Vehicle control method and apparatus, vehicle, and storage medium

Abstract

A vehicle control method and apparatus (300), a vehicle, and a storage medium. The vehicle control method comprises: in response to a vehicle key being in a first contact position within a vehicle key slot, determining whether the vehicle meets a preset condition; in response to the vehicle meeting the preset condition, controlling the vehicle key to switch from the first contact position to a second contact position, so as to control the vehicle to enter a power-on start state; in response to the vehicle key being in the second contact position, determining state information of target relays of a power battery, the target relays comprising a main negative relay, a pre-charge relay, and a main positive relay; and, in response to the target relays being in a normal state, controlling the vehicle to drive.

Description

Control method and device of vehicle, vehicle and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of automation control, in particular, to a control method and device of vehicle, vehicle and storage medium. BACKGROUND

[0002] With the development of technology, new energy hybrid vehicles gradually entered the public view, new energy hybrid vehicles are at least from two types of energy sources to obtain power, in which the engine consumes fuel, and the motor consumes electric energy. Compared with traditional vehicles, hybrid vehicles increase high-voltage components such as power batteries, drive motors and DC converters, and based on the drive motor, power battery and reasonable control strategy, better vehicle function and performance can be achieved.

[0003] In a hybrid vehicle, the power battery provides the motor with a source of electric energy, which not only ensures the efficient driving output of the vehicle, but also recovers energy during sliding and braking, thereby achieving the goal of energy saving and emission reduction of the vehicle. Traditional cars do not have high-voltage components like hybrid cars, and their power-on and power-off control is mainly the weak current management of the 12V low-voltage system, while the power system of a hybrid vehicle is more complex than that of a traditional vehicle, as the former adds drive motors, power batteries, inverters and other complex power electronic devices to the latter. In order to ensure the safety and reliability of the vehicle power-on and power-off, the power battery needs to be reasonably controlled.

[0004] At present, there are limited special control methods for power batteries in the power-on and power-off control of hybrid vehicles. Therefore, in the field of new energy vehicle control, it is necessary to propose a more effective and reliable control method to reasonably control the power battery of the vehicle during the power-on and power-off process, so as to avoid the occurrence of corresponding problems in the subsequent vehicle driving process, thereby causing poor user driving experience.

[0005] SUMMARY

[0006] The embodiments of the present disclosure provide a control method and device of vehicle, vehicle and storage medium to at least solve the technical problem of poor user driving experience caused by limited control ability of the power battery in the vehicle in the prior art.

[0007] According to an embodiment of the present disclosure, a control method of a vehicle is provided, which is applied to a vehicle controller and includes: determining whether the vehicle meets a preset condition in response to a vehicle key being in a first contact position in a vehicle key socket; controlling the vehicle key to switch from the first contact position to a second contact position in response to the vehicle meeting the preset condition, so as to control the vehicle to enter a power-on starting state; determining state information of a target relay of a power battery in response to the vehicle key being in the second contact position, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay; and controlling the vehicle to run in response to the state of the target relay being normal.

[0008] Optionally, the control method of the vehicle further includes: determining whether target state signals of the vehicle are normal in response to the vehicle key being in the first contact position in the vehicle key socket, wherein the target state signals include motor state signals, battery state signals, anti-theft state signals and high-voltage interlock state signals; reading historical fault information of the vehicle in response to the target state signals being normal; determining whether there is a fault condition of the vehicle at present according to the historical fault information; determining whether a charging gun of the power battery is in a connected state in response to the vehicle not having the fault condition at present; and determining that the vehicle meets the preset condition in response to the charging gun not being in the connected state.

[0009] Optionally, the control method of the vehicle further includes: controlling the power battery to perform a high-voltage power-on operation in response to the vehicle meeting the preset condition; and controlling the vehicle key to switch from the first contact position to the second contact position in response to the power battery performing the high-voltage power-on operation.

[0010] Optionally, the control method of the vehicle further includes: obtaining a current vehicle speed of the vehicle in response to the vehicle key being in the second contact position; determining gear information of a gearbox of the vehicle in response to the current vehicle speed of the vehicle being a target value; obtaining a first difference in response to a gear of the gearbox being a target gear, wherein the first difference is a difference between a bus capacitor voltage value and a power battery voltage value; sending a first closing message to a battery management system in response to the first difference being greater than a first preset threshold, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle controller; determining whether the state of the main negative relay is normal according to the first closing state information in response to the first closing state information being received; determining fault conditions of the pre-charging relay and the main positive relay in response to the state of the main negative relay being normal; and determining state information of the pre-charging relay in response to the pre-charging relay and the main positive relay not having the fault.

[0011] Optionally, the control method of the vehicle further comprises: determining a first time instant at which the first closing state information is received and a second time instant at which the state of the main negative relay is determined to be normal; obtaining a bus capacitor voltage value of the vehicle at the first time instant and a bus capacitor voltage value of the vehicle at the second time instant; in response to the second difference being less than the second preset threshold, determining the state information of the pre-charging relay, wherein the second difference is a difference between the bus capacitor voltage value at the first time instant and the bus capacitor voltage value at the second time instant.

[0012] Optionally, the control method of the vehicle further comprises: in response to the second difference being greater than the second preset threshold and less than a third preset threshold, determining that the pre-charging relay has a sticking fault; in response to the second difference being greater than the third preset threshold, determining that the main positive relay has a sticking fault; in response to the pre-charging relay having the sticking fault and / or the main positive relay having the sticking fault, controlling the vehicle to perform a power-down operation.

[0013] Optionally, the control method of the vehicle further comprises: in response to the state of the main negative relay being normal, sending a second closing message to a battery management system, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle controller; in response to receiving the second closing state information, determining whether the state of the pre-charging relay is normal according to the second closing state information; and in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay.

[0014] Optionally, the control method of the vehicle further comprises: in response to the state of the pre-charging relay being abnormal, determining a fault type of the pre-charging relay, wherein the fault type comprises a power supply short circuit fault and a sticking fault; in response to the pre-charging relay having the power supply short circuit fault and / or the pre-charging relay having the sticking fault, controlling the vehicle to perform a power-down operation.

[0015] Optionally, the control method of the vehicle further comprises: in response to the state of the pre-charging relay being normal, sending a third closing message to a battery management system, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller; in response to receiving the third closing state information, determining whether the state of the main positive relay is normal according to the third closing state information; and in response to the state of the main positive relay being normal, controlling the vehicle to travel.

[0016] Optionally, the control method of the vehicle further comprises: in response to the state of the main positive relay being abnormal, controlling the vehicle to perform a power-down operation.

[0017] According to one of the embodiments of the present disclosure, a control device of a vehicle is also provided, which is applied to a vehicle controller and includes: a first determination module configured to determine whether the vehicle meets a preset condition in response to a vehicle key being in a first contact position in a vehicle key socket; a first control module configured to control the vehicle key to switch from the first contact position to a second contact position to control the vehicle to enter a power-on starting state in response to the vehicle meeting the preset condition; a second determination module configured to determine state information of a target relay of a power battery in response to the vehicle key being in the second contact position, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay; and a second control module configured to control the vehicle to run in response to the target relay being in a normal state.

[0018] Optionally, the first determination module includes: a first determination unit configured to determine whether a target state signal of the vehicle is normal in response to the vehicle key being in the first contact position in the vehicle key socket, wherein the target state signal includes a motor state signal, a battery state signal, an anti-theft state signal and a high-voltage interlock state signal; a reading unit configured to read historical fault information of the vehicle in response to the target state signal being normal; a second determination unit configured to determine whether the vehicle currently has a fault condition according to the historical fault information; a third determination unit configured to determine whether a charging gun of the power battery is in a connected state in response to the vehicle currently not having the fault condition; and a fourth determination unit configured to determine that the vehicle meets the preset condition in response to the charging gun not being in the connected state.

[0019] Optionally, the first control module includes: a first control unit configured to control the power battery to perform a high-voltage power-on operation in response to the vehicle meeting the preset condition; and a second control unit configured to control the vehicle key to switch from the first contact position to the second contact position in response to the power battery performing the high-voltage power-on operation.

[0020] Optionally, the second determining module comprises: a first obtaining unit, configured to obtain a current vehicle speed of the vehicle in response to the vehicle key being in the second contact position; a fifth determining unit, configured to determine the gear information of the gearbox of the vehicle in response to the current vehicle speed being a target value; a second obtaining unit, configured to obtain a first difference value in response to the gear of the gearbox being a target gear, wherein the first difference value is a difference value between the bus capacitor voltage value and the power battery voltage value; a sending unit, configured to send a first closing message to the battery management system in response to the first difference value being greater than a first preset threshold, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle controller; a sixth determining unit, configured to determine whether the state of the main negative relay is normal according to the first closing state information in response to receiving the first closing state information; a seventh determining unit, configured to determine the fault condition of the pre-charging relay and the main positive relay in response to the state of the main negative relay being normal; and an eighth determining unit, configured to determine the state information of the pre-charging relay in response to the pre-charging relay and the main positive relay not existing faults.

[0021] Optionally, the seventh determining unit comprises: a first determining sub-unit, configured to determine a first time of receiving the first closing state information and a second time of determining that the state of the main negative relay is normal; an obtaining sub-unit, configured to obtain the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time; and a second determining sub-unit, configured to determine the state information of the pre-charging relay in response to a second difference value being less than a second preset threshold, wherein the second difference value is a difference value between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time.

[0022] Optionally, the seventh determining unit further comprises: a third determining sub-unit, configured to determine that the pre-charging relay exists a sticking fault in response to the second difference value being greater than the second preset threshold and less than a third preset threshold; a fourth determining sub-unit, configured to determine that the main positive relay exists a sticking fault in response to the second difference value being greater than the third preset threshold; and a first control sub-unit, configured to control the vehicle to perform a power-off operation in response to the pre-charging relay existing a sticking fault and / or the main positive relay existing a sticking fault.

[0023] Optionally, the eighth determining unit comprises: a first sending sub-unit, configured to send a second closing message to the battery management system in response to the state of the main negative relay being normal, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle controller; a fifth determining sub-unit, configured to determine whether the state of the pre-charging relay is normal according to the second closing state information in response to receiving the second closing state information; and a sixth determining sub-unit, configured to determine the state information of the main positive relay in response to the state of the pre-charging relay being normal.

[0024] Optionally, the eighth determining unit further includes a seventh determining subunit, configured to determine a fault type of the pre-charging relay in response to the abnormal state of the pre-charging relay, wherein the fault type includes a power short circuit fault and a pull-in fault; and a second control subunit, configured to control the vehicle to perform a power-off operation in response to the pre-charging relay having the power short circuit fault and / or the pre-charging relay having the pull-in fault.

[0025] Optionally, the sixth determining subunit includes a second sending subunit, configured to send a third closing message to a battery management system in response to the normal state of the pre-charging relay, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller; an eighth determining subunit, configured to determine whether the state of the main positive relay is normal according to the third closing state information in response to receiving the third closing state information; and a third control subunit, configured to control the vehicle to travel in response to the normal state of the main positive relay.

[0026] Optionally, the sixth determining subunit further includes a fourth control subunit, configured to control the vehicle to perform a power-off operation in response to the abnormal state of the main positive relay.

[0027] According to an embodiment of the present disclosure, a vehicle is also provided, which includes a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the control method of the vehicle in any of the above embodiments.

[0028] According to an embodiment of the present disclosure, an electronic device is also provided, which includes a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to perform the control method of the vehicle in any of the above embodiments.

[0029] According to an embodiment of the present disclosure, a non-volatile storage medium is also provided, which stores a computer program, wherein the computer program is configured to perform the control method of the vehicle in any of the above embodiments when executed.

[0030] According to an embodiment of the present disclosure, a computer program product is also provided, which stores a computer program, wherein the computer program is configured to perform the steps of the control method of the vehicle in any of the above embodiments when executed by a processor.

[0031] In the embodiment of the present disclosure, the vehicle is determined whether to meet the preset condition in response to the vehicle key being in the first contact position in the vehicle key socket, the vehicle key is switched from the first contact position to the second contact position in response to the vehicle meeting the preset condition to control the vehicle to enter the power-on starting state, the purpose of determining the state information of the target relay of the power battery in response to the vehicle key being in the second contact position is achieved, wherein the target relay includes the main negative relay, the pre-charging relay and the main positive relay, so that the technical effect of controlling the vehicle to run in response to the target relay state being normal is achieved, and thus the technical problem that the user's driving experience is poor due to the limited control ability of the power battery in the vehicle in the prior art can be solved. BRIEF DESCRIPTION OF DRAWINGS

[0032] The accompanying drawings, which are included to provide a further understanding of the present disclosure and constitute a part of the present disclosure, illustrate the illustrative embodiments of the present disclosure and the description thereof serve to explain the present disclosure, and do not constitute improper limitations on the present disclosure. In the drawings:

[0033] FIG. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present disclosure;

[0034] FIG. 2 is a structural block diagram of a vehicle power system according to an embodiment of the present disclosure;

[0035] FIG. 3 is a structural block diagram of a control device of a vehicle according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0036] In order to enable those skilled in the art to better understand the present disclosure scheme, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with 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 skilled in the art without creative labor should fall within the scope of protection of the present disclosure.

[0037] 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 have to describe a specific order or a chronological sequence. It should be understood that the terms 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 including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0038] According to the embodiments of the present disclosure, an embodiment of a control method of a vehicle is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system comprising at least one set of computer executable instructions, and although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that here.

[0039] The method embodiments can also be executed in an electronic device comprising a memory and a processor, a similar control device, or a vehicle terminal. Taking the vehicle terminal as an example, the vehicle terminal can include one or more processors and a memory for storing data. Optionally, the vehicle terminal described above can also include a communication device for communication function and a display device. Those skilled in the art can understand that the above structural description is only illustrative, and it does not limit the structure of the vehicle terminal described above. For example, the vehicle terminal can also include more or less components than the above structural description, or have a different configuration from the above structural description.

[0040] The processor can include one or more processing units. For example: the processor can include processing devices such as central processing units (CPUs), graphics processing units (GPUs), digital signal processing (DSP) chips, microprocessors, field-programmable gate arrays (FPGAs), neural-network processing units (NPUs), tensor processing units (TPUs), artificial intelligent (AI) type processors, etc. Different processing units can be independent components or integrated in one or more processors. In some examples, the electronic device can also include one or more processors.

[0041] The memory can be used to store a computer program, for example, a computer program corresponding to the control method of the vehicle in the embodiments of the present disclosure. The processor implements the control method of the vehicle by running the computer program stored in the memory. The memory can include a high-speed random access memory, and can also include a non-volatile memory, such as one or more magnetic storage devices, flash memories, or other non-volatile solid-state memories. In some examples, the memory can further include a memory remotely arranged with respect to the processor, and the remote memory can be connected to the electronic device through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0042] The communication device is used to receive or send data via a network. The specific example of the network can include a wireless network provided by a communication provider of the mobile terminal. In one example, the communication device includes a network interface controller (NIC) which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the communication device can be a radio frequency (RF) module which is used to communicate with the Internet in a wireless manner. In some embodiments of the present solution, the communication device is used to connect with a mobile device such as a mobile phone or a tablet, and can send instructions to the vehicle terminal through the mobile device.

[0043] The display device can be a touch screen type liquid crystal display (LCD) and a touch display (also referred to as a "touch screen" or a "touch display screen"). The liquid crystal display can enable a user to interact with a user interface of the vehicle terminal. In some embodiments, the vehicle terminal has a graphical user interface (GUI), and a user can interact with the GUI through finger contact and / or gestures on a touch-sensitive surface. The human-computer interaction function can include a vehicle gear shifting function, and executable instructions for implementing the human-computer interaction function are configured / stored in one or more computer program products or readable storage media executable by the processor.

[0044] FIG. 1 is a flowchart of a control method of a vehicle according to an embodiment of the present disclosure. As shown in FIG. 1, the method includes the following steps:

[0045] In step S102, it is determined whether the vehicle satisfies a preset condition in response to the vehicle key being in a first contact position in the vehicle key socket.

[0046] Optionally, the execution subject of the present embodiment is a vehicle controller. It should be noted that other electronic devices and processors can also be used as the execution subject, which is not limited herein.

[0047] In the technical solution provided in the above step S102 of the present disclosure, in order to enable the target vehicle to start smoothly, the parameters of the target vehicle need to be detected first, and therefore when the vehicle key of the target vehicle is located in the first contact position in the vehicle key hole, the vehicle controller needs to first judge whether the target vehicle meets the preset starting condition, so as to facilitate the subsequent vehicle power-on operation.

[0048] Specifically, as shown in FIG. 2, the power system of the vehicle is mainly composed of engine, drive motor, power battery, gearbox, clutch, transmission mechanism and other assembly components, and there are controllers corresponding to each power assembly component.

[0049] Among them, the controllers include engine controller (EMS, Engine Management System), vehicle controller (HCU, Hybrid Control Unit), drive motor controller (MCU, Motor Control Unit), battery management system (BMS, Battery Management System), gearbox controller (TCU, Transmission Control Unit), direct current converter (DCDC, Direct Current Direct Current Converter), instrument display (IC, Instrument Cluster) and body controller (BCM, Body Control Unit), and each controller can communicate with each other through CAN network.

[0050] It is worth noting that the vehicle controller is the core controller of the vehicle, which is used to coordinate and control other subsystems, realize power-on and off of the power system and driving control, etc. The engine controller is used to control the engine, the drive motor controller is used to control the drive motor, the battery management system is used to control the power battery, the gearbox controller is used to control the gearbox, the direct current converter is used to convert high-voltage power battery energy into low-voltage 12V storage battery energy, and the instrument display is used to display information of each system of the vehicle.

[0051] Optionally, before the power-on operation of the target vehicle, the vehicle controller needs to detect the signals and state information fed back by the above-mentioned controllers to judge whether the state of the above-mentioned controllers meets the preset condition, and when the target vehicle meets the preset condition, the vehicle can be powered on.

[0052] Optionally, when the vehicle key is in the first contact position in the vehicle key hole, the related control unit such as the vehicle controller, the battery management system, the drive motor controller, etc. will perform the initialization self-check and complete the low-voltage power-on.

[0053] In step S104, in response to the vehicle meeting the preset condition, the vehicle key is switched from the first contact position to the second contact position to control the vehicle to enter the power-on starting state.

[0054] In the technical solution provided by the above step S104 of the present disclosure, when the target vehicle meets the preset condition before power-on, the vehicle key can be switched from the first contact position to the second contact position, and when the vehicle key is in the second contact position, it means that the vehicle can be powered on, and the vehicle controller can control the vehicle to enter the power-on starting state.

[0055] Optionally, when the vehicle key is in the second contact position in the vehicle key hole, the vehicle controller sends a power system enable signal to the related controller through the CAN communication bus and triggers the related control of the power battery.

[0056] In step S106, in response to the vehicle key being in the second contact position, the state information of the target relay of the power battery is determined, wherein the target relay includes a main negative relay, a pre-charge relay and a main positive relay.

[0057] In the technical solution provided by the above step S106 of the present disclosure, when the vehicle key of the target vehicle has been switched to the second contact position, the vehicle controller needs to detect the multiple target relays of the power battery before the vehicle starts, that is, to obtain the state information of each target relay, and determine whether the target vehicle meets the starting driving condition through the state information of the multiple target relays.

[0058] Specifically, the target relay includes a main negative relay, a pre-charge relay and a main positive relay.

[0059] Specifically, the detection of the multiple target relays includes the following steps: sequentially detecting the states of the main negative relay, the pre-charge relay and the main positive relay, when the vehicle controller determines that the state of the main negative relay is normal, detecting the faults of the pre-charge relay and the main positive relay, when there is no fault in the pre-charge relay and the main positive relay, continuing to detect the state of the pre-charge relay, and further, when the state of the pre-charge relay is normal, the vehicle controller continues to detect the state of the main positive relay.

[0060] Optionally, when any of the three relays fails, it means that the vehicle does not meet the driving condition, so the vehicle controller needs to perform the power-off operation on the vehicle.

[0061] Step S108, in response to the target relay state normal, control the vehicle to run.

[0062] In the technical solution provided by the above step S108 of the present disclosure, further, when the vehicle controller determines that the main negative relay, the pre-charge relay and the main positive relay are all in normal state during the above detection of the state information of the target relay, it indicates that the target vehicle meets the starting running condition at this time, and therefore the vehicle controller can control the target vehicle to start running.

[0063] Specifically, when the vehicle controller controls the power battery main negative relay to close, the pre-charge relay to close, the main positive relay to close, and the pre-charge relay to disconnect in sequence, it indicates that the vehicle high-voltage power-on is successful at this time, and the vehicle controller sends a signal HEVready=1 to the instrument at this time, and the instrument lights up a green indicator. When the green indicator lights up, it indicates that the vehicle can run, and at this time the driver can put the vehicle into forward gear and step on the accelerator to drive the target vehicle to run.

[0064] The above steps S102 to S108 can know that, in the present disclosure, the vehicle key is switched from the first contact position to the second contact position to control the vehicle to enter the power-on starting state in response to the vehicle key being in the first contact position in the vehicle key socket and the vehicle meeting the preset condition, which achieves the purpose of determining the state information of the target relay of the power battery in response to the vehicle key being in the second contact position, wherein the target relay includes: a main negative relay, a pre-charge relay and a main positive relay, thereby achieving the technical effect of controlling the vehicle to run in response to the target relay state being normal, and further solving the technical problem that the user's driving experience is poor due to the limited control ability of the power battery in the vehicle in the prior art.

[0065] It is worth noting that hybrid vehicles have drive motors and power batteries, and their power-on method is different from that of traditional vehicles. The power-on method of traditional vehicles cannot be directly used, and the power-on control method needs to be redesigned. During the power-on and power-off process, the control of high-voltage components such as power batteries will be involved, and an effective power battery control method plays a significant role in improving the stability and safety performance of the vehicle.

[0066] Compared with the prior art, the present disclosure proposes an effective control method for the vehicle power battery based on the power-on and power-off process of the hybrid vehicle power system, including power battery main negative relay control, pre-charge relay control, main positive relay control, and creates a power battery fault diagnosis processing method and designs a power system power-on and power-off function test method. Through reasonable control of the power battery, the stability and reliability of the vehicle running are ensured.

[0067] The above method of the embodiment is further described in detail below.

[0068] As an optional implementation, in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether the vehicle meets the preset condition includes: in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether a target state signal of the vehicle is normal, wherein the target state signal includes: a motor state signal, a battery state signal, an anti-theft state signal, and a high-voltage interlock state signal; in response to the target state signal being normal, reading historical fault information of the vehicle, determining whether there is a fault condition in the vehicle at present according to the historical fault information, and in response to the vehicle not having a fault condition at present, determining whether the charging gun of the power battery is in a connected state, and in response to the charging gun not being in the connected state, determining that the vehicle meets the preset condition.

[0069] In this embodiment, when the target vehicle key is in the first contact position in the vehicle key socket, determining whether the vehicle meets the preset condition includes the following steps: when the vehicle key is in the first contact position in the vehicle key socket, the vehicle controller needs to first determine whether the target state signal of the target vehicle is in a normal state, when the plurality of target state signals are in the normal state, the historical fault information of the vehicle is read, and the vehicle controller can determine whether there is a fault condition in the vehicle at present according to the read historical fault information, and in the case that the target vehicle does not have a fault condition at present, it is further determined whether the charging gun of the power battery is in a connected state, that is, whether the charging gun of the battery is in a charging state, and further, when the charging gun of the battery is not in the connected state, the vehicle controller can determine that the target vehicle meets the preset condition of power-on.

[0070] Specifically, the above target state signal includes: a motor state signal, a battery state signal, an anti-theft state signal, and a high-voltage interlock state signal.

[0071] Specifically, the historical fault information of the vehicle includes historical insulation fault conditions of the vehicle and historical fault conditions of the power battery relay.

[0072] Optionally, the specific implementation of detecting the preset condition is:

[0073] When the vehicle key is in the first contact position, the vehicle controller controls the power battery high-voltage power-on to start when the following conditions are met:

[0074] (1) It is determined that the drive motor controller allows power-on, that is, the motor state signal reported by the drive motor controller is normal (MCUReady=1);

[0075] (2) It is determined that the battery management system allows power-on, that is, the battery state signal reported by the battery management system is normal (BMSReady=1);

[0076] (3) determine that the anti-theft device is normal, i.e., the anti-theft state signal sent by the body controller is normal (IMStatus = 1);

[0077] (4) determine that the high-voltage interlock device is normal, i.e., the high-voltage interlock state signal sent by the battery management system is normal (HVILFlag = 1);

[0078] (5) determine that the insulation fault state is normal, the vehicle controller reads the last stored insulation fault condition in the target vehicle, and ensures that there is no insurmountable insulation fault, and the signal is sent to the vehicle controller by the battery management system;

[0079] (6) determine that the power battery relay fault state is normal, the vehicle controller reads the last stored relay fault condition in the target vehicle, and ensures that there is no fault, such as no power supply short circuit, adhesion, and attraction failure, and the signal is sent to the vehicle controller by the battery management system;

[0080] (7) determine that the current all high-voltage relay states fed back by the battery management system are normal, and the signal is sent to the vehicle controller by the battery management system;

[0081] (8) the charging gun of the power battery is not connected (i.e., the power battery is not in external charging), and the signal is sent to the vehicle controller by the battery management system.

[0082] When the vehicle controller determines that the above conditions of the target vehicle are met, the vehicle key is controlled to switch from the first contact position to the second contact position to control the target vehicle to enter the power-on starting state.

[0083] As an optional embodiment, in response to the vehicle meeting the preset condition, controlling the vehicle key to switch from the first contact position to the second contact position to control the vehicle to enter the power-on starting state includes: in response to the vehicle meeting the preset condition, controlling the power battery to perform a high-voltage power-on operation, and in response to the power battery performing the high-voltage power-on operation, controlling the vehicle key to switch from the first contact position to the second contact position.

[0084] In this embodiment, when the above target vehicle meets the preset condition of vehicle power-on, controlling the vehicle key to switch from the first contact position to the second contact position to control the vehicle to enter the power-on starting state includes the following steps: when the vehicle controller determines that the target vehicle meets the preset condition of vehicle power-on, the vehicle controller can control the power battery of the target vehicle to perform a high-voltage power-on operation, and after the power battery performs the high-voltage power-on operation, the vehicle key can be controlled to switch from the first contact position to the second contact position.

[0085] Specifically, when the vehicle key is in the first contact position in the vehicle key socket, it indicates that the relevant control unit of the target vehicle, such as the vehicle controller, the battery management system, the drive motor controller, etc., will perform the initialization self-check, and complete the low-voltage power-on;

[0086] When the vehicle key is in the second contact position in the vehicle key socket, it indicates that the vehicle controller of the target vehicle will send a power system enable signal to the relevant controller through the CAN communication bus, and trigger the relevant control of the power battery, to perform the subsequent state detection of the relay of the power battery.

[0087] As an optional implementation, the vehicle includes a battery management system, wherein, in response to the vehicle key being in the second contact position, determining the state information of the main negative relay includes: in response to the vehicle key being in the second contact position, obtaining the current vehicle speed of the vehicle, in response to the current vehicle speed of the vehicle being a target value, determining the gear information of the gearbox of the vehicle, in response to the gear of the gearbox being a target gear, obtaining a first difference value, wherein the first difference value is the difference value between the bus capacitor voltage value and the power battery voltage value, in response to the first difference value being greater than a first preset threshold, sending a first closing message to the battery management system, wherein the battery management system is used to control the main negative relay to perform closing operation and feed back the first closing state information of the main negative relay to the vehicle controller, in response to receiving the first closing state information, determining whether the state of the main negative relay is normal according to the first closing state information, in response to the state of the main negative relay being normal, determining the fault condition of the pre-charging relay and the main positive relay, in response to the pre-charging relay and the main positive relay not existing faults, determining the state information of the pre-charging relay.

[0088] In the embodiment, the target vehicle further comprises a battery management system, and when the vehicle key is in the second contact position, the vehicle controller determines the state information of the main negative relay in the target relay by the following steps: when the vehicle key of the target vehicle is in the second contact position, the vehicle speed of the target vehicle at this time is obtained, when the vehicle speed of the target vehicle at this time is a target value (i.e. 0), the gear information of the gearbox of the target vehicle is determined by the signal sent to the vehicle controller by the gearbox controller, when the gear of the gearbox is a target gear (i.e. the parking gear), the first difference between the bus capacitor voltage value and the power battery voltage value fed back by the driving motor controller is obtained, when the first difference is greater than a first preset threshold value, the vehicle controller sends a first closing message (main negative relay closing message) to the battery management system, and after the vehicle controller receives the first closing state information (main negative relay closing state information) fed back by the battery management system, whether the main negative relay is in a normal state is determined according to the first closing state information, if the vehicle controller determines that the state of the main negative relay is normal, the fault conditions of the pre-charging relay and the main positive relay can be determined, and further, if the pre-charging relay and the main positive relay are both normal, the closing state information of the pre-charging relay can be further determined.

[0089] Specifically, the battery management system of the target vehicle is configured to control the main negative relay to perform a closing operation and feed back the first closing state information of the main negative relay to the vehicle controller.

[0090] Optionally, the first preset threshold value can be determined according to specific conditions, and in the embodiment, 50V is taken as an example, which is not limited in actual implementation.

[0091] Specifically, the specific implementation steps of the vehicle controller for determining the state information of the main negative relay in the target relay are as follows:

[0092] (1) The current vehicle speed of the target vehicle is determined to be 0 by a sensor;

[0093] (2) The gear of the gearbox is determined to be in the parking gear according to the signal sent to the vehicle controller by the gearbox controller;

[0094] (3) The difference between the bus capacitor voltage fed back by the driving motor controller and the battery voltage fed back by the battery management system is determined to be greater than 50V;

[0095] (4) The vehicle controller sends the main negative relay closing message to the battery management system, and the battery management system controls the main negative relay to close;

[0096] (5) The battery management system checks the closing state of the main negative relay and feeds back the detected closing state information to the vehicle controller;

[0097] Specifically, when it is determined that the state of the main negative relay is normal, the vehicle controller continues to control the power-on process, i.e., further detects the fault conditions of the pre-charging relay and the main positive relay.

[0098] In addition, when the vehicle controller determines that the state of the main negative relay is abnormal, the vehicle controller needs to control the termination of the power-on process, i.e., if the control end of the main negative relay of the battery is short-circuited to the power supply, the power-on process is exited, and a fault power-off process is entered: the vehicle controller sends a disconnection instruction of the main negative relay, the main positive relay and the pre-charging relay to the battery management system, at the same time, the vehicle controller stores the fault flag state value of the main negative relay into the memory (EEPROM) and sends a power-on fault signal to the instrument, and controls the instrument to give an information prompt of the power-on abnormality.

[0099] As an optional implementation, in response to the normal state of the main negative relay, determining the fault conditions of the pre-charging relay and the main positive relay includes: determining a first time when the first closed state information is received and a second time when the state of the main negative relay is determined to be normal, obtaining the bus capacitor voltage value of the vehicle at the first time and the bus capacitor voltage value at the second time, and determining the state information of the pre-charging relay in response to the second difference value being less than a second preset threshold, wherein the second difference value is the difference between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time.

[0100] In this embodiment, when the vehicle controller determines that the state of the main negative relay is normal, further determining the fault conditions of the pre-charging relay and the main positive relay includes the following steps: the vehicle controller records the first time when the first closed state information (the closed state information of the main negative relay) is received and the second time (i.e., the current time) when the state of the main negative relay is determined to be normal, and obtains the bus capacitor voltage values of the target vehicle at the above two times, and synchronously calculates the second difference value between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time, compares the above second difference value with the second preset threshold, and when the above second difference value is less than the second preset threshold, it indicates that the pre-charging relay and the main positive relay of the target vehicle do not have fault conditions, i.e., the vehicle controller can continue to execute the power-on process to further determine the state information of the pre-charging relay.

[0101] Optionally, the above-mentioned second preset threshold can be determined according to specific conditions, and in this embodiment, 5V is taken as an example, which is not limited in actual implementation.

[0102] Specifically, when the vehicle controller determines that the state of the main negative relay is normal, the specific implementation steps of further determining the fault conditions of the pre-charging relay and the main positive relay are as follows:

[0103] When the vehicle controller receives the main negative relay closing state information fed back by the battery management system, the motor bus capacitor voltage value at the time of feedback is recorded, and then the current motor bus capacitor voltage value is recorded. The vehicle controller determines the fault state of the pre-charging relay and the main positive relay by determining the voltage difference of the motor bus capacitor voltage at the two times. The method is as follows:

[0104] 1) When the voltage difference at the two times is less than 5V, it indicates that the target vehicle's pre-charging relay and main positive relay do not have a fault condition, and the target vehicle can continue to be powered on.

[0105] As an optional implementation, the method further includes: in response to the second difference being greater than the second preset threshold and less than a third preset threshold, determining that the pre-charging relay has a sticking fault, in response to the second difference being greater than the third preset threshold, determining that the main positive relay has a sticking fault, in response to the pre-charging relay having a sticking fault and / or the main positive relay having a sticking fault, controlling the vehicle to perform a power-off operation.

[0106] In this embodiment, when the vehicle controller determines that the state of the main negative relay is normal, the further determination of the fault conditions of the pre-charging relay and the main positive relay further includes the following steps: when the second difference is greater than the second preset threshold and less than the third preset threshold, it indicates that the target vehicle's pre-charging relay has a sticking fault; when the second difference is greater than the third preset threshold, it indicates that the target vehicle's main positive relay has a sticking fault, so when the vehicle controller determines that the pre-charging relay has a sticking fault and / or the main positive relay has a sticking fault, the vehicle controller should control the termination of the power-on process, i.e. control the target vehicle to perform a power-off operation.

[0107] Optionally, the third preset threshold can be determined according to specific conditions. In this embodiment, 50V is taken as an example, and in actual implementation, no specific limitation is made.

[0108] Specifically, when the vehicle controller determines that the state of the main negative relay is normal, the specific implementation steps for further determining the fault conditions of the pre-charging relay and the main positive relay are as follows:

[0109] When the vehicle controller receives the main negative relay closing state information fed back by the battery management system, the motor bus capacitor voltage value at the time of feedback is recorded, and then the current motor bus capacitor voltage value is recorded. The vehicle controller determines the fault state of the pre-charging relay and the main positive relay by determining the voltage difference of the motor bus capacitor voltage at the two times. The method further includes the following steps:

[0110] 2) When the voltage difference at the two times is greater than 5V and less than 50V, it can be determined that the pre-charging relay has a sticking fault at this time, and the vehicle controller needs to control the termination of the power-on process. The specific control method is as follows:

[0111] If the pre-charge relay has a sticking fault, the power-up process is exited and a fault power-down process is entered: the vehicle controller sends a main negative, main positive, pre-charge relay open message to the battery management system, and the vehicle controller stores the state value of the fault flag of the pre-charge relay in the memory (EEPROM) and sends a power-up fault signal to the instrument panel, and controls the instrument panel to display information about the power-up abnormality.

[0112] 3) When the pressure difference between the two time points is greater than 50V, it can be determined that the main positive relay has a sticking fault, and the vehicle controller needs to control the termination of the power-up process, and the specific control method is as follows:

[0113] If the main positive relay has a sticking fault, the power-up process is exited and a fault power-down process is entered: the vehicle controller sends a main negative, main positive, pre-charge relay open message to the battery management system, and the vehicle controller stores the state value of the fault flag of the main positive relay in the memory (EEPROM) and sends a power-up fault signal to the instrument panel, and controls the instrument panel to display information about the power-up abnormality.

[0114] As an optional embodiment, in response to the normal state of the main negative relay, determining the state information of the pre-charge relay comprises: in response to the normal state of the main negative relay, sending a second closing message to the battery management system, wherein the battery management system is configured to control the pre-charge relay to perform a closing operation and feed back second closing state information of the pre-charge relay to the vehicle controller, in response to receiving the second closing state information, determining whether the state of the pre-charge relay is normal according to the second closing state information, and in response to the normal state of the pre-charge relay, determining the state information of the main positive relay.

[0115] In this embodiment, after determining that the state of the main negative relay is normal, the vehicle controller needs to further determine the state information of the pre-charge relay, comprising the following steps: when the state of the main negative relay of the target vehicle is normal, the vehicle controller sends a second closing message (pre-charge relay closing message) to the battery management system, and after the vehicle controller receives the second closing state information (closing state information of the pre-charge relay) fed back by the battery management system, determines whether the state of the pre-charge relay is normal according to the second closing state information, and if the vehicle controller determines that the state of the pre-charge relay is normal, the state information of the main positive relay can be further determined.

[0116] Specifically, the battery management system of the target vehicle is configured to control the pre-charge relay to perform a closing operation and feed back second closing state information of the pre-charge relay to the vehicle controller.

[0117] Specifically, the specific implementation steps of the vehicle controller for determining the state information of the pre-charge relay in the target relay are as follows:

[0118] When the main negative relay is closed, the vehicle controller sends a pre-charge relay closing message to the battery management system, the battery management system controls the pre-charge relay to be closed, the battery management system checks the closing state of the pre-charge relay and feeds back the closing state information to the vehicle controller, and the vehicle controller confirms the state of the pre-charge relay again. If it is determined that the state of the pre-charge relay is normal, the vehicle controller continues to control the power-on process, that is, further determines the state information of the main positive relay.

[0119] As an optional embodiment, the method further comprises: when the vehicle controller determines that the state of the pre-charge relay is abnormal, further determining the fault type of the pre-charge relay, wherein the fault type includes: a power supply short circuit fault and a pull-in fault, and when the vehicle controller determines that the pre-charge relay has a power supply short circuit fault and / or the pre-charge relay has a pull-in fault, the vehicle should be immediately controlled to perform a power-off operation.

[0120] Specifically, the fault type of the pre-charge relay includes: a power supply short circuit fault and a pull-in fault.

[0121] Specifically, the specific implementation steps of the vehicle controller to determine the state information of the pre-charge relay in the target relay are as follows:

[0122] When the main negative relay is closed, the vehicle controller sends a pre-charge relay closing message to the battery management system, the battery management system controls the pre-charge relay to be closed, the battery management system checks the closing state of the pre-charge relay and feeds back the closing state information to the vehicle controller, and the vehicle controller confirms the state of the pre-charge relay again. If it is determined that the state of the pre-charge relay is abnormal, that is, the pre-charge relay has a fault, the vehicle controller controls the vehicle to exit the power-on process and enters a fault power-off process: the vehicle controller sends a main negative, main positive and pre-charge relay disconnection message to the battery management system, at the same time, the vehicle controller stores the fault flag state value of the main positive relay into the memory (EEPROM) and sends a power-on fault signal to the instrument, and controls the instrument to give an information prompt of the power-on abnormality.

[0123] Further, the specific steps to determine that the pre-charge relay has a pull-in fault are as follows: the vehicle controller judges the voltage difference between the power battery bus voltage and the motor bus capacitor voltage, and if the voltage difference is less than 20V within a preset time (for example, 1.5 seconds), it indicates that the pre-charge relay does not have a pull-in fault; if the voltage difference is still greater than 20V after the preset time ends, it indicates that the pre-charge relay has a pull-in fault.

[0124] In the embodiment, the method for determining the state information of the pre-charging relay further comprises the following steps: in response to the state of the pre-charging relay being abnormal, determining the fault type of the pre-charging relay, wherein the fault type comprises a power short-circuit fault and a pull-in fault, in response to the pre-charging relay having the power short-circuit fault and / or the pre-charging relay having the pull-in fault, controlling the vehicle to perform a power-off operation. As an optional implementation, in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay comprises: in response to the state of the pre-charging relay being normal, sending a third closing message to the battery management system, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller, in response to receiving the third closing state information, determining whether the state of the main positive relay is normal according to the third closing state information, and in response to the state of the main positive relay being normal, controlling the vehicle to travel.

[0125] In the embodiment, after determining that the state of the pre-charging relay is normal, the vehicle controller further determines the state information of the main positive relay, comprising the following steps: when the state of the pre-charging relay of the target vehicle is normal, the vehicle controller sends a third closing message (main positive relay closing message) to the battery management system, and after the vehicle controller receives third closing state information (closing state information of the main positive relay) fed back by the battery management system, determines whether the state of the main positive relay is normal according to the third closing state information, and if the vehicle controller determines that the state of the main positive relay is normal, controls the vehicle to start traveling.

[0126] Specifically, the battery management system of the target vehicle is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller.

[0127] Specifically, the specific implementation steps of determining the state information of the pre-charging relay in the target relay by the vehicle controller are as follows:

[0128] When the vehicle controller detects that the voltage difference between the motor bus capacitor voltage and the power battery bus voltage is less than 20V, the vehicle controller sends a main positive relay closing signal to the battery management system, the battery management system controls the main positive relay to close, the battery management system checks the closing state of the main positive relay and feeds back the closing state information to the vehicle controller, and the vehicle controller reconfirms the state of the main positive relay.

[0129] Optionally, if the main positive relay state is normal, the vehicle controller continues to control the power-on process. When the main positive relay is closed, within a specified time (for example, 0.5s), the vehicle controller sends a pre-charge relay opening signal to the BMS, the BMS controls the pre-charge relay to open, and at the same time, the BMS feeds back the pre-charge relay state to the vehicle controller, and the vehicle controller continues to control the power-on process, that is, the vehicle controller sends a signal HEVready = 1 to the instrument, and the instrument lights up a green indicator. When the green indicator is lit, it indicates that the vehicle can be driven. At this time, the driver shifts the forward gear and steps on the accelerator, and the vehicle can be driven.

[0130] As an optional embodiment, the method further comprises: in response to the abnormal state of the main positive relay, controlling the vehicle to perform a power-off operation.

[0131] In this embodiment, the above method further comprises the following steps: when the vehicle controller determines that the state of the main positive relay is abnormal, the vehicle should immediately perform a power-off operation.

[0132] Specifically, the fault types of the main positive relay include: power supply short circuit fault and attraction fault.

[0133] Specifically, the specific implementation steps of the vehicle controller to determine the state information of the main positive relay in the target relay are as follows:

[0134] When the vehicle controller detects that the voltage difference between the motor bus capacitor voltage and the power battery bus voltage is less than 20V, the vehicle controller sends a main positive relay closing signal to the battery management system, the battery management system controls the main positive relay to close, the battery management system checks the closing state of the main positive relay, and feeds back the closing state information to the vehicle controller, and at the same time, the vehicle controller reconfirms the state of the main positive relay.

[0135] Optionally, if the main positive relay has an attraction fault or a power supply short circuit fault, the vehicle controller controls the vehicle to exit the power-on process and enter a fault power-off process: the vehicle controller sends a main negative, main positive, and pre-charge relay opening message to the battery management system, at the same time, the vehicle controller stores the fault flag state value of the main positive relay into the memory (EEPROM) and sends a power-on fault signal to the instrument, and controls the instrument to display the power-on abnormal information.

[0136] It is worth noting that the system power-on and power-off functions, instrument information display functions, normal information display functions, and fault information display functions can also be tested in this disclosure.

[0137] Specifically, the system power-on and power-off function test implementation steps are as follows:

[0138] After the on-off power control strategy is implemented on the vehicle, the on-off power function can be tested, including normal on-off power test and off power test during driving.

[0139] The vehicle key has four states, KeyOff, KeyACC, KeyOn and KeyStart. When the vehicle is not plugged in the key, that is, the key is in KeyOff, the controllers of the power system are in power-off state. When the key is turned from KeyOff to KeyACC, part of the low-voltage electrical appliances start to work. When the key is turned to KeyON, the relevant control units such as the vehicle controller, battery management system, drive motor controller, etc. will perform initialization self-checking, and complete the low-voltage power-on. When the key is turned from KeyOn to KeyStart, the vehicle controller will send a power system enable signal to the relevant controllers through the CAN communication bus, and trigger the power battery control.

[0140] For normal on-off power test, the following method can be used for test verification.

[0141] 1) Turn the key from KeyOff to KeyACC, then to KeyOn, and then to KeyStart in turn, and test whether the vehicle can be normally powered on.

[0142] 2) When the vehicle is in the power-on state, turn the key from KeyStart to KeyOn, then to KeyACC, and then to KeyOff in turn, and test whether the vehicle can be normally powered off.

[0143] 3) Control the vehicle to drive at a speed greater than 10km / h and less than 20km / h, then turn the key from KeyStart to KeyOff, and test whether the vehicle can be normally powered off. Note: This test is that if the user mistakenly triggers the key to power off during driving, test whether the vehicle can be normally powered off.

[0144] Specifically, the implementation steps of the instrument information display function test are as follows:

[0145] During the on-off power and driving of the vehicle, according to the state signals of the vehicle and the drive motor, battery and other assemblies, the instrument will give corresponding prompts, and the implementation of the instrument information display function can be tested, including normal information display function test and fault information display function test. The content related to the vehicle power system needs to be displayed by the corresponding controller through the CAN communication network signal to the instrument. The system ready signal or fault signal can be sent to the instrument for display after being comprehensively judged by the vehicle controller. The state and fault information of the drive motor and the power battery can be sent to the instrument for display by the corresponding controller respectively.

[0146] Specifically, the normal information display function test implementation steps are as follows:

[0147] In the vehicle stationary state, the vehicle operating key is from KeyOff→KeyACC→Keyon→KeyStart, that is, in different key positions, whether the instrument displays the hybrid vehicle system function information normally is tested. The normal function display icons and areas are observed, including but not limited to: system ready indicator, vehicle gear, motor information, battery information, etc.

[0148] Specifically, the fault information display function test implementation steps are as follows:

[0149] In the vehicle stationary state, the fault signal injection method is used to test the power system, motor, power battery, etc.

[0150] (1) Power system fault test

[0151] The power system fault signal is sent to the instrument through the vehicle controller by using the fault signal calibration sending method, and whether the corresponding fault lamp of the instrument is lit is tested.

[0152] (2) Drive motor fault test

[0153] The drive motor fault signal is sent to the instrument through the drive motor controller by using the fault signal calibration sending method, and whether the corresponding fault lamp of the instrument is lit is tested.

[0154] (3) Power battery fault test

[0155] The power battery fault signal is sent to the instrument through the battery management system by using the fault signal calibration sending method, and whether the corresponding fault lamp of the instrument is lit is tested.

[0156] Through the description of the above implementation mode, those skilled in the art can clearly understand that the method according to the above embodiment can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases the former is a better implementation mode. Based on such understanding, the technical solutions of the disclosure can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), includes a plurality of instructions to make a terminal device (which can be a mobile phone, computer, server, or grid device, etc.) execute the method of each embodiment of the disclosure.

[0157] A control device of a vehicle is also provided in the embodiments, which is configured to implement the above embodiments and preferred embodiments, and will not be described again. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

[0158] Fig. 3 is a structural block diagram of a control device 300 of a vehicle according to an embodiment of the present disclosure. As shown in Fig. 3, the device includes a first determining module 301, a first control module 302, a second determining module 303, and a second control module 304.

[0159] The first determining module 301 is configured to determine whether the vehicle meets a preset condition in response to the vehicle key being in a first contact position in the vehicle key socket.

[0160] The first control module 302 is configured to control the vehicle key to switch from the first contact position to a second contact position to control the vehicle to enter a power-on starting state in response to the vehicle meeting the preset condition.

[0161] The second determining module 303 is configured to determine state information of a target relay of the power battery in response to the vehicle key being in the second contact position, wherein the target relay includes a main negative relay, a pre-charge relay, and a main positive relay.

[0162] The second control module 304 is configured to control the vehicle to travel in response to the target relay being in a normal state.

[0163] Optionally, the first determining module 301 includes a first determining unit configured to determine whether a target state signal of the vehicle is normal in response to the vehicle key being in the first contact position in the vehicle key socket, wherein the target state signal includes a motor state signal, a battery state signal, an anti-theft state signal, and a high-voltage interlock state signal; a reading unit configured to read historical fault information of the vehicle in response to the target state signal being normal; a second determining unit configured to determine whether there is a fault condition in the vehicle at present according to the historical fault information; a third determining unit configured to determine whether a charging gun of the power battery is in a connected state in response to there being no fault condition in the vehicle at present; and a fourth determining unit configured to determine that the vehicle meets the preset condition in response to the charging gun not being in the connected state.

[0164] Optionally, the first control module 302 includes a first control unit configured to control the power battery to perform a high-voltage power-on operation in response to the vehicle meeting the preset condition; and a second control unit configured to control the vehicle key to switch from the first contact position to the second contact position in response to the power battery performing the high-voltage power-on operation.

[0165] Optionally, the second determining module 303 comprises: a first obtaining unit, configured to obtain a current vehicle speed of the vehicle in response to the vehicle key being in the second contact position; a fifth determining unit, configured to determine the gear information of the gearbox of the vehicle in response to the current vehicle speed being a target value; a second obtaining unit, configured to obtain a first difference value in response to the gear of the gearbox being a target gear, wherein the first difference value is a difference value between the bus capacitor voltage value and the power battery voltage value; a sending unit, configured to send a first closing message to the battery management system in response to the first difference value being greater than a first preset threshold, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle control unit; a sixth determining unit, configured to determine whether the state of the main negative relay is normal according to the first closing state information in response to receiving the first closing state information; a seventh determining unit, configured to determine the fault conditions of the pre-charging relay and the main positive relay in response to the state of the main negative relay being normal; and an eighth determining unit, configured to determine the state information of the pre-charging relay in response to the pre-charging relay and the main positive relay not having faults.

[0166] Optionally, the seventh determining unit comprises: a first determining sub-unit, configured to determine a first time of receiving the first closing state information and a second time of determining that the state of the main negative relay is normal; an obtaining sub-unit, configured to obtain the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time; and a second determining sub-unit, configured to determine the state information of the pre-charging relay in response to a second difference value being less than a second preset threshold, wherein the second difference value is a difference value between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time.

[0167] Optionally, the seventh determining unit further comprises: a third determining sub-unit, configured to determine that the pre-charging relay has a sticking fault in response to the second difference value being greater than the second preset threshold and less than a third preset threshold; a fourth determining sub-unit, configured to determine that the main positive relay has a sticking fault in response to the second difference value being greater than the third preset threshold; and a first control sub-unit, configured to control the vehicle to perform a power-off operation in response to the pre-charging relay having a sticking fault and / or the main positive relay having a sticking fault.

[0168] Optionally, the eighth determining unit comprises: a first sending sub-unit, configured to send a second closing message to the battery management system in response to the state of the main negative relay being normal, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle control unit; a fifth determining sub-unit, configured to determine whether the state of the pre-charging relay is normal according to the second closing state information in response to receiving the second closing state information; and a sixth determining sub-unit, configured to determine the state information of the main positive relay in response to the state of the pre-charging relay being normal.

[0169] Optionally, the eighth determining unit further includes a seventh determining subunit, configured to determine a fault type of the pre-charging relay in response to the state of the pre-charging relay being abnormal, wherein the fault type includes a power supply short circuit fault and a pull-in fault; and a second control subunit, configured to control the vehicle to perform a power-off operation in response to the pre-charging relay having the power supply short circuit fault and / or the pre-charging relay having the pull-in fault.

[0170] Optionally, the sixth determining subunit includes a second sending subunit, configured to send a third closing message to a battery management system in response to the state of the pre-charging relay being normal, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller; an eighth determining subunit, configured to determine whether the state of the main positive relay is normal according to the third closing state information in response to receiving the third closing state information; and a third control subunit, configured to control the vehicle to travel in response to the state of the main positive relay being normal.

[0171] Optionally, the sixth determining subunit further includes a fourth control subunit, configured to control the vehicle to perform a power-off operation in response to the state of the main positive relay being abnormal.

[0172] Embodiments of the present disclosure further provide a vehicle including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the control method of the vehicle described above.

[0173] Optionally, in the present embodiment, the vehicle described above can be configured to store a computer program for performing the following steps:

[0174] Step S102, in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether the vehicle satisfies a preset condition;

[0175] Step S104, in response to the vehicle satisfying the preset condition, controlling the vehicle key to switch from the first contact position to the second contact position to control the vehicle to enter a power-on starting state;

[0176] Step S106, in response to the vehicle key being in the second contact position, determining state information of a target relay of the power battery, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay;

[0177] Step S108, in response to the state of the target relay being normal, controlling the vehicle to travel.

[0178] Optionally, the processor further implements the following steps when executing the program: in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether the vehicle meets the preset condition comprises: in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether a target state signal of the vehicle is normal, wherein the target state signal comprises: a motor state signal, a battery state signal, an anti-theft state signal and a high-voltage interlock state signal, in response to the target state signal being normal, reading historical fault information of the vehicle, determining whether there is a fault condition in the vehicle at present according to the historical fault information, in response to the vehicle not having a fault condition at present, determining whether the charging gun of the power battery is in a connected state, in response to the charging gun not being in the connected state, determining that the vehicle meets the preset condition.

[0179] Optionally, the processor further implements the following steps when executing the program: in response to the vehicle meeting the preset condition, controlling the vehicle key to switch from the first contact position to the second contact position to control the vehicle to enter the power-on starting state comprises: in response to the vehicle meeting the preset condition, controlling the power battery to perform a high-voltage power-on operation, in response to the power battery performing the high-voltage power-on operation, controlling the vehicle key to switch from the first contact position to the second contact position.

[0180] Optionally, the processor further implements the following steps when executing the program: in response to the vehicle key being in the second contact position, determining the state information of the main negative relay comprises: in response to the vehicle key being in the second contact position, obtaining a current vehicle speed of the vehicle, in response to the current vehicle speed of the vehicle being a target value, determining gear information of a transmission of the vehicle, in response to the gear of the transmission being a target gear, obtaining a first difference value, wherein the first difference value is a difference value between the bus capacitor voltage value and the power battery voltage value, in response to the first difference value being greater than a first preset threshold, sending a first closing message to a battery management system, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle controller, in response to receiving the first closing state information, determining whether the state of the main negative relay is normal according to the first closing state information, in response to the state of the main negative relay being normal, determining fault conditions of the pre-charging relay and the main positive relay, in response to the pre-charging relay and the main positive relay not having faults, determining the state information of the pre-charging relay.

[0181] Optionally, the processor further implements the following steps when executing the program: in response to the state of the main negative relay being normal, determining the fault conditions of the pre-charging relay and the main positive relay comprises: determining a first time when the first closing state information is received and a second time when the state of the main negative relay is determined to be normal, obtaining a bus capacitor voltage value at the first time and a bus capacitor voltage value at the second time of the vehicle, in response to a second difference value being less than a second preset threshold, determining the state information of the pre-charging relay, wherein the second difference value is a difference value between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time.

[0182] Optionally, the processor, when executing the program, further implements the following steps: in response to the second difference being greater than the second preset threshold and less than a third preset threshold, determining that the pre-charging relay has a sticking fault, in response to the second difference being greater than the third preset threshold, determining that the main positive relay has a sticking fault, in response to the pre-charging relay having the sticking fault and / or the main positive relay having the sticking fault, controlling the vehicle to perform a power-down operation.

[0183] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the main negative relay being normal, determining the state information of the pre-charging relay comprises: in response to the state of the main negative relay being normal, sending a second closing message to a battery management system, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle controller, in response to receiving the second closing state information, determining whether the state of the pre-charging relay is normal according to the second closing state information, and in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay.

[0184] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the pre-charging relay being abnormal, determining a fault type of the pre-charging relay, wherein the fault type comprises: a power supply short circuit fault and a pull-in fault, in response to the pre-charging relay having the power supply short circuit fault and / or the pre-charging relay having the pull-in fault, controlling the vehicle to perform a power-down operation.

[0185] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay comprises: in response to the state of the pre-charging relay being normal, sending a third closing message to a battery management system, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller, in response to receiving the third closing state information, determining whether the state of the main positive relay is normal according to the third closing state information, and in response to the state of the main positive relay being normal, controlling the vehicle to travel.

[0186] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the main positive relay being abnormal, controlling the vehicle to perform a power-down operation.

[0187] Optionally, specific examples in the embodiments can refer to the examples described in the above embodiments and optional implementation manners, and the embodiments will not be described herein again.

[0188] Embodiments of the present disclosure also provide an electronic device, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to execute the control method of the vehicle described above.

[0189] Optionally, in the embodiment, the electronic device can be configured to store a computer program for performing the following steps:

[0190] In step S102, it is determined whether the vehicle meets a preset condition in response to the vehicle key being in the first contact position in the vehicle key socket.

[0191] In step S104, the vehicle key is switched from the first contact position to the second contact position to control the vehicle to enter the power-on starting state in response to the vehicle meeting the preset condition.

[0192] In step S106, state information of a target relay of the power battery is determined in response to the vehicle key being in the second contact position, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay.

[0193] In step S108, the vehicle is controlled to run in response to the target relay being in a normal state.

[0194] Optionally, when the processor executes the program, the following steps are further implemented: in response to the vehicle key being in the first contact position in the vehicle key socket, it is determined whether the vehicle meets a preset condition, including: in response to the vehicle key being in the first contact position in the vehicle key socket, it is determined whether a target state signal of the vehicle is normal, wherein the target state signal includes a motor state signal, a battery state signal, an anti-theft state signal and a high-voltage interlock state signal, in response to the target state signal being normal, historical fault information of the vehicle is read, it is determined whether the vehicle currently has a fault condition according to the historical fault information, in response to the vehicle currently not having a fault condition, it is determined whether a charging gun of the power battery is in a connected state, in response to the charging gun not being in the connected state, it is determined that the vehicle meets the preset condition.

[0195] Optionally, when the processor executes the program, the following steps are further implemented: in response to the vehicle meeting the preset condition, the vehicle key is switched from the first contact position to the second contact position to control the vehicle to enter the power-on starting state, including: in response to the vehicle meeting the preset condition, the power battery is controlled to perform a high-voltage power-on operation, and in response to the power battery performing the high-voltage power-on operation, the vehicle key is switched from the first contact position to the second contact position.

[0196] Optionally, the processor, when executing the program, further implements the following steps: in response to the vehicle key being in the second contact position, determining the state information of the main negative relay comprises: in response to the vehicle key being in the second contact position, obtaining a current vehicle speed of the vehicle, in response to the current vehicle speed being a target value, determining gear information of a gearbox of the vehicle, in response to the gear of the gearbox being a target gear, obtaining a first difference value, wherein the first difference value is a difference value between the bus capacitor voltage value and the power battery voltage value, in response to the first difference value being greater than a first preset threshold, sending a first closing message to the battery management system, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle control unit, in response to receiving the first closing state information, determining whether the state of the main negative relay is normal according to the first closing state information, in response to the state of the main negative relay being normal, determining fault conditions of the pre-charging relay and the main positive relay, and in response to the pre-charging relay and the main positive relay not existing faults, determining the state information of the pre-charging relay.

[0197] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the main negative relay being normal, determining the fault conditions of the pre-charging relay and the main positive relay comprises: determining a first time when the first closing state information is received and a second time when the state of the main negative relay is determined to be normal, obtaining a bus capacitor voltage value at the first time and a bus capacitor voltage value at the second time, and in response to a second difference value being less than a second preset threshold, determining the state information of the pre-charging relay, wherein the second difference value is a difference value between the bus capacitor voltage value at the first time and the bus capacitor voltage value at the second time.

[0198] Optionally, the processor, when executing the program, further implements the following steps: in response to the second difference value being greater than the second preset threshold and less than a third preset threshold, determining that the pre-charging relay has a sticking fault, in response to the second difference value being greater than the third preset threshold, determining that the main positive relay has a sticking fault, in response to the pre-charging relay having a sticking fault and / or the main positive relay having a sticking fault, controlling the vehicle to perform a power-off operation.

[0199] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the main negative relay being normal, determining the state information of the pre-charging relay comprises: in response to the state of the main negative relay being normal, sending a second closing message to the battery management system, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle control unit, in response to receiving the second closing state information, determining whether the state of the pre-charging relay is normal according to the second closing state information, and in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay.

[0200] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the pre-charging relay being abnormal, determining a fault type of the pre-charging relay, wherein the fault type includes a power supply short circuit fault and a pull-in fault, and in response to the pre-charging relay having the power supply short circuit fault and / or the pre-charging relay having the pull-in fault, controlling the vehicle to perform a power-off operation.

[0201] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the pre-charging relay being normal, determining the state information of the main positive relay includes: in response to the state of the pre-charging relay being normal, sending a third closing message to a battery management system, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle controller, in response to receiving the third closing state information, determining whether the state of the main positive relay is normal according to the third closing state information, and in response to the state of the main positive relay being normal, controlling the vehicle to travel.

[0202] Optionally, the processor, when executing the program, further implements the following steps: in response to the state of the main positive relay being abnormal, controlling the vehicle to perform a power-off operation.

[0203] Optionally, specific examples in the embodiments can refer to the examples described in the above embodiments and optional implementation manners, and the embodiments will not be described herein again.

[0204] The embodiments of the present disclosure further provide a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is configured to execute the above-mentioned vehicle control method when running on a computer or a processor.

[0205] Optionally, in the embodiments, the above-mentioned computer readable storage medium can be configured to store a computer program for executing the following steps:

[0206] Step S102: in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether the vehicle satisfies a preset condition;

[0207] Step S104: in response to the vehicle satisfying the preset condition, controlling the vehicle key to switch from the first contact position to the second contact position, so as to control the vehicle to enter a power-on starting state;

[0208] Step S106: in response to the vehicle key being in the second contact position, determining state information of a target relay of the power battery, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay;

[0209] Step S108: in response to the state of the target relay being normal, controlling the vehicle to travel.

[0210] Optionally, specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be repeated here.

[0211] The embodiment of the present disclosure further provides a computer program product comprising a computer program, wherein the computer program implements the steps of the control method of the vehicle when executed by a processor.

[0212] Optionally, in the present embodiment, the above computer program product can be configured to store a computer program for executing the following steps:

[0213] Step S102, in response to the vehicle key being in the first contact position in the vehicle key socket, determining whether the vehicle meets a preset condition;

[0214] Step S104, in response to the vehicle meeting the preset condition, controlling the vehicle key to switch from the first contact position to the second contact position to control the vehicle to enter the power-on starting state;

[0215] Step S106, in response to the vehicle key being in the second contact position, determining state information of a target relay of the power battery, wherein the target relay comprises a main negative relay, a pre-charging relay and a main positive relay;

[0216] Step S108, in response to the target relay being normal, controlling the vehicle to drive.

[0217] Optionally, specific examples in the present embodiment can refer to the examples described in the above embodiments and optional implementation manners, which will not be repeated here.

[0218] In the above embodiments of the present disclosure, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments.

[0219] In some embodiments provided by the present disclosure, it should be understood that the disclosed technology can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units can be a logical function division, and there can be another division manner in actual implementation. For example, a plurality of units or components 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 units shown or discussed can be indirect coupling or communication connection through some interfaces, units or modules, and can be electrical or other forms.

[0220] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0221] In addition, each functional unit in various embodiments of the present disclosure can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0222] If the integrated unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on such understanding, the technical scheme of the present disclosure essentially or the part that contributes to the prior art or the whole or part of the technical scheme can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to make a computer device (which can be a personal computer, a server or a grid device, etc.) execute all or part of the steps of the various embodiments of the present disclosure method. The foregoing storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various program code storage media.

[0223] The above is only the preferred embodiment of the present disclosure, and it should be noted that for those 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 considered as the protection scope of the present disclosure.

Claims

1. A control method of a vehicle, applied to a vehicle controller, the vehicle comprising a power battery, the method comprising: determining whether the vehicle meets a preset condition in response to a vehicle key being in a first contact position in a vehicle key socket; controlling the vehicle key to switch from the first contact position to a second contact position in response to the vehicle meeting the preset condition, so as to control the vehicle to enter a power-on starting state; determining state information of a target relay of the power battery in response to the vehicle key being in the second contact position, wherein the target relay comprises a main negative relay, a pre-charge relay and a main positive relay; and controlling the vehicle to run in response to the state of the target relay being normal. Determining whether the vehicle meets a preset condition in response to the vehicle key being in the first contact position in the vehicle key socket comprises: determining whether a target state signal of the vehicle is normal in response to the vehicle key being in the first contact position in the vehicle key socket, wherein the target state signal comprises a motor state signal, a battery state signal, an anti-theft state signal and a high-voltage interlock state signal; reading historical fault information of the vehicle in response to the target state signal being normal; determining whether there is a fault condition in the vehicle at present according to the historical fault information; determining whether a charging gun of the power battery is in a connected state in response to the vehicle not having the fault condition at present; and determining that the vehicle meets the preset condition in response to the charging gun not being in the connected state. Controlling the vehicle key to switch from the first contact position to the second contact position in response to the vehicle meeting the preset condition, so as to control the vehicle to enter the power-on starting state comprises: controlling the power battery to perform a high-voltage power-on operation in response to the vehicle meeting the preset condition; and controlling the vehicle key to switch from the first contact position to the second contact position in response to the power battery performing the high-voltage power-on operation. The vehicle comprises a battery management system, and determining the state information of the main negative relay in response to the vehicle key being in the second contact position comprises: acquiring a current vehicle speed of the vehicle in response to the vehicle key being in the second contact position; determining gear information of a gearbox of the vehicle in response to the current vehicle speed being a target value; acquiring a first difference value in response to a gear of the gearbox being a target gear, wherein the first difference value is a difference value between a bus capacitor voltage value and a power battery voltage value; sending a first closing message to the battery management system in response to the first difference value being greater than a first preset threshold, wherein the battery management system is configured to control the main negative relay to perform a closing operation and feed back first closing state information of the main negative relay to the vehicle controller; determining whether the state of the main negative relay is normal according to the first closing state information in response to receiving the first closing state information; and determining fault conditions of the pre-charge relay and the main positive relay in response to the state of the main negative relay being normal. ​ 2. The control method of a vehicle according to claim 1, wherein ​ ​ ​ ​ ​ ​ 3. The control method of a vehicle according to claim 1, wherein ​ ​ ​ 4. The control method of a vehicle according to claim 1, wherein ​ ​ ​ ​ ​ ​ ​ in response to the pre-charging relay and the main positive relay being free from faults, determining state information of the pre-charging relay.

5. The control method of a vehicle according to claim 4, wherein in response to the main negative relay being normal, determining fault conditions of the pre-charging relay and the main positive relay comprises: determining a first time instant at which the first closing state information is received and a second time instant at which the main negative relay is determined to be normal; obtaining a bus capacitor voltage value of the vehicle at the first time instant and a bus capacitor voltage value of the vehicle at the second time instant; in response to a second difference value being less than a second preset threshold, determining the state information of the pre-charging relay, wherein the second difference value is a difference between the bus capacitor voltage value at the first time instant and the bus capacitor voltage value at the second time instant.

6. The control method of a vehicle according to claim 5, wherein The method further comprises: in response to the second difference value being greater than the second preset threshold and less than a third preset threshold, determining that the pre-charging relay has a sticking fault; in response to the second difference value being greater than the third preset threshold, determining that the main positive relay has the sticking fault; in response to the pre-charging relay having the sticking fault and / or the main positive relay having the sticking fault, controlling the vehicle to perform a power-off operation. in response to the main negative relay being normal, determining state information of the pre-charging relay comprises:

7. The control method of a vehicle according to claim 6, wherein in response to the main negative relay being normal, sending a second closing message to the battery management system, wherein the battery management system is configured to control the pre-charging relay to perform a closing operation and feed back second closing state information of the pre-charging relay to the vehicle control unit; in response to receiving the second closing state information, determining whether the pre-charging relay is normal according to the second closing state information; in response to the pre-charging relay being normal, determining state information of the main positive relay. The method further comprises:

8. The control method of a vehicle according to claim 7, wherein in response to the pre-charging relay being abnormal, determining a fault type of the pre-charging relay, wherein the fault type comprises a power supply short circuit fault and a pull-in fault; in response to the pre-charging relay having the power supply short circuit fault and / or the pre-charging relay having the pull-in fault, controlling the vehicle to perform the power-off operation. in response to the pre-charging relay being normal, determining state information of the main positive relay comprises:

9. The control method of a vehicle according to claim 7, wherein in response to the pre-charging relay being normal, sending a third closing message to the battery management system, wherein the battery management system is configured to control the main positive relay to perform a closing operation and feed back third closing state information of the main positive relay to the vehicle control unit; in response to receiving the third closing state information, determining whether the main positive relay is normal according to the third closing state information; in response to the main positive relay being normal, controlling the vehicle to travel. The method further comprises:

10. The control method of a vehicle according to claim 9, wherein in response to the main positive relay being abnormal, controlling the vehicle to perform the power-off operation.

11. A control device of a vehicle, applied to a vehicle control unit, the vehicle comprising a power battery, the device comprising: ​ The first determining module is configured to determine whether the vehicle meets a preset condition in response to the vehicle key being in a first contact position in the vehicle key socket; The first control module is configured to control the vehicle key to switch from the first contact position to a second contact position in response to the vehicle meeting the preset condition, so as to control the vehicle to enter a power-on starting state; The second determining module is configured to determine state information of a target relay of the power battery in response to the vehicle key being in the second contact position, wherein the target relay includes a main negative relay, a pre-charging relay and a main positive relay; The second control module is configured to control the vehicle to travel in response to the target relay being in a normal state.

12. A vehicle comprising a memory and a processor, the memory having stored therein a computer program, and the processor being configured to execute the computer program to perform the control method of the vehicle according to any one of claims 1 to 10.

13. An electronic device comprising a memory and a processor, the memory having stored therein a computer program, and the processor being configured to execute the computer program to perform the control method of the vehicle according to any one of claims 1 to 10. The computer program is configured to perform the control method of the vehicle according to any one of claims 1 to 10 when the computer program is executed on a computer or a processor.

14. A computer-readable storage medium having stored therein a computer program, wherein, 15. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the control method of the vehicle according to any one of claims 1 to 10. ​

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