltage components are upgraded, the vehicle is switched from the first high-voltage state to a low-voltage state, and the vehicle is controlled to maintain a low-voltage state, allowing the low-voltage components to be upgraded in the low-voltage state. After the low-voltage components are upgraded, the vehicle can be further controlled to sleep according to actual needs.

[0072] In this embodiment, even if during the purging process, both requests for upgrading high-voltage components and requests for upgrading low-voltage components are received, the purging, upgrading of high-voltage components, and upgrading of low-voltage components can be performed in a reasonable order, thereby realizing the purging function and OTA upgrade function while ensuring the rationality of the vehicle control logic.

[0073] In step 102, if a fuel cell purge request is received while the vehicle is in OTA upgrade mode, the purge request will not be immediately responded to. Instead, the fuel cell will be purged after the OTA upgrade is complete. In other words, if the OTA upgrade function is in progress, the purge function will not be executed. It can only be executed after the OTA upgrade function is complete. The fact that the vehicle is in OTA upgrade mode indicates that a component upgrade is in progress, potentially involving high-voltage or low-voltage components.

[0074] In an exemplary embodiment, when the vehicle is in OTA upgrade mode, if a fuel cell purge request is received, after the OTA upgrade is completed, the entire vehicle state is controlled to be in a high-pressure state to purge the fuel cell under high-pressure state.

[0075] It is understandable that, in theory, the entire vehicle will be powered off and put into sleep mode after the OTA upgrade is completed. However, since this embodiment is equivalent to receiving a request to purge the fuel cell during the OTA upgrade process, this embodiment does not control the entire vehicle to be powered off and put into sleep mode after the OTA upgrade is completed. Instead, the entire vehicle is controlled to be in a high-voltage state so that the fuel cell can be purged in the high-voltage state. The high-voltage state here can be the first high-voltage state or the second high-voltage state mentioned above. When the purge of the fuel cell is completed, the entire vehicle can be powered off and put into sleep mode.

[0076] Exemplarily, the implementation method of the above-mentioned step 102 includes: after the OTA upgrade of the high-voltage component is completed, controlling the state of the entire vehicle to maintain a high-pressure state, so as to purge the fuel cell under the high-pressure state; wherein, during the process of OTA upgrading the high-voltage component, the state of the entire vehicle is a high-pressure state.

[0077] It is understandable that when the vehicle is in OTA upgrade mode, if the OTA upgrade performed in OTA upgrade mode is an OTA upgrade of a high-voltage component, it means that the current state of the entire vehicle is a high-voltage state, and the high-voltage state can specifically be the first high-voltage state to ensure that the high-voltage component can be safely upgraded. Then, after the OTA upgrade of the high-voltage component is completed, the vehicle can be controlled to maintain the above-mentioned high-voltage state, and then the fuel cell can be purged in this high-voltage state. In a specific implementation, in order to ensure that the purge can be performed safely, the fuel cell is purged in a high-voltage state, and specifically the fuel cell can be purged in the above-mentioned first high-voltage state.

[0078] Exemplarily, the implementation method of the above-mentioned step 102 includes: after the OTA upgrade of the low-voltage component is completed, controlling the state of the entire vehicle to switch from a low-pressure state to a high-pressure state, so as to purge the fuel cell under the high-pressure state; wherein, during the OTA upgrade of the low-voltage component, the state of the entire vehicle is a low-pressure state.

[0079] It is understandable that when the vehicle is in OTA upgrade mode, if the OTA upgrade performed in OTA upgrade mode is an OTA upgrade of a low-voltage component, it means that the current state of the entire vehicle is a low-pressure state. Then, after the OTA upgrade of the low-voltage component is completed, the state of the entire vehicle can be controlled to switch from a low-pressure state to a high-pressure state to purge the fuel cell in the above-mentioned high-pressure state. In a specific implementation, to ensure that the purge can be performed safely, the above-mentioned switching from a low-pressure state to a high-pressure state can specifically be: switching from a low-pressure state to a first high-pressure state to purge the fuel cell in the above-mentioned first high-pressure state.

[0080] In this embodiment, whether an OTA upgrade is being performed on a low-voltage component or an OTA upgrade is being performed on a high-voltage component, the fuel cell can be purged smoothly after the OTA upgrade is completed.

[0081] In an exemplary embodiment, when the vehicle is in OTA upgrade mode, the self-wake-up parking purge function can be suspended, that is, the self-wake-up parking purge function is not executed; wherein the self-wake-up parking purge function is a function of periodically waking up the fuel cell controller to perform parking purge on the fuel cell; after the OTA upgrade is completed, the vehicle exits the OTA upgrade mode and resumes the self-wake-up parking purge function.

[0082] For example, when a vehicle is in OTA upgrade mode, the CEM in the vehicle can send an OTA upgrade mode entry signal to the PDCU. This OTA upgrade mode entry signal indicates that the vehicle is in OTA upgrade mode. Upon receiving this OTA upgrade mode entry signal, the PDCU can suspend the automatic wake-up parking purge function. When the PDCU receives an OTA upgrade mode exit signal, indicating that the CEM has completed the OTA upgrade and exited OTA upgrade mode, the PDCU can resume the automatic wake-up parking purge function.

[0083] For example, when the PDCU receives a remote upgrade power mode signal, which can be recorded as RemUpgrdModSysPower, and the signal is in the ON state, it can be determined that the vehicle is in remote OTA upgrade mode. This remote OTA upgrade mode can be understood as the OTA upgrade mode entered after receiving the above-mentioned remote mode OTA upgrade request.

[0084] For example, when the PDCU receives an online upgrade mode signal, it can be determined that the vehicle is in online OTA upgrade mode. The online upgrade mode signal can be recorded as OTA_UpgrdModSts. The online OTA upgrade mode can be understood as: the OTA upgrade mode entered after receiving the above-mentioned online mode OTA upgrade request.

[0085] In an exemplary embodiment, if an OTA upgrade request is received during the fuel cell purge process, a first time duration required for the purge to complete can be estimated and output to remind the user. This first time duration can be understood as the waiting time from receiving the OTA upgrade request to starting the OTA upgrade. Outputting this first time duration helps users understand how long it will take for the OTA upgrade to begin.

[0086] For example, outputting the first duration may include displaying the first duration on a display interface of the HUT for easy viewing by the user. Outputting the first duration may also include announcing the first duration in voice so that the user can understand the waiting time required to perform the OTA upgrade.

[0087] In an exemplary embodiment, when the vehicle is in OTA upgrade mode and a fuel cell purge request is received, a second time duration required for the OTA upgrade to complete can be estimated and output to remind the user. This second time duration can be understood as the waiting time from receiving the purge request to starting the purge function. Outputting this second time duration helps the user know how long it will take for the purge function to begin.

[0088] For example, outputting the second duration may include displaying the second duration on a display interface of the HUT for easy viewing by the user. Outputting the second duration may also include announcing the first duration in voice so that the user can understand the waiting time required to execute the purge function.

[0089] In an exemplary embodiment, the above-mentioned output of the first duration to remind the user and output of the second duration to remind the user can both be used to detect that the user is in the car to remind the user, so as to ensure the effectiveness of the reminder and avoid invalid reminders when the user is not in the car.

[0090] In this embodiment, a conflict handling method is provided for the OTA upgrade function and the purge function, that is, if the purge function is being executed, the OTA upgrade function cannot interrupt the purge function, and it is necessary to wait until the purge function is completed before executing the OTA upgrade function. If the OTA upgrade function is being executed, the purge function cannot interrupt the OTA upgrade function, and it is necessary to wait until the OTA upgrade function is completed before executing the purge function. The above-mentioned conflict handling method is beneficial for avoiding functional conflicts when the request time of the OTA upgrade function and the purge function overlaps, and improves the rationality of the vehicle control logic, so that the OTA upgrade function and the purge function can be successfully executed. In addition, the execution condition of the OTA upgrade function is increased to determine whether the hydrogen storage system is faulty. If the fault level has reached the level that prohibits high voltage, the PDCU determines that the conditions for entering the vehicle OTA mode are not met and will not execute the OTA upgrade function, which is beneficial for avoiding safety hazards.

[0091] FIG2 is a schematic structural diagram of a purge control device provided in an embodiment of the present application.

[0092] Exemplarily, as shown in FIG2 , the device includes:

[0093] The first control module 201 is configured to execute the OTA upgrade after the purging is completed if an OTA upgrade request is received during the purging of the fuel cell of the vehicle.

[0094] The second control module 202 is configured to purge the fuel cell after the OTA upgrade is completed if a purge request for the fuel cell is received when the vehicle is in the OTA upgrade mode.

[0095] In one possible implementation, the first control module 201 is specifically used to: if the OTA upgrade request is a request to upgrade high-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a high-voltage state, so as to upgrade the high-voltage components in the high-voltage state; if the OTA upgrade request is a request to upgrade low-voltage components, then after the purge is completed, the entire vehicle state is controlled to maintain a low-pressure state, so as to upgrade the low-pressure components in the low-pressure state.

[0096] In one possible implementation, the first control module 201 is also used to: determine the state of the entire vehicle; when the state of the entire vehicle is a first high-pressure state, control the vehicle to maintain the first high-pressure state; wherein, in the first high-pressure state, the vehicle cannot be driven; when the state of the entire vehicle is a second high-pressure state, switch the second high-pressure state to the first high-pressure state; wherein, in the second high-pressure state, the entire vehicle can be driven; after the purging is completed, control the state of the entire vehicle to maintain the first high-pressure state, so as to upgrade the high-pressure components in the first high-pressure state.

[0097] In one possible implementation, the first control module 201 is specifically used to: if the OTA upgrade request is a request to upgrade a low-voltage component, request the vehicle to lower the high pressure; if the vehicle is detected to enter a low-pressure state within a preset time, determine that the purge is completed, and control the entire vehicle state to maintain a low-pressure state, so as to upgrade the low-pressure component in the low-pressure state.

[0098] In one possible implementation, the first control module 201 is specifically used to: if the OTA upgrade request is a request to upgrade a high-voltage component, detect whether a target fault occurs in the vehicle's fuel cell system; wherein the target fault is a fault that prohibits high voltage on the vehicle; in the event of a target fault, the upgrade of the high-voltage component is not performed.

[0099] In one possible implementation, the device also includes: an output module. During the process of purging the vehicle's fuel cell, if an OTA upgrade request is received, the output module is used to: estimate a first time required to complete the purge, and output the first time to remind the user; and / or, when the vehicle is in OTA upgrade mode, if a purge request for the fuel cell is received, the output module is used to: estimate a second time required to complete the OTA upgrade, and output the second time to remind the user.

[0100] In one possible implementation, the second control module 202 is specifically used to: when the vehicle is in OTA upgrade mode, if a request for purging the fuel cell is received, then after the OTA upgrade is completed, the entire vehicle state is controlled to be in a high-pressure state to purge the fuel cell under high-pressure state.

[0101] In one possible implementation, the second control module 202 is specifically used to: after the OTA upgrade of the high-voltage components is completed, control the state of the entire vehicle to maintain a high-voltage state, so as to purge the fuel cell under the high-voltage state; wherein, during the OTA upgrade of the high-voltage components, the state of the entire vehicle is a high-voltage state; after the OTA upgrade of the low-voltage components is completed, control the state of the entire vehicle to switch from a low-pressure state to a high-pressure state, so as to purge the fuel cell under the high-pressure state; wherein, during the OTA upgrade of the low-pressure components, the state of the entire vehicle is a low-pressure state.

[0102] In one possible implementation, the second control module 202 is also used to: suspend the execution of the self-wake-up parking purge function when the vehicle is in the OTA upgrade mode, and resume the execution of the self-wake-up parking purge function after the vehicle exits the OTA upgrade mode; wherein the self-wake-up parking purge function is: periodically waking up the fuel cell controller to perform parking purge on the fuel cell.

[0103] FIG3 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

[0104] Exemplarily, as shown in FIG3 , the vehicle 300 includes: a memory 301 and a processor 302 , wherein the memory 301 stores executable program code, and the processor 302 is used to call and execute the executable program code to perform a vehicle control method.

[0105] This embodiment can divide the vehicle into functional modules based on the above-described method example. For example, each functional module can be mapped to a specific function, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only one logical functional division. In actual implementation, other division methods may be used.

[0106] In the case of dividing each functional module into corresponding functional modules, the vehicle may include: a first control module and a second control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0107] The vehicle provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0108] In the case of an integrated unit, the vehicle may include a processing module and a storage module. The processing module may be used to control and manage the vehicle's movements, while the storage module may be used to support the vehicle's execution of program codes and data.

[0109] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0110] This embodiment also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method in the above-mentioned embodiment.

[0111] This embodiment further provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method in the above-mentioned embodiment.

[0112] In addition, the vehicle provided in the embodiments of the present application can specifically be a chip, component or module, and the vehicle may include a connected processor and memory; wherein the memory is used to store instructions, and when the vehicle is running, the processor can call and execute the instructions so that the chip executes a vehicle control method in the above embodiment.

[0113] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this embodiment are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0114] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0115] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0116] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method of controlling a vehicle, wherein: The method comprises: During the purging of the vehicle's fuel cell, if an OTA upgrade request is received, the OTA upgrade is performed after the purging is completed; When the vehicle is in the OTA upgrade mode, if a purge request for the fuel cell is received, the fuel cell is purged after the OTA upgrade is completed.

2. The method according to claim 1, wherein: If an OTA upgrade request is received, the OTA upgrade is performed after the purge is completed, including: If the OTA upgrade request is a request to upgrade a high-voltage component, after the purge is completed, the vehicle state is controlled to maintain a high-voltage state, so as to upgrade the high-voltage component in the high-voltage state; If the OTA upgrade request is a request to upgrade a low-voltage component, the entire vehicle state is controlled to maintain a low-voltage state after the purge is completed, so as to upgrade the low-voltage component in the low-voltage state.

3. The method according to claim 2, wherein: If the OTA upgrade request is a request to upgrade a high-voltage component, the method further includes: Determine the vehicle status; When the whole vehicle state is in a first high-pressure state, controlling the vehicle to maintain in the first high-pressure state; wherein, in the first high-pressure state, the vehicle cannot be driven; When the vehicle is in a second high-pressure state, switching the second high-pressure state to the first high-pressure state; wherein the vehicle can travel in the second high-pressure state; The upgrading of the high-voltage component under the high-voltage state comprises: The high voltage component is upgraded in the first high voltage state.

4. The method according to claim 2, wherein: If the OTA upgrade request is a request for upgrading a low-voltage component, controlling the vehicle state to maintain a low-voltage state after the purge is completed, so as to upgrade the low-voltage component in the low-voltage state, includes: If the OTA upgrade request is a request to upgrade a low-voltage component, requesting the vehicle to lower the high voltage; If it is detected within a preset time that the vehicle enters a low-pressure state, it is determined that the purging is completed, and the entire vehicle state is controlled to maintain a low-pressure state, so as to upgrade the low-pressure components in the low-pressure state.

5. The method according to claim 2, wherein: If the OTA upgrade request is a request to upgrade a high voltage component, the method further includes: Detecting whether a target fault occurs in the fuel cell system of the vehicle; wherein the target fault is a fault that prohibits high voltage from being applied to the vehicle; In the event of the target fault, upgrading of the high voltage component is not performed.

6. The method according to claim 1, wherein: During the purging of the fuel cell of the vehicle, if an OTA upgrade request is received, the method further includes: estimating a first time duration required for the purge to be completed, and outputting the first time duration to remind the user; and / or, When the vehicle is in the OTA upgrade mode, if a purge request for the fuel cell is received, the method further includes: Estimate the second duration required for the OTA upgrade to complete, and output the second duration to remind the user.

7. The method according to claim 1, wherein: When the vehicle is in the OTA upgrade mode, if a purge request for the fuel cell is received, the fuel cell is purged after the OTA upgrade is completed, including: When the vehicle is in the OTA upgrade mode, if a purge request for the fuel cell is received, after the OTA upgrade is completed, the whole vehicle state is controlled to be in a high-pressure state to purge the fuel cell in the high-pressure state.

8. The method according to claim 7, wherein: After the OTA upgrade is completed, controlling the vehicle state to be in a high-pressure state so as to purge the fuel cell in the high-pressure state includes: After the OTA upgrade of the high-voltage component is completed, the whole vehicle state is controlled to maintain a high-voltage state, so as to purge the fuel cell under the high-voltage state; wherein, during the OTA upgrade of the high-voltage component, the whole vehicle state is the high-voltage state; After the OTA upgrade of the low-pressure component is completed, the whole vehicle state is controlled to switch from the low-pressure state to the high-pressure state, so as to purge the fuel cell under the high-pressure state; wherein, during the OTA upgrade of the low-pressure component, the whole vehicle state is the low-pressure state.

9. The method according to claim 1, wherein: When the vehicle is in OTA upgrade mode, the method further includes: Suspending the execution of the self-wake-up parking purge function, and resuming the execution of the self-wake-up parking purge function after the vehicle exits the OTA upgrade mode; The self-awakening parking purge function is to wake up the controller of the fuel cell at a fixed time to perform parking purge on the fuel cell.

10. A vehicle control device, wherein: include: A first control module, configured to, if an OTA upgrade request is received during the purging of a fuel cell of a vehicle, perform the OTA upgrade after the purging is completed; The second control module is configured to purge the fuel cell after the OTA upgrade is completed if a purge request for the fuel cell is received when the vehicle is in the OTA upgrade mode.

11. A vehicle, wherein: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory so that the vehicle executes the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, wherein: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 9 is implemented.

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