Charging control method and apparatus for vehicle, and storage medium and vehicle

Abstract

Disclosed in the present disclosure are a charging control method and apparatus for a vehicle, and a storage medium and a vehicle. The method relates to the field of vehicle control, and comprises: in response to detecting that a charging power-on condition of a vehicle meets a preset power-on condition, controlling a first negative relay of the vehicle to be turned on; in response to detecting that a turning-on state of the first negative relay is normal, controlling a first positive relay of the vehicle to be turned on; in response to detecting that a turning-on state of the first positive relay is normal, controlling a direct-current converter of the vehicle to convert direct-current electrical energy of the vehicle into charging electrical energy for a traction battery of the vehicle, wherein the direct-current converter is used for converting the direct-current electrical energy of the vehicle into the charging electrical energy for the traction battery of the vehicle; and on the basis of the charging electrical energy for the traction battery, controlling a charger of the vehicle to charge and power on the vehicle.

Description

Vehicle charging control method and device, storage medium and vehicle

[0001] Cross-reference to related applications

[0002] The present disclosure claims priority to the Chinese patent application No. 202410418892.0, filed on April 9, 2024, entitled "Vehicle charging control method and device, storage medium and vehicle", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present disclosure relates to the field of vehicle control, in particular, to a vehicle charging control method and device, storage medium and vehicle. BACKGROUND

[0004] New energy hybrid vehicles are automobiles that obtain power from at least two types of energy sources, in which an engine consumes fuel and a motor consumes electric energy. Compared with traditional vehicles, hybrid vehicles increase high-voltage components such as power batteries, drive motors, direct current converters, and on-board chargers. Traditional cars do not have high-voltage components similar to hybrid vehicles, and the on-off power control is mainly the weak power management of the 12V low-voltage system, and there is no on-off power control during charging. The power system of a hybrid vehicle is more complex than that of a traditional vehicle, and the former adds complex power electronic devices such as an on-board charger, a power battery, and a direct current converter on the basis of the latter. The current on-off power control technology of hybrid vehicles only considers the states of the main driver door, the front hood, the brake pedal, and the gear position to determine whether an abnormality occurs in the charging on-off power process of the vehicle, but the above state determination has a delay, and the driver may not be able to discover the abnormality in the charging on-off power process until after the abnormality occurs, which results in poor stability and reliability of the charging on-off power of the vehicle.

[0005] At present, there is no effective solution to the above problems. SUMMARY

[0006] The embodiments of the present disclosure provide a vehicle charging control method and device, storage medium and vehicle to at least solve the technical problem of poor stability and reliability of the charging on-off power of the vehicle in the related art.

[0007] According to an aspect of an embodiment of the present disclosure, a control method of vehicle charging is provided. The method comprises: in response to detecting that a charging power-on condition of a vehicle satisfies a power-on preset condition, controlling a first negative relay of the vehicle to close, wherein the first negative relay is configured to connect a charging circuit of the vehicle to a negative pole of a charging power supply; in response to detecting that a closing state of the first negative relay is normal, controlling a first positive relay of the vehicle to close, wherein the first positive relay is configured to connect the charging circuit of the vehicle to a positive pole of the charging power supply; in response to detecting that a closing state of the first positive relay is normal, controlling a direct current converter of the vehicle to convert direct current power of the vehicle into charging power of a power battery of the vehicle; and based on the charging power of the power battery, controlling a charger of the vehicle to charge the vehicle to be powered on.

[0008] Further, the power-on preset condition comprises: a vehicle key of the vehicle being in an off position; at least one controller of the vehicle being successfully woken up; a battery state of the vehicle being normal; a charge value of the power battery of the vehicle being less than a preset charge value; a charger state of the vehicle being normal; a battery charging state of the vehicle being normal; a direct current-direct current converter state of the vehicle being normal; an insulation fault state of the vehicle being normal; and states of the first negative relay and the first positive relay being normal.

[0009] Further, after the first negative relay is controlled to close, the method further comprises: comparing an input voltage of the first negative relay with a bus voltage of the power battery of the vehicle to obtain a first comparison result; in response to the first comparison result being that the input voltage of the first negative relay is equal to the bus voltage, controlling the vehicle to stop charging power-on, and controlling the first negative relay and the first positive relay to disconnect charging connection; and in response to the vehicle stopping charging power-on and the first negative relay and the first positive relay disconnecting charging connection, generating abnormal prompt information of the first negative relay.

[0010] Further, after the first positive relay is controlled to close, the method further comprises: in response to detecting that an input voltage of the first positive relay does not change, controlling the vehicle to stop charging power-on, and controlling the first positive relay and the first negative relay to disconnect charging connection; and in response to the vehicle stopping charging power-on and the first negative relay and the first positive relay disconnecting charging connection, generating abnormal prompt information of the first positive relay.

[0011] Further, the method further comprises: in response to detecting that a charging power-off condition of the vehicle satisfies a power-off preset condition, controlling the power battery to prohibit charging, controlling the charger to stop charging power-on, and controlling the first positive relay to disconnect; in response to detecting that a disconnecting state of the first positive relay is normal, controlling the first negative relay to disconnect; in response to detecting that a disconnecting state of the first negative relay is normal, controlling the vehicle to continue charging power-off; and in response to charging power-off of the vehicle being completed, controlling the vehicle to enter a sleep mode.

[0012] Further, the power-down preset condition comprises at least one of: a charging gun connection line of the vehicle is disconnected; the charging machine of the vehicle is abnormal; the power battery of the vehicle is fully charged; the vehicle receives a request to prohibit charging.

[0013] Further, after the first positive relay is controlled to be disconnected, the method further comprises: comparing a falling rate of the input voltage of the first positive relay with a preset rate to obtain a second comparison result; and in response to the second comparison result being that the falling rate is less than or equal to the preset rate, generating an abnormal prompt information of the first positive relay.

[0014] According to another aspect of the embodiments of the present disclosure, a control device for vehicle charging is also provided, comprising: a first control component configured to control a first negative relay of the vehicle to be closed in response to detecting that a charging power-on condition of the vehicle meets a power-on preset condition, wherein the first negative relay is configured to connect a charging circuit of the vehicle to a negative pole of a charging power source; a second control component configured to control a first positive relay of the vehicle to be closed in response to detecting that a closing state of the first negative relay is normal, wherein the first positive relay is configured to connect the charging circuit of the vehicle to a positive pole of the charging power source; a third control component configured to control a direct current converter of the vehicle to convert direct current electric energy of the vehicle into charging electric energy of a power battery of the vehicle in response to detecting that a closing state of the first positive relay is normal, wherein the direct current converter is configured to convert the direct current electric energy of the vehicle into the charging electric energy of the power battery; and a fourth control component configured to control a charging machine of the vehicle to charge the vehicle based on the charging electric energy of the power battery.

[0015] According to another aspect of the embodiments of the present disclosure, a vehicle is also provided, comprising: a memory storing an executable program; and a processor configured to run the program, wherein the program, when running, executes the method in the various embodiments of the present disclosure.

[0016] According to another aspect of the embodiments of the present disclosure, a computer readable storage medium is also provided, comprising a stored executable program, wherein the executable program, when running, controls a device where the computer readable storage medium is located to execute the method in the various embodiments of the present disclosure.

[0017] According to another aspect of the embodiments of the present disclosure, a computer program product is also provided, comprising a computer program, which, when executed by a processor, implements the method in the various embodiments of the present disclosure.

[0018] According to another aspect of the embodiments of the present disclosure, a computer program product is also provided, comprising a non-volatile computer readable storage medium storing a computer program, which, when executed by a processor, implements the method in the various embodiments of the present disclosure.

[0019] According to another aspect of the embodiments of the present disclosure, a computer program is further provided. When the computer program is executed by a processor, the method in each embodiment of the present disclosure is implemented.

[0020] In the embodiment of the present disclosure, in response to detecting that the charging power-on conditions of the vehicle meet the preset power-on conditions, the first negative relay of the vehicle is controlled to be closed; in response to detecting that the closing state of the first negative relay is normal, the first positive relay of the vehicle is controlled to be closed; in response to detecting that the closing state of the first positive relay is normal, the DC converter of the vehicle is controlled to convert the DC electrical energy of the vehicle into the charging electrical energy of the vehicle's power battery; based on the charging electrical energy of the power battery, the charger of the vehicle is controlled to charge and power on the vehicle. It is easy to notice that the vehicle's charging and power-on process mainly relies on the first negative relay, the first positive relay and the DC converter. By detecting the above relays and converters, the abnormality in the vehicle's charging and power-on process can be discovered in the first time, avoiding the serious consequences that may be caused by delays. In addition, by controlling the faulty first negative relay, or the first positive relay, or the DC converter in turn, the purpose of minimizing the impact of abnormalities through the lowest control cost is achieved. Furthermore, each step of the vehicle's charging and power-on can be carried out smoothly and effectively, thereby ensuring the stability and reliability of the vehicle's charging and power-on, achieving the purpose of improving the stability and reliability of the vehicle's charging and power-on, thereby achieving the technical effect of ensuring the stability and reliability of the vehicle's charging and power-on, and thus solving the technical problem of poor stability and reliability of vehicle charging and power-on in related technologies. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0022] FIG1 is a flow chart of a method for controlling vehicle charging according to an embodiment of the present disclosure;

[0023] FIG2 is a schematic structural diagram of an optional vehicle power system according to an embodiment of the present disclosure;

[0024] FIG3 is a schematic diagram of an optional vehicle charging and power-on structure according to an embodiment of the present disclosure;

[0025] FIG4 is a schematic diagram of a vehicle charging control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] In order to better understand the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative work should fall within the protection scope of the present disclosure.

[0027] It should be noted that the terms "first", "second", and the like in the specification and claims of the present disclosure and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or a chronological sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or components does not necessarily have to include only those steps or components clearly listed, but can include other steps or components not clearly listed or inherent to such a process, method, product or device.

[0028] Embodiment 1

[0029] According to the embodiments of the present disclosure, a vehicle charging control method embodiment is provided. It should be noted that the steps shown in the flowchart of the drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described herein can be executed in an order different from that herein.

[0030] FIG. 1 is a flowchart of a vehicle charging control method according to an embodiment of the present disclosure. As shown in FIG. 1, the method includes the following steps:

[0031] In step S102, in response to detecting that the charging power-on condition of the vehicle satisfies the power-on preset condition, the first negative relay of the vehicle is controlled to be closed, wherein the first negative relay is used to connect the charging circuit of the vehicle to the negative pole of the charging power supply.

[0032] The vehicle can be any kind of hybrid vehicle, and the specific vehicle type is not limited in the embodiment, and the user can set it according to the actual needs. The power-on preset condition can be set in advance by the user to ensure that the vehicle can be charged safely, stably and reliably. The specific power-on preset condition can include but is not limited to whether the vehicle key is closed, whether the controller can be successfully awakened, whether the battery state of the battery management system is normal, whether the charge value of the power battery meets the charging value, whether the motor state is normal, whether the direct current converter state is normal, whether the vehicle on-board charger integrated direct current converter (DCDC) relay fails, and whether the vehicle fails. The on-board charger integrated DCDC relay is used to connect the on-board charger integrated DCDC device with the power system and the power battery of the vehicle, including the on-board charger integrated DCDC negative relay and the on-board charger integrated DCDC positive relay. The on-board charger integrated DCDC device is an integrated device after the charger and the direct current converter of the hybrid vehicle are integrated. It should be noted that only when the charging power-on condition of the vehicle meets all the power-on preset conditions, it can be indicated that the charging power-on condition of the vehicle meets the power-on preset condition.

[0033] The first negative relay can be an on-board charger integrated DCDC negative relay in the hybrid vehicle. The charging power source can be any one or more of different types of charging piles that can provide power to the hybrid vehicle, and the specific charging pile type is not limited in the embodiment. For example, it can include but is not limited to fast charging pile, slow charging pile and intelligent charging pile, wherein the intelligent charging pile can automatically select the appropriate charging mode for the vehicle based on the battery state of the vehicle.

[0034] In an optional embodiment, when the vehicle needs to be charged through the charging pile, the vehicle can be first physically connected to the charging pile through the charging line. For example, when the charging plug is inserted into the vehicle, the charging gun is connected to the charging hard line signal of the vehicle charger, which further awakens the hybrid control unit (HCU). The HCU can detect whether the charging power-on condition of the vehicle meets the power-on preset condition. When the charging power-on condition of the vehicle meets all the power-on preset conditions, the first negative relay of the vehicle can be controlled to be closed, so that the charging circuit of the vehicle is connected to the negative electrode of the charging power source. Further, the vehicle can be charged by the charging power source, wherein the charging power source is located in the charging pile.

[0035] Step S104, in response to detecting that the closing state of the first negative relay is normal, controlling the first positive relay of the vehicle to be closed, wherein the first positive relay is used to connect the charging circuit of the vehicle to the positive pole of the charging power supply.

[0036] The first positive relay described above can be an on-board charger integrated DCDC positive relay.

[0037] In an optional embodiment, after controlling the first negative relay of the vehicle to be closed, it can be first determined whether the closing state of the first negative relay is normal, for example, it can be determined whether the input voltage of the first negative relay reaches a preset voltage value, in the case that the input voltage of the first negative relay reaches the preset voltage value, it can be determined that the closing state of the first negative relay is normal; for example, it can be determined whether the contact of the first negative relay is normal, in the case that the contact of the first negative relay is clean and has no corrosion, it can be determined that the contact of the first negative relay is normal, thus it can be determined that the closing state of the first negative relay is normal, but not limited to this. Then, after determining that the closing state of the first negative relay is normal, the first positive relay of the vehicle can be controlled to be closed, so as to connect the charging circuit of the vehicle to the positive pole of the charging power supply, and further, the vehicle can be charged by the charging power supply.

[0038] Step S106, in response to detecting that the closing state of the first positive relay is normal, controlling the DC converter of the vehicle to convert the DC electric energy of the vehicle into the charging electric energy of the power battery of the vehicle, wherein the DC converter is used to convert the DC electric energy of the vehicle into the charging electric energy of the power battery of the vehicle.

[0039] The DC converter described above can be a DCDC converter, which is used for charging DC conversion. For example, the charging DC output by the charging power supply is first input to the input end of the DCDC converter, and then passes through the electronic elements inside the DCDC converter, such as inductors, capacitors and switching devices, etc., through conversion and adjustment, and finally through the output end of the DCDC converter, to output the DC of different voltage levels meeting the requirements of the power battery to the power battery of the vehicle, so as to achieve the purpose of charging the power battery.

[0040] In an optional embodiment, after controlling the first positive relay to be closed, it can be first determined whether the closing state of the first positive relay is normal, wherein the method of determining the closing state of the first positive relay is consistent with the method of determining the closing state of the first negative relay, which will not be repeated here. Secondly, in the case that the closing state of the first positive relay is determined to be normal, the DC converter of the vehicle can be controlled to convert the DC electric energy of the vehicle into the charging electric energy of the power battery of the vehicle, so as to achieve the purpose of charging the vehicle.

[0041] Step S108, based on the power battery charging electric energy, control the charger of the vehicle to charge the vehicle.

[0042] In an optional embodiment, in the case that the DC converter is working, the DC electric energy of the vehicle can be first converted into the power battery charging electric energy of the vehicle, and after the DC electric energy of the vehicle is converted into the power battery charging electric energy, the charger of the vehicle can be controlled to start working, that is, the charger can be controlled to start charging the vehicle.

[0043] In another optional embodiment, in the case that the charger is working (that is, the charger is charging the vehicle as described above), the charger can also feed back the working state, and in the case that the working state of the charger is determined to be normal, the instrument charging indicator light of the vehicle can also be controlled to become a constant-on mode, so as to directly remind the user (for example, the driver) that the vehicle is being charged safely, reliably and stably.

[0044] Through the above steps, the vehicle charging power-on process mainly relies on the first negative relay, the first positive relay and the DC converter, and through detection of the above relays and the converter, abnormalities in the vehicle charging power-on process can be found at the first time, serious consequences caused by delay can be avoided, in addition, through control of the first negative relay, the first positive relay or the DC converter in sequence when a fault occurs, the purpose of achieving minimum abnormality impact with the lowest control cost is achieved, further, each step of the vehicle charging power-on process can be carried out stably and effectively, and thus the stability and reliability of the vehicle charging power-on process can be ensured, the purpose of improving the stability and reliability of the vehicle charging power-on process is achieved, and thus the technical effect of ensuring the stability and reliability of the vehicle charging power-on process is achieved, and the technical problem of poor stability and reliability of the vehicle charging power-on process in the related art is solved.

[0045] Optionally, the power-on preset condition includes: the vehicle key of the vehicle is in a closed position; at least one controller of the vehicle is successfully woken up; the battery state of the vehicle is normal; the charge value of the power battery of the vehicle is less than a preset charge value; the state of the charger of the vehicle is normal; the battery charging state of the vehicle is normal; the state of the DC-DC converter of the vehicle is normal; the insulation fault state of the vehicle is normal; the states of the first negative relay and the first positive relay are normal.

[0046] The at least one controller can include, but is not limited to, an Engine Management System (EMS), an HCU, a Motor Control Unit (MCU), a Battery Management System (BMS), a Transmission Control Unit (TCU), a DCDC, an Instrument Cluster (IC), a Body Control Unit (BCM), and a Charger Control Unit (CCU). The preset charge value can be set in advance by a user to determine whether the vehicle needs to be charged, for example, in a case where the charge value of the power battery of the vehicle is less than the preset charge value, it can be determined that the vehicle needs to be charged. The specific value of the preset charge value is not limited in the embodiment, for example, it can be 90% of the total charge value of the power battery, and can also be 80% and the like.

[0047] In an alternative embodiment, the power-on preset conditions include the following: the vehicle key of the vehicle is in the Key Off position, if not in the Key Off position, the Hybrid Control Unit (HCU) can send a charging alarm indication signal to the instrument of the vehicle, the instrument lights up the charging alarm, and the user can be prompted with the key status at this time; at least one controller of the vehicle is successfully awakened by the HCU through the Controller Area Network (CAN) signal, if the awakening fails, the HCU controls to exit the charging power-on process, and the HCU stores the fault status at this time in the memory, and sends a charging alarm indication signal to the instrument; the battery state of the vehicle is normal, for example, the battery state signal reported by the BMS can be normal (i.e. BMS Ready = 1, 1 indicates normal, but not limited to this, 0 also indicates normal); the charge value of the power battery of the vehicle is less than the preset charge value; the charger state of the vehicle is normal, for example, the charger state can be checked to be normal (Charger Status = 1, 1 indicates normal, but not limited to this, 0 also indicates normal); the battery charging state of the vehicle is normal, for example, the battery charging state can be checked to be normal (Charge State = 1, 1 indicates normal, but not limited to this, 0 also indicates normal); the state of the DC-DC converter of the vehicle is normal, for example, the DCDC state can be checked to be normal (DCDC Status = 1, 1 indicates normal, but not limited to this, 0 also indicates normal); the insulation fault state of the vehicle is normal, for example, the last stored insulation fault condition of the vehicle can be read by the HCU to ensure that there is no insurmountable insulation fault, and this signal is sent by the BMS to the HCU; the state of the first negative relay and the first positive relay is normal, for example, in the case of checking the state of the charger integrated DCDC relay (including the positive relay and the negative relay) to be normal, the last stored relay fault condition can be read by the HCU to ensure that there is no fault, such as no power supply short circuit, sticking, and attraction failure, and this signal is sent by the BMS to the HCU, and for example, the charger integrated DCDC relay (including the positive relay and the negative relay) can be fed back by the BMS without control end open circuit and ground short circuit fault, if there are these two faults, the HCU controls to exit the charging power-on process and sends a charging power-on fault signal to the instrument, and the instrument prompts.

[0048] Optionally, in the case where the charging power-on conditions of the vehicle are determined to meet all the power-on preset conditions, the HCU can receive the charging request signal sent by the BMS, and the HCU can trigger the charging power-on control function, and the HCU feeds back a charging power-on permission signal to the BMS.

[0049] Optionally, after controlling the first negative relay to close, the method further includes: comparing the input terminal voltage of the first negative relay with the bus voltage of the vehicle's power battery to obtain a first comparison result; in response to the first comparison result that the input terminal voltage of the first negative relay is equal to the bus voltage, controlling the vehicle to stop charging and power on, and controlling the first negative relay and the first positive relay to disconnect the charging connection; in response to the vehicle stopping charging and powering on, and the charging connection between the first negative relay and the first positive relay being disconnected, generating an abnormal prompt information of the first negative relay.

[0050] The bus voltage of the power battery mentioned above is used to determine whether the closing state of the first negative relay is normal. When the input terminal voltage of the first negative relay is equal to the bus voltage of the power battery, it can indicate that the vehicle charger integrated DCDC negative relay has a sticking fault, that is, the vehicle charger integrated DCDC negative relay control terminal is short-circuited to the power supply. At this time, the charging power-on process can be exited and the fault power-off process can be entered: the HCU sends the vehicle charger integrated DCDC positive and negative relay disconnection instructions to the BMS. At the same time, the HCU stores the fault flag status value of the vehicle charger integrated DCDC negative relay in the EEPROM (memory) and sends a charging power-on fault signal to the instrument IC. The instrument provides a power-on abnormality information prompt (that is, the abnormal prompt information of the first negative relay). When the input terminal voltage of the first negative relay is less than the bus voltage of the power battery, it indicates that the closing state of the first negative relay is normal, and the subsequent charging steps can be entered. The above-mentioned first comparison result may include but is not limited to: the input terminal voltage is equal to the bus voltage, and the input terminal voltage is less than the bus voltage.

[0051] In an optional embodiment, after controlling the first negative relay to close, the HCU can first receive the closing state of the DCDC negative relay integrated in the vehicle charger and record the DCDC input terminal voltage in the closed state (i.e., the input terminal voltage of the first negative relay). Secondly, the input terminal voltage of the first negative relay can be compared with the bus voltage of the power battery to obtain a first comparison result. When the first comparison result is that the input terminal voltage is equal to the bus voltage, it indicates that the first negative relay has a adhesion fault, that is, the closing state of the first negative relay is abnormal. At this time, the vehicle can be controlled to stop charging and power on, and the first negative relay and the first positive relay can be controlled to disconnect the charging connection. When the vehicle stops charging and powering on, and the charging connection between the first negative relay and the first positive relay is disconnected, an abnormal prompt message of the first negative relay can be generated to prompt the user that the vehicle has a charging fault and needs to be handled in time. Further, the safety, reliability and stability of vehicle charging can be ensured.

[0052] Optionally, after the first positive relay is controlled to be closed, the method further comprises: in response to detecting that the input voltage of the first positive relay does not change, controlling the vehicle to stop charging power-on, and controlling the first positive relay and the first negative relay to disconnect the charging connection; in response to the vehicle stopping charging power-on and the first negative relay and the first positive relay disconnecting the charging connection, generating abnormal prompt information of the first positive relay.

[0053] In an optional embodiment, after the first positive relay is controlled to be closed, the HCU can first receive the closing state of the on-board charger integrated DCDC positive relay and record the DCDC input voltage in the closing state, and secondly detect the input voltage of the first positive relay. In the case that the input voltage of the first positive relay does not change (for example, the input voltage does not rise), it indicates that the on-board charger integrated DCDC positive relay has a pull-in failure, that is, the control end of the on-board charger integrated DCDC positive relay has a short circuit failure to the power supply. At this time, the vehicle can be controlled to stop charging power-on, that is, the vehicle can be controlled to exit the power-on process and enter the fault power-off process: the HCU sends a disconnection instruction of the on-board charger integrated DCDC positive and negative relays to the BMS. In the case that the vehicle stops charging power-on and the first negative relay and the first positive relay disconnect the charging connection, the fault flag state of the on-board charger integrated DCDC positive relay can be stored into the EEPROM (memory) through the HCU, and a charging power-on failure signal is sent to the instrument, and the instrument performs information prompt of power-on abnormality (that is, the abnormal prompt information of the first positive relay).

[0054] Optionally, the method further comprises: in response to detecting that the charging power-off condition of the vehicle meets a power-off preset condition, controlling the power battery to prohibit charging, controlling the charger to stop charging power-on, and controlling the first positive relay to disconnect; in response to detecting that the disconnection state of the first positive relay is normal, controlling the first negative relay to disconnect; in response to detecting that the disconnection state of the first negative relay is normal, controlling the vehicle to continue charging power-off; and in response to the charging power-off of the vehicle being completed, controlling the vehicle to enter a sleep mode.

[0055] The above-mentioned power-off preset condition can be set in advance by a user to ensure that the vehicle can safely, stably and reliably perform charging power-on. The power-off preset condition can include but is not limited to whether the charging gun connection line of the vehicle is disconnected, whether the charger of the vehicle has an abnormality, whether the charging of the power battery of the vehicle is completed, and whether the vehicle receives a charging prohibition request. In the case that the charging power-off condition of the vehicle meets any one of the power-off preset conditions, it can be determined that the charging power-off condition meets the power-off preset condition.

[0056] In an optional embodiment, during the process of charging the vehicle, the HCU can also detect in real time whether the charging power-off condition of the vehicle meets the preset power-off condition. If the charging power-off condition meets the preset power-off condition, the HCU can first control the power battery to stop charging. After the power battery stops charging, the HCU can send a DCDC stop working signal to the DCDC to stop the DCDC from working. In addition, the BMS can also notify the charger to stop working, that is, control the charger to stop charging and power on, and the HCU sends a charging completion signal to the instrument, and the charging indicator light of the instrument is turned off. Secondly, the first positive relay can be controlled to be disconnected. If the disconnection state of the first positive relay is normal, the HCU can control the first negative relay to be disconnected. If the disconnection state of the first negative relay is normal, the HCU can control the vehicle to continue to power off. If the charging power-off of the vehicle is completed, the vehicle can be controlled to enter the sleep mode. It should be noted that when the HCU triggers the sleep mode control, the HCU sends a sleep signal to other related controllers (BMS, DCDC, CCU, IC, etc.), and each controller enters the sleep mode after self-processing. Finally, the HCU enters the sleep mode.

[0057] Optionally, the preset power-off condition includes at least one of the following: the charging gun connection line of the vehicle is disconnected; the charger of the vehicle is abnormal; the power battery of the vehicle is fully charged; and the vehicle receives a charging request.

[0058] In an optional embodiment, the preset power-off condition of the vehicle includes at least one of the following: the charging gun connection line of the vehicle is disconnected; the charger of the vehicle is abnormal (including failure), and the signal is sent by the charger to the HCU; the power battery of the vehicle is fully charged, for example, the BMS can send a power battery charging completion signal to the HCU; and the vehicle receives a charging request, for example, the BMS sends a charging request prohibition signal (Charge Request = 0) to the HCU, the HCU feeds back a charging prohibition (Charge Permission = 0) to the BMS, and the HCU feeds back a power battery power-off signal to the BMS and controls the DCDC, the charger and the instrument.

[0059] Optionally, after the first positive relay is controlled to be disconnected, the method further includes: comparing the falling rate of the input voltage of the first positive relay with a preset rate to obtain a second comparison result; and in response to the second comparison result being that the falling rate is less than or equal to the preset rate, generating an abnormal prompt information of the first positive relay.

[0060] The preset rate can be set in advance by the user, and is used to determine whether the disconnection state of the first positive relay is normal. In a case where the falling rate of the input voltage of the first positive relay is greater than the preset rate, it is indicated that the disconnection state of the first positive relay is normal. In a case where the falling rate of the input voltage of the first positive relay is less than or equal to the preset rate, it is indicated that the first positive relay of the on-board charger integrated DCDC has a sticking fault, that is, the disconnection state of the first positive relay is abnormal, and at this time, the fault current process can be entered: the HCU sends a message to the BMS to disconnect the on-board charger integrated DCDC positive relay and negative relay, the HCU stores the fault flag of the on-board charger integrated DCDC positive relay into the EEPROM, and simultaneously detects whether the voltage at the DCDC input end rapidly falls. If yes, the positive relay is normal, otherwise, the on-board charger integrated DCDC positive relay has a sticking fault. The HCU stores the fault flag of the on-board charger integrated DCDC positive relay into the EEPROM, and finally sends a charging power-off fault signal to the instrument, and the instrument performs information prompting of abnormal power-on (that is, the abnormal prompt information of the first positive relay). The second comparison result can include but is not limited to: the falling rate of the input voltage of the first positive relay is greater than the preset rate, and the falling rate of the input voltage of the first positive relay is less than or equal to the preset rate.

[0061] In an optional embodiment, in a case where the first positive relay is disconnected, the falling rate of the input voltage of the first positive relay can be compared with the preset rate first to obtain a second comparison result. In a case where the second comparison result is that the falling rate is less than or equal to the preset rate, it can be indicated that the first positive relay has a sticking fault, and at this time, the abnormal prompt information of the first positive relay can be generated to prompt the user that the charging power-off of the vehicle has a fault and needs to be handled in time.

[0062] In another optional embodiment, in a case where the second comparison result is that the falling rate is greater than the preset rate, it is indicated that the disconnection state of the first positive relay is normal, and at this time, the HCU can send a message to the BMS to disconnect the on-board charger integrated DCDC negative relay, the BMS controls the on-board charger integrated DCDC negative relay to be disconnected, the BMS checks the disconnection state of the on-board charger integrated DCDC negative relay and feeds back to the HCU, and the HCU continues to control the charging power-off process. After waiting for the power-off to be completed, the HCU triggers the sleep mode control.

[0063] Fig. 2 is a structural schematic diagram of an optional vehicle power system according to an embodiment of the present disclosure. As shown in Fig. 2, the power system mainly comprises: an engine 21, a drive motor 22, a power battery 23, a gearbox 24, a clutch 25, a transmission mechanism 26, a charger 27, and other assembly components, as well as controllers corresponding to the power assembly components. The controllers include: an engine controller 28, a vehicle controller 29, a drive motor controller 210, a battery management system 211, a gearbox controller 212, a direct current converter 213, an instrument display 214, a charger controller 215, and a wheel 216. The charger 27 and the direct current converter 213 can be integrated into an integrated device.

[0064] As shown in Fig. 2, the engine controller 28 is connected with the engine 21 and the vehicle controller 29 respectively, the engine 21 is connected with the engine controller 28 and the clutch 25 respectively, the clutch 25 is connected with the engine 21 and the drive motor 22 respectively, the drive motor 22 is connected with the clutch 25 and the gearbox 24 respectively, the gearbox 24 is connected with the drive motor 22, the gearbox controller 212, and the transmission mechanism 26 respectively, the transmission mechanism 26 is connected with the gearbox 24 and the wheel 216 respectively, the direct current converter 213 is connected with the power battery 23 and the vehicle controller 29 respectively, the charger 27 is connected with the charger controller 215 and the power battery 23 respectively, the charger controller 215 is connected with the charger 27 and the vehicle controller 29 respectively, the power battery 23 is connected with the direct current converter 213, the charger 27, the battery management system 211, and the drive motor 22 respectively, the battery management system 211 is connected with the power battery 23 and the vehicle controller 29 respectively, the drive motor controller 210 is connected with the drive motor 22 and the vehicle controller 29 respectively, the gearbox controller 212 is connected with the gearbox 24 and the vehicle controller 29 respectively, and the vehicle controller 29 is connected with the charger controller 215, the direct current converter 213, the engine controller 28, the instrument display 214, the battery management system 211, the drive motor controller 210, and the gearbox controller 212 respectively.

[0065] It should be noted that the controllers communicate with each other through a CAN network. The HCU is the core controller of the vehicle, which is used to coordinate and control other subsystems, and to realize power system power-on and off and driving control. The EMS is used to control the engine, the MCU is used to control the drive motor, the BMS is used to control the power battery, the TCU is used to control the gearbox, the DCDC is used to convert charging direct current, and for vehicle charging, the charger and the DCDC can be integrated. The IC is used to display various system information, and the CCU is used to control the vehicle charger.

[0066] Fig. 3 is a schematic diagram of an optional vehicle charging power-on structure according to an embodiment of the present disclosure. As shown in Fig. 3, the structure includes: a motor system 31, a power battery 23, and an on-board charger integrated DCDC device 32. The relevant relays between the power battery 23 and the motor system 31 include a main positive relay 33, a pre-charge relay 34, and a main negative relay 35. The relevant relays between the on-board charger integrated DCDC device 32 and the power battery 23 include an on-board charger integrated DCDC positive relay 36 and an on-board charger integrated DCDC negative relay 37.

[0067] In the structure, the on-board charger integrated DCDC device 32 is connected to the on-board charger integrated DCDC positive relay 36 and the on-board charger integrated DCDC negative relay 37, respectively; the pre-charge relay 34 is connected to the motor system 31, the main positive relay 33, the power battery 23, and the on-board charger integrated DCDC positive relay 36, respectively; the main positive relay 33 is connected to the motor system 31, the pre-charge relay 34, the power battery 23, and the on-board charger integrated DCDC positive relay 36, respectively; the motor system 31 is connected to the pre-charge relay 34, the main positive relay 33, and the main negative relay 35, respectively; the power battery 23 is connected to the pre-charge relay 34, the main positive relay 33, the main negative relay 35, the on-board charger integrated DCDC positive relay 36, and the on-board charger integrated DCDC negative relay 37, respectively; the on-board charger integrated DCDC positive relay 36 is connected to the on-board charger integrated DCDC device 32, the pre-charge relay 34, the main positive relay 33, and the power battery 23, respectively; and the on-board charger integrated DCDC negative relay 37 is connected to the on-board charger integrated DCDC device 32, the main negative relay 35, and the power battery 23, respectively.

[0068] Optionally, the present disclosure also provides a test method for the charging management function. Table 1 is an optional charging management function test table according to an embodiment of the present disclosure. As shown in Table 1, the test item is the charging management function test, and the test sub-items include: charging indication function test, charging timing function test, charging reservation function test, charging power selection function test, and vehicle charging condition test.

[0069] Table 1

[0070] In the charging indication function test, the driver inserts the charging gun under the condition that the vehicle is stationary at the charging site, and tests whether the charging port atmosphere light is bright and whether the charging indication light on the instrument is on.

[0071] In the charging timing function test, the charging timing function operation is performed under the condition that the vehicle is stationary at the charging site, and the charging timing state and display are tested.

[0072] The charging reservation function test includes: in the charging place, when the vehicle is static, the charging time reservation function is operated, and the charging time reservation state and related display are tested.

[0073] The charging power selection function test includes: in the charging place, when the vehicle is static, different power levels are selected for charging through the charging power selection function, and whether the vehicle can be charged according to the selected power is tested.

[0074] The vehicle charging condition test includes:

[0075] 1) When the vehicle is in a low-voltage power-on state (key on state) and the gear is in P, the driver inserts the charging gun to test whether the charging function can be triggered and whether the function is normal.

[0076] 2) When the vehicle is in a high-voltage power-on state (key start state) and the gear is in P, the driver inserts the charging gun to test whether the charging function can be triggered and whether the function is normal.

[0077] 3) When the vehicle is static and powered off (key off state) and the gear is in N / R / D, the driver inserts the charging gun to test whether the charging function can be triggered and whether the function is normal.

[0078] Embodiment 2

[0079] According to another aspect of the embodiments of the present disclosure, a control device for vehicle charging is also provided, which can perform the control method for vehicle charging provided in Embodiment 1 above, and the specific implementation and preferred application scenarios are the same as those of Embodiment 1, which will not be repeated here.

[0080] FIG. 4 is a schematic diagram of a control device for vehicle charging according to an embodiment of the present disclosure. As shown in FIG. 4, the device includes: a first control component 42 configured to control a first negative relay of the vehicle to close in response to detecting that a charging power-on condition of the vehicle satisfies a power-on preset condition, wherein the first negative relay is configured to connect a charging circuit of the vehicle to a negative pole of a charging power source; a second control component 44 configured to control a first positive relay of the vehicle to close in response to detecting that a closing state of the first negative relay is normal, wherein the first positive relay is configured to connect the charging circuit of the vehicle to a positive pole of the charging power source; a third control component 46 configured to control a direct current converter of the vehicle to convert direct current electric energy of the vehicle into charging electric energy of a power battery of the vehicle in response to detecting that a closing state of the first positive relay is normal, wherein the direct current converter is configured to convert the direct current electric energy of the vehicle into the charging electric energy of the power battery of the vehicle; and a fourth control component 48 configured to control a charger of the vehicle to charge the vehicle based on the charging electric energy of the power battery.

[0081] Optionally, the power-on preset condition comprises: a vehicle key of the vehicle is in a closed position; at least one controller of the vehicle is successfully woken up; a battery state of the vehicle is normal; a charge value of a power battery of the vehicle is less than a preset charge value; a charger state of the vehicle is normal; a battery charging state of the vehicle is normal; a DC-DC converter state of the vehicle is normal; an insulation fault state of the vehicle is normal; a state of the first negative relay and the first positive relay is normal.

[0082] Optionally, after the first negative relay is controlled to be closed, the first control component further comprises: a first comparison component configured to compare an input voltage of the first negative relay with a bus voltage of the power battery of the vehicle to obtain a first comparison result; a first sub-control component configured to, in response to the first comparison result being that the input voltage of the first negative relay is equal to the bus voltage, control the vehicle to stop charging power-on, and control the first negative relay and the first positive relay to disconnect the charging connection; and a first generation component configured to, in response to the vehicle stopping charging power-on and the charging connection of the first negative relay and the first positive relay being disconnected, generate an abnormal prompt information of the first negative relay.

[0083] Optionally, after the first positive relay is controlled to be closed, the second control component further comprises: a second sub-control component configured to, in response to detecting that the input voltage of the first positive relay does not change, control the vehicle to stop charging power-on, and control the first positive relay and the first negative relay to disconnect the charging connection; and a second generation component configured to, in response to the vehicle stopping charging power-on and the charging connection of the first negative relay and the first positive relay being disconnected, generate an abnormal prompt information of the first positive relay.

[0084] Optionally, the device further comprises: a fifth control component configured to, in response to detecting that a charging power-off condition of the vehicle meets a power-off preset condition, control the power battery to prohibit charging, control the charger to stop charging power-on, and control the first positive relay to be disconnected; a sixth control component configured to, in response to detecting that a disconnection state of the first positive relay is normal, control the first negative relay to be disconnected; a seventh control component configured to, in response to detecting that a disconnection state of the first negative relay is normal, control the vehicle to continue charging power-off; and an eighth control component configured to, in response to the charging power-off of the vehicle being completed, control the vehicle to enter a sleep mode.

[0085] Optionally, the power-off preset condition comprises at least one of: a charging gun connection line of the vehicle is disconnected; a charger of the vehicle is abnormal; charging of the power battery of the vehicle is completed; and the vehicle receives a charging prohibition request.

[0086] Optionally, after the first positive relay is controlled to be turned off, the fifth control component further includes: a second comparison component configured to compare a falling rate of the input voltage of the first positive relay with a preset rate to obtain a second comparison result; and a third generation component configured to generate an abnormal prompt information of the first positive relay in response to the second comparison result being that the falling rate is less than or equal to the preset rate.

[0087] Embodiment 3

[0088] The embodiments of the present application further provide a vehicle, including: a memory storing an executable program; and a processor configured to execute the program, wherein the program is executed to perform the method in the embodiments of the present application.

[0089] Embodiment 4

[0090] The embodiments of the present application further provide a computer readable storage medium, including a stored executable program, wherein the executable program is executed to control a device where the computer readable storage medium is located to perform the method in the embodiments of the present application.

[0091] Embodiment 5

[0092] The embodiments of the present application further provide a computer program product, including a computer program, wherein the computer program is executed by a processor to implement the method in the embodiments of the present application.

[0093] Embodiment 6

[0094] The embodiments of the present application further provide a computer program product, including a non-volatile computer readable storage medium, wherein the non-volatile computer readable storage medium is configured to store a computer program, and the computer program is executed by a processor to implement the method in the embodiments of the present application.

[0095] Embodiment 7

[0096] The embodiments of the present application further provide a computer program, wherein the computer program is executed by a processor to implement the method in the embodiments of the present application.

[0097] The above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0098] In the above-mentioned embodiments of the present application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0099] In several embodiments provided in the present application, it should be understood that the disclosed technical contents can be implemented by other manners. Among them, the above-described device embodiments are only illustrative, for example, the division of components can be a logical function division, and actual implementation can have another division manner, for example, a plurality of components or can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the displayed or discussed each other can be through some interface, indirect coupling or communication connection of components or components, and can be electrical or other forms.

[0100] The components described as separate components can or can not be physically separated, and the components shown as components can or can not be physical components, that is, can be located in one place, or can be distributed to a plurality of components. Part or all of the components can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0101] In addition, the functional components in each embodiment of the present disclosure can be integrated in one processing component, or each component can exist physically, or two or more components can be integrated in one component. The integrated component can be realized in the form of hardware or software functional component.

[0102] The integrated component, if realized in the form of software functional component and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present disclosure essentially or the part of the prior art or the whole or part of the technical scheme can be embodied in the form of software product, and the computer software product stored in a storage medium includes a plurality of instructions for making a computer device (which can be a personal computer, a server or a network device, etc.) execute all or part of the steps of the method described in each embodiment of the present disclosure. The foregoing storage medium includes a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various program code storage media.

[0103] The above description is only the preferred embodiment of the present disclosure, and it should be pointed out that for ordinary skilled in the art, without departing from the principles of the present disclosure, a number of improvements and refinements can be made, and these improvements and refinements should be regarded as the protection scope of the present disclosure. Industrial applicability

[0104] The present disclosure discloses a vehicle charging control method and device, a storage medium and a vehicle. The method relates to the field of vehicle control and comprises the following steps: in response to detecting that a charging power-on condition of a vehicle meets a power-on preset condition, controlling a first negative relay of the vehicle to be closed; in response to detecting that a closing state of the first negative relay is normal, controlling a first positive relay of the vehicle to be closed; in response to detecting that a closing state of the first positive relay is normal, controlling a direct-current converter of the vehicle to convert direct-current electric energy of the vehicle into charging electric energy of a power battery of the vehicle, wherein the direct-current converter is used to convert the direct-current electric energy of the vehicle into the charging electric energy of the power battery of the vehicle; and based on the charging electric energy of the power battery, controlling a charger of the vehicle to charge the vehicle to be powered on. The present disclosure solves the technical problem of poor stability and reliability of vehicle charging power-on in the related art.

Claims

1. A method for controlling vehicle charging, comprising: In response to detecting that a charging power-on condition of the vehicle satisfies a preset power-on condition, controlling a first negative relay of the vehicle to close, wherein the first negative relay is used to connect a charging circuit of the vehicle to a negative electrode of a charging power source; In response to detecting that the closing state of the first negative relay is normal, controlling a first positive relay of the vehicle to close, wherein the first positive relay is used to connect a charging circuit of the vehicle to a positive electrode of the charging power source; In response to detecting that the closed state of the first positive relay is normal, controlling the DC converter of the vehicle to convert the DC power energy of the vehicle into charging power energy for the power battery of the vehicle, wherein the DC converter is used to convert the DC power energy of the vehicle into charging power energy for the power battery of the vehicle; Based on the charging power of the power battery, the charger of the vehicle is controlled to charge and power on the vehicle.

2. The method according to claim 1, wherein The power-on preset conditions include: a vehicle key for said vehicle being in the off position; At least one controller of the vehicle is successfully awakened; The battery status of the vehicle is normal; The charge value of the power battery of the vehicle is less than a preset charge value; The charger of the vehicle is in normal condition; The battery charge state of the vehicle is normal; The DC-DC converter of the vehicle is in a normal state; The insulation fault state of the vehicle is normal; The states of the first negative relay and the first positive relay are normal.

3. The method according to claim 1, wherein After controlling the first negative relay to close, the method further includes: comparing the input terminal voltage of the first negative relay with the bus voltage of the power battery of the vehicle to obtain a first comparison result; In response to the first comparison result being that the input terminal voltage of the first negative relay is equal to the bus voltage, controlling the vehicle to stop charging and powering on, and controlling the first negative relay and the first positive relay to disconnect the charging connection; In response to the vehicle stopping charging and powering on, and the charging connection between the first negative relay and the first positive relay being disconnected, abnormality prompt information of the first negative relay is generated.

4. The method according to claim 1, wherein After controlling the first positive relay to close, the method further includes: In response to detecting that the voltage at the input terminal of the first positive relay has not changed, controlling the vehicle to stop the charging power-up, and controlling the first positive relay and the first negative relay to disconnect the charging connection; In response to the vehicle stopping charging and powering on, and the charging connection between the first negative relay and the first positive relay being disconnected, abnormality prompt information of the first positive relay is generated.

5. The method according to claim 1, wherein The method further comprises: In response to detecting that the charging power-off condition of the vehicle meets the preset power-off condition, controlling the power battery to prohibit charging, controlling the charger to stop charging and powering on, and controlling the first positive relay to disconnect; In response to detecting that the disconnection state of the first positive relay is normal, controlling the first negative relay to be disconnected; In response to detecting that the disconnection state of the first negative relay is normal, controlling the vehicle to continue the charging power-off; In response to completion of charging and powering off of the vehicle, the vehicle is controlled to enter a sleep mode.

6. The method according to claim 5, wherein: The power-off preset condition includes at least one of the following: The charging gun connection line of the vehicle is disconnected; The charger of the vehicle is abnormal; The power battery of the vehicle is fully charged; The vehicle receives a request to inhibit charging.

7. The method according to claim 5, wherein: After controlling the first positive relay to be disconnected, the method further includes: comparing a decreasing rate of the voltage at the input terminal of the first positive relay with a preset rate to obtain a second comparison result; In response to the second comparison result being that the falling rate is less than or equal to the preset rate, abnormal prompt information of the first positive relay is generated.

8. The method according to claim 1, wherein The first negative relay is a vehicle-mounted charger integrated DCDC negative relay, the first positive relay is a vehicle-mounted charger integrated DCDC positive relay, and the DC converter is a DCDC converter.

9. The method according to claim 1, wherein Based on the charging power of the power battery, controlling the charger of the vehicle to charge the vehicle includes: detecting whether the DC converter successfully converts the DC power energy of the vehicle into charging power energy for the power battery of the vehicle; In response to detecting that the DC converter successfully converts the DC power energy into the power battery charging power energy, the charger of the vehicle is controlled to charge the vehicle based on the power battery charging power energy.

10. The method according to claim 1, wherein After controlling the charger of the vehicle to charge the vehicle based on the charging power of the power battery, the method further includes: receiving a working status fed back by the charger, wherein the working status is used to indicate whether the charger can work normally; In response to the working state being that the working state of the charger is normal, controlling the charging indicator light of the instrument panel of the vehicle to change to a preset mode.

11. The method according to claim 2, wherein: The at least one controller includes at least one of the following: Engine controller, vehicle controller, drive motor controller, battery management system, transmission controller, DC converter, instrument display, body controller, and charger controller.

12. A vehicle charging control device, comprising: a first control component, configured to control a first negative relay of the vehicle to close in response to detecting that a charging power-on condition of the vehicle satisfies a preset power-on condition, wherein the first negative relay is configured to connect a charging circuit of the vehicle to a negative electrode of a charging power source; a second control component, configured to control a first positive relay of the vehicle to close in response to detecting that the closing state of the first negative relay is normal, wherein the first positive relay is configured to connect a charging circuit of the vehicle to a positive electrode of the charging power source; a third control component, configured to, in response to detecting that the closed state of the first positive relay is normal, control the DC converter of the vehicle to convert the DC power energy of the vehicle into charging power energy for the power battery of the vehicle, wherein the DC converter is configured to convert the DC power energy of the vehicle into charging power energy for the power battery of the vehicle; The fourth control component is used to control the charger of the vehicle to charge and power on the vehicle based on the charging energy of the power battery.

13. A vehicle, characterized in that: include: a memory storing an executable program; A processor, configured to run the program, wherein the program executes the method according to any one of claims 1 to 7 when running.

14. A computer-readable storage medium comprising a stored executable program, wherein: When the executable program is running, the device where the storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

15. A computer program product comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 7.

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