Power-off control system, method and apparatus for driverless vehicle

Abstract

The present disclosure relates to the technical field of autonomous driving control, and provides a power-off control system, method and apparatus for a driverless vehicle. The present disclosure solves the technical problem that driverless vehicles experience power cutoff and operational shutoff due to low temperature and battery depletion, resulting in impact on operational efficiency. The power-off control system comprises a driverless vehicle and a service platform. The method comprises the following steps: acquiring a vehicle parameter; determining, on the basis of the vehicle parameter, whether a vehicle satisfies a power-off condition; and when the vehicle satisfies the power-off condition, controlling the vehicle to perform a power-off operation. In the present disclosure, when a state parameter of a battery module of the vehicle and the traveling speed of the vehicle meet a power-off condition, an alarm is triggered to prompt the user to perform a power-off operation and to alert the operation and maintenance staff to perform power-off processing on the vehicle, and if manual intervention is not initiated within a set time, the vehicle is forcibly powered off, thereby effectively preventing vehicle breakdowns caused by battery depletion, i.e., effectively protecting the battery, and significantly reducing the cost of manual rescue and maintenance.

Description

Power-off control system, method and device of unmanned vehicle TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of unmanned control, and particularly relates to a power-off control system, a control method and a power-off control device of an unmanned vehicle. BACKGROUND

[0002] When the environment temperature suddenly drops, the battery system self-heating cannot be normally started due to a fault, and the range extender cannot charge the battery in time due to a fault, the battery will be in a low-temperature and low-power condition when the unmanned vehicle operates in winter. For the unmanned vehicle, since there is no driver, the vehicle cannot be effectively disposed quickly, and only the platform can be used to manage the vehicle, which has a certain lag and can cause a part of the vehicle to stop operating due to low power, thereby affecting the operation efficiency of the marshaled vehicle. SUMMARY

[0003] The present disclosure aims to provide a power-off control system, a control method and a power-off control device of an unmanned vehicle, which can remotely power off the vehicle in time when the power is low, so that the vehicle still has a certain power and can return to maintenance, thereby solving the technical problem that the unmanned vehicle stops operating due to low temperature and low power in the prior art, and further affecting the operation efficiency.

[0004] To achieve the above-mentioned purpose, the present disclosure provides the following technical solutions:

[0005] In a first aspect, the present disclosure provides a power-off control system of an unmanned vehicle, which comprises an unmanned vehicle and a service platform, the unmanned vehicle is provided with a battery module and a vehicle control unit VCU, and the battery module is configured to supply power to the power system of the vehicle; wherein,

[0006] The vehicle further comprises a power-off condition judgment module configured to obtain vehicle parameters to judge the state of the vehicle, wherein the vehicle parameters comprise at least one of the state parameters of the battery module, the driving speed of the vehicle and the environment temperature in which the vehicle is located; and a first control module configured to control the vehicle parameters or the judgment result to be uploaded to the VCU when the judgment result meets the power-off condition;

[0007] The service platform comprises a first power-off processing module and / or a second power-off processing module; the first power-off processing module is configured to receive the vehicle parameters or the judgment result, and generate a reminder information according to the vehicle parameters or the judgment result, wherein the reminder information is used to remind a user to perform a power-off operation on the vehicle; and the second power-off processing module is configured to generate a forced power-off instruction, and perform a power-off operation on the vehicle according to the forced power-off instruction.

[0008] As a further improvement of the present disclosure, the second power-off processing module is configured to determine whether a remote power-off control instruction is detected within a set operation time, generate a forced power-off instruction in the case that the remote power-off control instruction is not detected within the set operation time, and perform a power-off operation on the vehicle based on the forced power-off instruction.

[0009] The power-off control system of the unmanned vehicle provided by the present disclosure can remind the user to perform a power-off operation in the form of an alarm in the case that the state parameters of the vehicle battery module and the driving speed of the vehicle meet the power-off condition, remind the operation and maintenance personnel to perform a power-off operation on the vehicle, and perform a forced power-off operation on the vehicle in the case that the set time is exceeded and the manual operation is not performed, which can effectively avoid the situation that the vehicle is stranded due to low power, that is, the battery is effectively protected, and the cost of manual rescue and maintenance is greatly saved.

[0010] In a second aspect, the present disclosure provides a power-off control method of an unmanned vehicle, the unmanned vehicle being provided with a battery module configured to supply power to a power system of the vehicle, the method comprising the following steps:

[0011] obtaining vehicle parameters, wherein the vehicle parameters include at least one of a state parameter of the battery module, a driving speed of the vehicle, and an ambient temperature of the vehicle;

[0012] determining whether the vehicle meets a power-off condition according to the vehicle parameters;

[0013] controlling the vehicle to perform a power-off operation in the case that the vehicle meets the power-off condition.

[0014] As a further improvement of the present disclosure, the state parameter of the battery module includes a state of charge (SOC) of the battery module and a minimum single cell voltage of the battery module.

[0015] As a further improvement of the present disclosure, the power-off condition includes:

[0016] the state of charge (SOC) of the battery module reaches a preset threshold value, the minimum single cell voltage Vmin of the battery module is lower than a preset voltage value V0, and the driving speed V of the vehicle meets a preset speed condition.

[0017] As a further improvement of the present disclosure, the state of charge (SOC) of the battery module reaching a preset threshold value includes:

[0018] in the case that the ambient temperature of the vehicle does not exceed a first temperature threshold value, the state of charge (SOC) of the battery module is less than a first preset threshold value SOC1;

[0019] In a case where the ambient temperature where the vehicle is located exceeds the first temperature threshold, a state of charge (SOC) of the battery module is less than a second preset threshold SOC2, wherein the first preset threshold SOC1 is greater than the second preset threshold SOC2.

[0020] As a further improvement of the present disclosure, the first preset threshold SOC1 is 30%-35%, and the second preset threshold SOC2 is 20%-30%.

[0021] As a further improvement of the present disclosure, the preset speed condition satisfied by the driving speed V of the vehicle includes that the vehicle keeps a speed of 0 for a continuous set time interval.

[0022] As a further improvement of the present disclosure, the control of the vehicle to perform the power-off operation includes:

[0023] obtaining a remote power-off control instruction generated by a service platform, and performing a power-off operation on the vehicle according to the remote power-off control instruction; and / or,

[0024] obtaining a forced power-off instruction, and performing a power-off operation on the vehicle according to the forced power-off instruction.

[0025] As a further improvement of the present disclosure, the control of the vehicle to perform the power-off operation includes:

[0026] detecting whether a remote power-off control instruction is generated within a set operation time T;

[0027] In a case where the remote power-off control instruction is not received within the set operation time T, a forced power-off instruction is obtained, and a power-off operation is performed on the vehicle based on the forced power-off instruction.

[0028] The power-off control method of the unmanned vehicle provided by the present disclosure can perform a power-off operation on the autonomous vehicle by judging the vehicle battery capacity, vehicle speed, and information such as whether there is a personnel operation, and can realize emergency power-off according to the situation, which can effectively avoid the situation that the vehicle is stranded due to low battery capacity, that is, the battery is effectively protected, and the cost of manual rescue and maintenance is greatly saved.

[0029] In a third aspect, the present disclosure provides a power-off control device of an unmanned vehicle, comprising:

[0030] a collection unit configured to obtain vehicle parameters, wherein the vehicle parameters include at least one of a state parameter of the battery module, a driving speed of the vehicle, and an ambient temperature where the vehicle is located;

[0031] a calculation unit configured to determine whether the vehicle satisfies a power-off condition according to the vehicle parameters;

[0032] The execution unit is configured to control the vehicle to perform a power-off operation if the vehicle meets the power-off condition. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without any creative effort based on these drawings.

[0034] Fig. 1 is a system composition diagram of a power-off control system of an unmanned vehicle according to an embodiment of the present disclosure;

[0035] Fig. 2 is a control logic diagram of a power-off control method of an unmanned vehicle according to an embodiment of the present disclosure;

[0036] Fig. 3 is a flow chart of a power-off control method of an unmanned vehicle according to an embodiment of the present disclosure;

[0037] Fig. 4 is a system composition diagram of a control device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure will be described in detail below. Obviously, the described embodiments are only some of the embodiments of the present disclosure, not all. Based on the embodiments in the present disclosure, all other embodiments obtained by those skilled in the art without any creative effort fall within the scope of the present disclosure.

[0039] As shown in Fig. 1, the present disclosure provides a power-off control system of an unmanned vehicle, which realizes timely power-off processing of the unmanned vehicle when the power-off condition is met.

[0040] Specifically, in the present embodiment, the power-off control system includes an unmanned vehicle and a service platform. It should be noted that, first, the unmanned vehicle can be any type of vehicle as long as it has the function of unmanned driving; second, the service platform can be carried on the unmanned vehicle, or can be carried in a remote control room or a central control room, which is not limited in the present disclosure and can be set as needed according to actual conditions.

[0041] Further, the unmanned vehicle is provided with:

[0042] a battery module configured to supply power to the power system of the vehicle;

[0043] The vehicle control unit VCU is a central nervous system of the vehicle, and is responsible for managing and coordinating the work of various subsystems in the vehicle.

[0044] The power-off condition judgment module is configured to obtain vehicle parameters to determine the vehicle state, wherein the vehicle parameters include at least one of a state parameter of the battery module, a driving speed V of the vehicle, and an ambient temperature of the vehicle.

[0045] The first control module is configured to control uploading of the vehicle parameters or the determination result to the vehicle control unit VCU when the determination result indicates that the power-off condition is met, and the vehicle control unit VCU uploads the vehicle parameters or the determination result to the service platform for subsequent processing.

[0046] Further, the service platform comprises:

[0047] The first power-off processing module and / or the second power-off processing module; that is, one embodiment of the service platform comprises the first power-off processing module, which is configured to receive the vehicle parameters or the determination result and generate a reminder message according to the vehicle parameters or the determination result, wherein the reminder message is used to remind the user to perform the power-off operation on the vehicle; when the service platform only comprises the first power-off processing module, the service platform will alarm and remind the user to perform the power-off operation on the vehicle once the vehicle side determines that the power-off condition is met. This embodiment has certain disadvantages, because if the service platform only alarms and reminds the user, and the user does not receive the alarm and reminder message in time, the vehicle will still not be powered off, and the vehicle will still be in operation due to power failure, affecting the operation efficiency. Moreover, the vehicle needs to be rescued once powered off to start again, which is time-consuming and laborious.

[0048] The second embodiment of the service platform comprises the second power-off processing module, which is configured to generate a forced power-off instruction and perform the power-off operation on the vehicle according to the forced power-off instruction; when the service platform only comprises the second power-off processing module, the information will be uploaded to the service platform once the vehicle side determines that the power-off condition is met, and the service platform will detect whether the vehicle has been powered off. If the vehicle has not been powered off and is still in operation within a set operation time, the service platform will generate a forced power-off instruction to directly power off the vehicle. It should be noted that whether the vehicle is powered off can be achieved by obtaining the vehicle parameters, and can also be achieved by other forms, which are not limited here. Although this method can protect the vehicle from being stuck due to low power, it has the problems of safety hazards and inconvenience caused by sudden power failure when the vehicle is in use and cannot perform other operations.

[0049] The third embodiment of the service platform comprises the first power-off processing module and the second power-off processing module. The first power-off processing module is configured to receive the vehicle parameter or the determination result and generate the prompt information according to the vehicle parameter or the determination result, and the prompt information is used to prompt the user to perform the power-off operation on the vehicle. The second power-off processing module is configured to generate the forced power-off instruction and perform the power-off operation on the vehicle according to the forced power-off instruction. When the service platform comprises the two power-off processing modules, if the power-off condition is met on the vehicle side, the first power-off processing module is used to generate the prompt information first, and the user is warned by the prompt alarm information that the vehicle needs to be powered off in time. If the user fails to check the alarm prompt information for a long time, the vehicle is in a risk operation state, and the vehicle is not powered off within the set operation time, the second power-off processing module is used to generate the forced power-off instruction in time, and the vehicle is powered off according to the forced instruction. This embodiment is the most optimal embodiment, which not only ensures that the vehicle will not be in a low-power state, but also ensures that the vehicle is powered off forcibly when the prompt information is not received in time, thereby ensuring the good operation of the vehicle.

[0050] As an optional embodiment of the present disclosure, before the second power-off processing module generates the forced instruction, whether the vehicle is powered off within a certain time after the power-off condition is met can be used as a judgment basis. This judgment basis needs to be determined by obtaining the vehicle parameter to determine whether the vehicle is still in operation or not powered off, which has the problem of complicated steps.

[0051] As another optional embodiment of the present disclosure, before the second power-off processing module generates the forced instruction, the second power-off processing module is configured to determine whether the remote power-off control instruction is detected within the set operation time. If the remote power-off control instruction is not detected within the set operation time, the forced power-off instruction is generated, and the power-off operation is performed on the vehicle based on the forced power-off instruction. In this embodiment, the judgment basis is whether the remote power-off control instruction is received on the vehicle side. Once the remote power-off control instruction is received on the vehicle side, the power-off operation is performed, and the power-off process of the vehicle is successfully completed. The remote power-off control instruction received on the vehicle side is sent by the user, which means that the user has received the alarm prompt information and has performed the corresponding process in time.

[0052] The power-off control system of the unmanned vehicle provided by the present disclosure can remind the user to perform the power-off operation in the form of alarm prompt when the state parameter of the vehicle battery module and the driving speed of the vehicle meet the power-off condition, remind the operation and maintenance personnel to perform the power-off process on the vehicle, and forcibly power off the vehicle if the manual process is not performed within the set time. The vehicle can be effectively prevented from being in a low-power state, that is, the battery is effectively protected, and the cost of manual rescue and maintenance is greatly saved.

[0053] The power-off control method of the unmanned vehicle provided by the present disclosure is realized based on the power-off control system of the unmanned vehicle; through information interaction between the VCU (Vehicle Control Unit, vehicle controller) and the service platform, the manual remote power-off can be realized through the platform prompt, and the vehicle can be forcibly powered off through the platform information feedback, which can effectively ensure the battery capacity and avoid the vehicle from being stuck, thereby greatly saving the subsequent rescue and maintenance cost. The unmanned vehicle is provided with a battery module, the battery module is configured to supply power for the power system of the vehicle, as shown in FIG. 2, and the power-off control method comprises the following steps:

[0054] Step S1, obtaining vehicle parameters, wherein the vehicle parameters include at least one of the state parameters of the battery module, the driving speed of the vehicle and the environmental temperature of the vehicle;

[0055] Further, the state parameters of the battery module at least include the state of charge SOC of the battery module and the minimum single cell voltage of the battery module;

[0056] Step S2, determining whether the vehicle meets the power-off condition according to the vehicle parameters;

[0057] Further, the power-off condition is mainly based on three conditions, including:

[0058] A, the state of charge SOC of the battery module reaches a preset threshold, B, and the minimum single cell voltage Vmin of the battery module is lower than a preset voltage value V0, C, and the driving speed V of the vehicle meets a preset speed condition.

[0059] That is, after obtaining various parameters of the vehicle, the three parameters SOC, minimum single cell voltage and driving speed are sequentially judged, when the three parameters meet the judgment condition, the vehicle meets the power-off condition and needs to be powered off, and when any of the three parameters does not meet, the power-off condition is not met.

[0060] Among them, condition A is to ensure that the vehicle still has more power when the temperature is low, so the threshold of SOC is distinguished according to the environmental temperature. Condition B is the judgment of the minimum voltage of the battery, which is the bottom line condition to ensure that the battery is not over-discharged. Condition C is the speed condition, which needs to ensure that the vehicle is in a non-operating state and lasts for 30 minutes, that is, the speed V = 0 km / h. When conditions A, B and C are met at the same time, the information is uploaded to the service platform through the VCU, the service platform alarms according to the information, prompts the operation and maintenance personnel to power off the vehicle, and when the processing is completed within time T, the vehicle is manually powered off and waits for rescue, when the time T is exceeded and the personnel are not processed, the platform generates a forced power-off instruction, which is fed back to the VCU, and then the VCU executes the forced power-off of the vehicle to ensure that the vehicle has enough remaining power to wait for rescue.

[0061] Considering that the battery activity is different when the vehicle is in different ambient temperatures, the ambient factor needs to be considered when judging the state of charge SOC, specifically:

[0062] The state of charge SOC of the battery module is determined whether it reaches a preset threshold, including:

[0063] In the case that the ambient temperature of the vehicle does not exceed a first temperature threshold, the state of charge SOC of the battery module is less than a first preset threshold SOC1.

[0064] In the case that the ambient temperature of the vehicle exceeds the first temperature threshold, the state of charge SOC of the battery module is less than a second preset threshold SOC2, wherein the first preset threshold SOC1 is greater than the second preset threshold SOC2.

[0065] The first temperature threshold can be set to -10℃ in this embodiment, that is, when the ambient temperature of the vehicle does not exceed -10℃, the state of charge SOC of the battery module is less than the first preset threshold SOC1, which meets the SOC judgment condition, otherwise it does not meet the SOC condition; when the ambient temperature of the vehicle exceeds -10℃, the state of charge SOC of the battery module is less than the second preset threshold SOC2, which meets the SOC judgment condition, otherwise it does not meet the SOC condition. Since the first temperature threshold is zero, and the ambient temperature does not exceed -10℃, it means that the ambient temperature is relatively cold, and the activity of the battery module is very poor. At this time, it has exceeded the minimum temperature threshold of the battery module that can be charged, so the threshold of the state of charge SOC of the vehicle needs to be set higher. When the ambient temperature is higher than -10℃, the ambient temperature is relatively high at this time, so the threshold of the SOC can be set lower. Therefore, in this embodiment, SOC1 is greater than SOC2.

[0066] As an optional embodiment of the present disclosure, the first preset threshold SOC1 can be 30%-35%, and the second preset threshold SOC2 can be 20%-30%.

[0067] Of course, the specific values of the above-mentioned first temperature threshold, first preset threshold SOC1 and second preset threshold SOC2 are only a reference embodiment, and are not the only optional parameter. In actual setting, it can be set as needed according to the actual situation.

[0068] Further, the driving speed V of the vehicle meets the preset speed condition, including: the vehicle keeps the speed at 0 all the time within a continuous setting time interval. It should be noted that the continuous setting time can be selected as 30min, or can be set as other time, which is not limited in the present disclosure.

[0069] Further, the lowest single cell voltage Vmin of the battery module is lower than a preset voltage value V0, wherein the preset voltage value V0 is a voltage value for protecting the battery from over-discharge. The voltage value is determined according to the actual battery type.

[0070] In step S3, the vehicle is controlled to perform a power-off operation in a case where the vehicle satisfies a power-off condition.

[0071] Specifically, the vehicle is controlled to perform the power-off operation, including:

[0072] The remote power-off control instruction generated by the service platform is acquired, and the vehicle is controlled to perform the power-off operation according to the remote power-off control instruction; and / or,

[0073] The forced power-off instruction is acquired, and the vehicle is controlled to perform the power-off operation according to the forced power-off instruction.

[0074] That is, the vehicle is controlled to perform the power-off operation including three embodiments, one is to acquire the remote power-off control instruction generated by the service platform, and then manually control the vehicle to perform the power-off operation according to the remote power-off control instruction. Another embodiment is that the vehicle side acquires the forced power-off instruction, and the vehicle performs the power-off operation according to the forced power-off instruction. The third embodiment is that the remote power-off control instruction generated by the service platform is acquired first, and then the vehicle is controlled to perform the power-off operation according to the remote power-off control instruction; then a set operation time is waited for, and whether the remote power-off control instruction is generated within the set operation time T is detected within the set operation time T; in a case where the remote power-off control instruction is not received within the set operation time T, the forced power-off instruction is acquired, and the vehicle is controlled to perform the power-off operation based on the forced power-off instruction.

[0075] It should be noted here that the power-off control system of the unmanned vehicle for implementing the power-off control method can be installed on the vehicle side or in the remote control room. When installed on the vehicle side, remote information interaction can be reduced, and control problems caused by poor remote signals can be avoided. The processing process is fast and efficient, but when installed on the vehicle side, a series of systems and components are required to implement the method. Considering that the control system needs to occupy memory, and the processing, calculation, and judgment processes all need to be completed by corresponding processors, it will increase the requirements of the vehicle side, and the vehicle needs to have high basic conditions. There are also problems of long processing time, slow processing, and slow processing. Installing the control system in the remote control room increases remote interaction, but considering that there is no space size limit for remote control, a higher configuration system can be selected, and it is also beneficial to uniformly manage all vehicles. A set of systems can be configured to control all vehicles. Compared with installation on the vehicle side, the benefits outweigh the disadvantages.

[0076] As shown in FIG. 3, the power-off control method of the unmanned vehicle provided by the present disclosure is as follows: when the parameters such as the state of charge SOC of the vehicle power battery, the minimum single cell voltage, and the vehicle speed meet the remote power-off condition, the battery management system BMS uploads these parameters to the vehicle controller VCU, and uploads the parameter information to the service platform (data management platform). The state of charge SOC information of the low-power vehicle is displayed in the form of an alarm reminder on the platform, reminding the operation and maintenance personnel to remotely power off the vehicle. If the vehicle is not handled manually within a set time T, a forced power-off instruction will be generated. The VCU forces the vehicle to power off based on the instruction, and uploads the last position information of the vehicle before power-off, so as to facilitate subsequent maintenance and rescue.

[0077] As shown in FIG. 4, the power-off control device of the unmanned vehicle provided by the present disclosure is arranged to execute the power-off control method. The power-off control device comprises:

[0078] The acquisition unit 10 is arranged to obtain vehicle parameters, wherein the vehicle parameters comprise at least one of the state parameters of the battery module, the driving speed of the vehicle, and the ambient temperature of the vehicle;

[0079] The calculation unit 20 is arranged to determine whether the vehicle meets the power-off condition according to the vehicle parameters.

[0080] The execution unit 30 is arranged to control the vehicle to perform the power-off operation when the vehicle meets the power-off condition.

[0081] The execution unit 30 is further arranged to obtain a remote power-off control instruction generated by the service platform, and perform the power-off operation on the vehicle according to the remote power-off control instruction; and / or obtain a forced power-off instruction, and perform the power-off operation on the vehicle according to the forced power-off instruction.

[0082] The execution unit 30 is further arranged to detect whether the remote power-off control instruction is generated within a set operation time T. When the remote power-off control instruction is not received within the set operation time T, a forced power-off instruction is obtained, and the power-off operation is performed on the vehicle based on the forced power-off instruction.

[0083] It should be noted that each of the above units can be a functional module or a program module, which can be implemented by software or hardware. For the modules implemented by hardware, each of the above modules can be located in the same processor; or each of the above modules can be located in different processors in any combination.

[0084] The above merely describes specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present disclosure, which should be covered within the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be subject to the protection scope of the claims.

Claims

1. A power-off control system of a self-driving vehicle, the system comprising a self-driving vehicle and a service platform, the self-driving vehicle being provided with a battery module and a vehicle control unit (VCU), the battery module being configured to supply power to a power system of the vehicle; wherein, the vehicle further comprises a power-off condition judging module configured to acquire vehicle parameters to determine a vehicle state, wherein the vehicle parameters comprise at least one of a state parameter of the battery module, a driving speed of the vehicle, and an ambient temperature of the vehicle; and a first control module configured to control uploading of the vehicle parameters or the determination result to the VCU when a determination result indicates that a power-off condition is met; the service platform comprises a first power-off processing module and / or a second power-off processing module; the first power-off processing module is configured to receive the vehicle parameters or the determination result, and generate a prompt information according to the vehicle parameters or the determination result, wherein the prompt information is used to prompt a user to perform a power-off operation on the vehicle; and the second power-off processing module is configured to generate a forced power-off instruction, and perform a power-off operation on the vehicle according to the forced power-off instruction.

2. The system of claim 1, wherein, The second power-off processing module is configured to determine whether a remote power-off control instruction is detected within a set operation time, and generate a forced power-off instruction and perform a power-off operation on the vehicle based on the forced power-off instruction when the remote power-off control instruction is not detected within the set operation time.

3. A power-off control method of a self-driving vehicle, the self-driving vehicle being provided with a battery module, the battery module being configured to supply power to a power system of the vehicle, the method comprising the following steps: acquiring vehicle parameters, wherein the vehicle parameters comprise at least one of a state parameter of the battery module, a driving speed of the vehicle, and an ambient temperature of the vehicle; determining whether the vehicle meets a power-off condition according to the vehicle parameters; controlling the vehicle to perform a power-off operation when the vehicle meets the power-off condition.

4. The method of claim 3, wherein, The state parameter of the battery module comprises a state of charge (SOC) of the battery module and a minimum cell voltage of the battery module.

5. The method of claim 3 or 4, wherein, The power-off condition comprises: the state of charge (SOC) of the battery module reaches a preset threshold value, the minimum cell voltage (Vmin) of the battery module is lower than a preset voltage value (V0), and the driving speed (V) of the vehicle meets a preset speed condition.

6. The method of claim 5, wherein, The state of charge (SOC) of the battery module reaching a preset threshold value comprises: when the ambient temperature of the vehicle does not exceed a first temperature threshold value, the state of charge (SOC) of the battery module is less than a first preset threshold value (SOC1); and when the ambient temperature of the vehicle exceeds the first temperature threshold value, the state of charge (SOC) of the battery module is less than a second preset threshold value (SOC2), wherein the first preset threshold value (SOC1) is greater than the second preset threshold value (SOC2).

7. The method of claim 6, wherein, The first preset threshold value (SOC1) is 30%-35%, and the second preset threshold value (SOC2) is 20%-30%.

8. The method of claim 5, wherein, The driving speed V of the vehicle satisfies a preset speed condition, including: the vehicle keeps the vehicle speed as 0 in a continuous setting time interval.

9. The method of claim 3, wherein, The control of the vehicle to perform the power-off operation includes: acquiring a remote power-off control instruction generated by a service platform, and performing a power-off operation on the vehicle according to the remote power-off control instruction; and / or, acquiring a forced power-off instruction, and performing a power-off operation on the vehicle according to the forced power-off instruction.

10. The method of claim 3 or 9, wherein, The control of the vehicle to perform the power-off operation includes: detecting whether a remote power-off control instruction is generated within a setting operation time T; in the case that the remote power-off control instruction is not received within the setting operation time T, acquiring a forced power-off instruction, and performing a power-off operation on the vehicle based on the forced power-off instruction.

11. A power-off control device of an unmanned vehicle, comprising: an acquisition unit configured to acquire vehicle parameters, wherein the vehicle parameters include at least one of a state parameter of the battery module, a driving speed of the vehicle, and an ambient temperature in which the vehicle is located; a calculation unit configured to determine whether the vehicle satisfies a power-off condition according to the vehicle parameters; an execution unit configured to control the vehicle to perform a power-off operation in the case that the vehicle satisfies the power-off condition.

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