CN109895787A - A kind of control method and control device of vehicle drive - Google Patents
A kind of control method and control device of vehicle drive Download PDFInfo
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- CN109895787A CN109895787A CN201910228303.1A CN201910228303A CN109895787A CN 109895787 A CN109895787 A CN 109895787A CN 201910228303 A CN201910228303 A CN 201910228303A CN 109895787 A CN109895787 A CN 109895787A
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Abstract
This application involves technical field of vehicle control more particularly to the control methods and control device of a kind of vehicle drive.The attribute information and fault message that the application passes through the control unit of each failure in acquisition vehicle, and the driving mode of the vehicle got when thering is control unit to break down in monitoring vehicle, it can determine the fault level of the control unit of each failure, and then the fault level of the control unit based on each failure, it can determine the vehicle trouble states of vehicle, further, vehicle is controlled according to control mode corresponding with vehicle trouble states.Using aforesaid way, the vehicle trouble states of vehicle can accurately being judged, and then vehicle quickly being controlled using the control mode to match with vehicle trouble states, the efficiency of control vehicle can be improved.
Description
Technical field
This application involves technical field of vehicle control more particularly to the control methods and control device of a kind of vehicle drive.
Background technique
Automatic driving vehicle is also known as automatic driving vehicle, is a kind of by the unpiloted intelligent vehicle of computer system realization
?.In the car in the case where nobody, the traveling by car-mounted terminal control vehicle is automatic driving vehicle in this case
It avoids needing when detecting that vehicle breaks down, due to the accident that vehicle breaks down and causes to the malfunction of vehicle
Accurately determined, and then timely and effectively fault car is controlled accordingly according to the malfunction of vehicle, guarantees vehicle
Other vehicles or pedestrians will not be impacted or be injured.However, the prior art is more focused on how to fault car
It is controlled and is repaired, it is fresh to focus on how to improve the accuracy for determining vehicle trouble states less.
Summary of the invention
In view of this, the control method and control device for being designed to provide a kind of vehicle drive of the embodiment of the present application,
It can accurately judge the vehicle trouble states of vehicle.
Mainly include the following aspects:
In a first aspect, the embodiment of the present application provides a kind of control method of vehicle drive, the control method includes:
When monitor has control unit to break down in vehicle, the category of the control unit of each failure is obtained respectively
Property information and fault message；
The attribute information and fault message of control unit based on each failure, and have control in monitoring vehicle
The driving mode for the vehicle that unit processed is got when breaking down determines the fault level of the control unit of each failure；
The fault level of control unit based on each failure determines the vehicle trouble states of the vehicle；
It determines control mode corresponding with the vehicle trouble states, and controls the vehicle according to the control mode.
In a kind of possible embodiment, the attribute information and failure of the control unit according to each failure
Information, and the driving mode of vehicle that while having control unit to break down in monitoring vehicle gets, determine it is each go out
The fault level of the control unit of existing failure, comprising:
According to the attribute information of the control unit of each failure and the driving mode, determine in the driving mould
The degree of association under formula between the control unit of each failure and the vehicle；
According to the event of the corresponding degree of association of the control unit of each failure and the control unit of each failure
Hinder information, determines the fault level of the control unit of each failure.
In a kind of possible embodiment, the fault level of the control unit based on each failure is determined
The vehicle trouble states of the vehicle, comprising:
It is corresponding according to the corresponding degree of association of the control unit of each failure and the control unit of each failure
Fault level, determine the vehicle trouble states of the vehicle.
In a kind of possible embodiment, when the vehicle trouble states include highly dangerous state, poor risk shape
When three kinds of malfunctions of state and ordinary hazard state, determination control mode corresponding with the vehicle trouble states, and press
The vehicle is controlled according to the control mode, comprising:
If the vehicle trouble states are the highly dangerous state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity under vehicle；
If the vehicle trouble states are the poor risk state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity, low-voltage power supply under high pressure；
If the vehicle trouble states are the ordinary hazard state, the travel speed for controlling the vehicle is pre- lower than first
If speed and/or the torque of engine output are lower than the first predetermined torque.
In a kind of possible embodiment, when the vehicle trouble states are the highly dangerous state or the moderate
When precarious position, the vehicle deceleration is controlled in the following manner until the travel speed of the vehicle is zero:
The vehicle is controlled by electronic brake control unit and motor control unit to slow down；
In the vehicle deceleration process, whether the travel speed of vehicle described in real-time detection is less than the second pre-set velocity；
If the travel speed is less than second pre-set velocity, the vehicle is controlled by electronic parking control unit
Travel speed is down to zero, and controls the vehicle and be in parked state.
It is described by described in electronic brake control unit and motor control unit control in a kind of possible embodiment
Vehicle slows down, comprising:
Detect whether the electronic brake control unit be in normal operating conditions and the motor control unit
In normal operating conditions；
If the electronic brake control unit is in normal operating conditions, and the motor control unit is in normal work
Make state, control the electronic brake control unit and the motor control unit jointly brakes the vehicle, with control
The vehicle is made to slow down.
In a kind of possible embodiment, the control method further include:
If the electronic brake control unit is in abnormal operation, and the motor control unit is in normal work
Make state, negative torque output is carried out by the motor control unit, the vehicle is braked, subtracted with controlling the vehicle
Speed；
If the electronic brake control unit is in abnormal operation, and the motor control unit is in abnormal work
Make state, the torque output for controlling the motor control unit is zero, is slowed down to control the vehicle.
In a kind of possible embodiment, described control unit is at least one of lower unit:
Vehicle remote control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, deceleration of electrons
Control unit, motor control unit, electronic parking control unit, electrical steering control unit, battery management unit, battery control
Unit.
Second aspect, the embodiment of the present application also provides a kind of control device of vehicle drive, the control device includes:
Module is obtained, for obtaining each failure respectively when monitor has control unit to break down in vehicle
Control unit attribute information and fault message；
First determining module, for the attribute information and fault message of the control unit based on each failure, and
The driving mode of the vehicle got when having control unit to break down in monitoring vehicle determines the control of each failure
The fault level of unit processed；
Second determining module determines the vehicle for the fault level according to the control unit based on each failure
Vehicle trouble states；
Control module, for determining control mode corresponding with the vehicle trouble states, and according to the control mode
Control the vehicle.
In a kind of possible embodiment, first determining module, for determining each appearance according to following steps
The fault level of the control unit of failure:
According to the attribute information and the driving mode of the control module control unit of each failure, determine in institute
State the degree of association between the control module control unit of each failure under driving mode and the vehicle；
According to the corresponding degree of association of control module control unit of each failure and the control of each failure
The fault message of module control unit determines the fault level of the control module control unit of each each failure.
In a kind of possible embodiment, second determining module, for determining the vehicle according to following steps
Vehicle trouble states:
It is corresponding according to the corresponding degree of association of the control unit of each failure and the control unit of each failure
Fault level, determine the vehicle trouble states of the vehicle.
In a kind of possible embodiment, when the vehicle trouble states include highly dangerous state, poor risk shape
When three kinds of malfunctions of state and ordinary hazard state, the control module, for controlling the vehicle according to following steps:
If the vehicle trouble states are the highly dangerous state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity under vehicle；
If the vehicle trouble states are the poor risk state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity, low-voltage power supply under high pressure；
If the vehicle trouble states are the ordinary hazard state, the travel speed for controlling the vehicle is pre- lower than first
If speed and/or the torque of engine output are lower than the first predetermined torque.
In a kind of possible embodiment, when the vehicle trouble states are highly dangerous state or poor risk state
When, the control module controls the vehicle deceleration in the following manner until the travel speed of the vehicle is zero:
The vehicle is controlled by electronic brake control unit and motor control unit to slow down；
In the vehicle deceleration process, whether the travel speed of vehicle described in real-time detection is less than the second pre-set velocity；
If the travel speed is less than second pre-set velocity, the vehicle is controlled by electronic parking control unit
Travel speed is down to zero, and controls the vehicle and be in parked state.
In a kind of possible embodiment, the control module, specifically for passing through deceleration of electrons according to following steps
Control unit and motor control unit control make the vehicle deceleration, comprising:
Detect whether the electronic brake control unit be in normal operating conditions and the motor control unit
In normal operating conditions；
If the electronic brake control unit is in normal operating conditions, and the motor control unit is in normal work
Make state, control the electronic brake control unit and the motor control unit jointly brakes the vehicle, with control
The vehicle is made to slow down.
In a kind of possible embodiment, the control module is also used to:
If the electronic brake control unit is in abnormal operation, but the motor control unit is in normal work
Make state, negative torque output is carried out by the motor control unit, the vehicle is braked, subtracted with controlling the vehicle
Speed；
If the electronic brake control unit is in abnormal operation, and the motor control unit is in abnormal work
Make state, the torque output for controlling the motor control unit is zero, is slowed down to control the vehicle.
In a kind of possible embodiment, described control unit is at least one of lower unit:
Vehicle remote control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, deceleration of electrons
Control unit, motor control unit, electronic parking control unit, electrical steering control unit, battery management unit, battery control
Unit.
The third aspect, the embodiment of the present application also provides a kind of electronic equipment, comprising: processor, memory and bus, institute
It states memory and is stored with the executable machine readable instructions of the processor, when electronic equipment operation, the processor and institute
It states and is communicated between memory by the bus, the machine readable instructions execute above-mentioned when being run by the processor
In one side or first aspect the step of the control method of vehicle drive described in any possible embodiment.
Fourth aspect, it is described computer-readable to deposit the embodiment of the present application also provides a kind of computer readable storage medium
Computer program is stored on storage media, the computer program executes above-mentioned first aspect or first party when being run by processor
In face the step of the control method of vehicle drive described in any possible embodiment.
In the embodiment of the present application, believed by obtaining the attribute information of the control unit of each failure and failure in vehicle
The driving mode of the vehicle got when ceasing, and having control unit to break down in monitoring vehicle, can determine each
The fault level of the control unit of failure, and then the fault level of the control unit based on each failure, can be true
Determine the vehicle trouble states of vehicle, further, controls vehicle according to control mode corresponding with vehicle trouble states.Using upper
Mode is stated, can accurately judge the vehicle trouble states of vehicle, and then can quickly use and vehicle trouble states phase
The control mode control vehicle matched, can be improved the efficiency of control vehicle.
To enable the above objects, features, and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 shows a kind of flow chart of the control method of vehicle drive provided by the embodiment of the present application one；
Fig. 2 shows a kind of flow charts of the control method of vehicle drive provided by the embodiment of the present application two；
Fig. 3 shows a kind of functional block diagram of the control device of vehicle drive provided by the embodiment of the present application three；
Fig. 4 shows the structural schematic diagram of a kind of electronic equipment provided by the embodiment of the present application four.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present application
In attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it should be understood that attached in the application
Figure only plays the purpose of illustration and description, is not used to limit the protection scope of the application.In addition, it will be appreciated that schematical
Attached drawing does not press scale.Process used herein is shown according to some embodiments of the present application realization
Operation.It should be appreciated that the operation of flow chart can be realized out of order, the step of context relation of logic can not inverted
Sequence is implemented simultaneously.In addition, those skilled in the art under the guide of teachings herein, can add one to flow chart
Or other multiple operations, one or more operations can also be removed from flow chart.
In addition, described embodiments are only a part of embodiments of the present application, instead of all the embodiments.Usually exist
The component of the embodiment of the present application described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed the application's to the detailed description of the embodiments herein provided in the accompanying drawings below
Range, but it is merely representative of the selected embodiment of the application.Based on embodiments herein, those skilled in the art are not being done
Whole other embodiments obtained under the premise of creative work out, shall fall in the protection scope of this application.
In order to enable those skilled in the art are able to use teachings herein, in conjunction with specific application scene " when monitoring vehicle
When thering is control unit to break down in, how vehicle is controlled ", following implementation is provided, those skilled in the art are come
It says, it, can be by the General Principle defined here applied to other implementations in the case where not departing from spirit and scope
Example and application scenarios.
The embodiment of the present application following methods, device, electronic equipment or computer readable storage medium can be applied to any
Need to carry out the scene of fault car control, the embodiment of the present application is not restricted specific application scenarios, any to use this
The scheme of the control method and control device of applying for the vehicle drive that embodiment provides is in the application protection scope.
It is worth noting that, the application proposition before, more focused on how in existing scheme to fault car into
Row control and maintenance, it is fresh to focus on how to improve the accuracy for determining vehicle trouble states less.But it is only accurately determining
Out in the case where vehicle trouble states, timely and effectively vehicle could be controlled accordingly according to the malfunction of vehicle,
And then guarantee that vehicle will not be impacted or be injured to other vehicles or pedestrians.
In view of the above-mentioned problems, the embodiment of the present application is believed by obtaining the attribute of the control unit of each failure in vehicle
Breath and fault message, and the driving mode of vehicle that while having control unit to break down in monitoring vehicle gets, can
With the fault level of the control unit of each failure of determination, and then the failure etc. of the control unit based on each failure
Grade, can determine the vehicle trouble states of vehicle, further, control vehicle according to control mode corresponding with vehicle trouble states
?.Using aforesaid way, the vehicle trouble states of vehicle can be accurately judged, and then can quickly use and vehicle trouble
The control mode that state matches controls vehicle, and the efficiency of control vehicle can be improved.
It should be noted that entire car controller (VCU, Vehicle Control Unit) is the assembly of automotive power
Controller is responsible for coordinating the work of each components such as engine, driving motor, gearbox, power battery, by acquiring motor control
System signal, accelerator pedal signal, brake pedal signal and other component signals, and it is comprehensive according to the driving intention of driver
After analyzing and making a response judgement, the movement of each Parts Controller of lower layer is monitored, to the normally travel of vehicle, the energy content of battery
The functions such as feedback braking, network management, fault diagnosis filter, vehicle state monitoring play key effect.
Entire car controller can also be used as the maincenter of information collection and decision, detect the failure shape of each control unit of vehicle
State determines the controllability of current vehicle, if the control of vehicle remote control unit, remote control receiver unit, automatic Pilot is single
First, parallel Driving control unit, electronic brake control unit, motor control unit, electronic parking control unit, electrical steering control
Unit processed, battery management unit, one or more control units in battery control unit occur as caused by software or hardware
Can not correct response driving intention failure when, entire car controller can control electronic brake control unit on vehicle, parking system
The control units such as dynamic control unit, motor control unit, and to vehicle cloud interactive system reporting fault, so that technical staff comes to arrange
It looks into and solves failure.
To be carried out combined with specific embodiments below to technical solution provided by the present application detailed convenient for understanding the application
It describes in detail bright.
Embodiment one
Shown in Figure 1, the component for executing the control method of the vehicle drive can be entire car controller in vehicle,
It is also possible to the server being connected with vehicle.It is below the angle of entire car controller from executing subject, to the embodiment of the present application
The control method of vehicle drive provided by one is illustrated.A kind of control of vehicle drive provided by the embodiment of the present application one
The flow chart of method, comprising the following steps:
S101: when monitor has control unit to break down in vehicle, the control list of each failure is obtained respectively
The attribute information and fault message of member.
In specific implementation, entire car controller can monitor each control list of vehicle in real time or every preset duration
Member obtains the control list of each failure when monitoring has any one or more control units to break down in vehicle
The attribute information and fault message of member.
Wherein, preset duration can be set according to vehicle actual conditions, can be 5 seconds；Control unit can be distant for vehicle
Control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, electronic brake control unit, motor control
Unit processed, electronic parking control unit, electrical steering control unit, battery management unit, at least one in battery control unit
Kind；The attribute information of control unit can be the identity information of corresponding control unit, address information, at least one in identification information
Kind, and then the control unit can be determined by the attribute information of control unit；The fault message of control unit can be pair
The information that the control unit of failure is described, for example, the information of the wireless connection situation of vehicle remote control unit and vehicle.
S102: the attribute information and fault message of the control unit based on each failure, and monitoring vehicle
In the driving mode of vehicle that gets when thering is control unit to break down, determine the failure of the control unit of each failure
Grade.
In specific implementation, when having control unit to break down in monitoring vehicle, each failure is being obtained
While the attribute information and fault message of control unit, the driving mode of vehicle is obtained, and then according to each failure
The attribute information and fault message of control unit and the at this time driving mode of vehicle, determine the control unit of each failure
Fault level.
Here, the failure due to each control unit under different driving modes, it is different to the influence degree of vehicle, thus
Need to obtain the driving mode of vehicle while discovery has control unit to break down.
Wherein, the driving mode of vehicle can be controlled for remote driving control model, autopilot control mode, parallel drive
Molding formula.
It is that people by infrared technique is having certain distance it should be noted that remote driving is a kind of unmanned technology
In the case where realize driving to vehicle；Automatic Pilot is similar to " auxiliary drives ", and automatic Pilot is not unmanned, and only
It is a unpiloted primary stage, therefore the technology as the primary stage, even if possessing Function for Automatic Pilot, it is desired nonetheless to
Driver operates vehicle according to normal driving demand and standard；Parallel drive is a kind of automatic Pilot skill that cloudization net joins
Art, by the information seamless connection on cloud, road and vehicle, makes intelligent vehicle oneself by utilization digitlization and informatizational resource
Main driving behavior becomes can to survey, controllably.
In one example, the control unit of failure is vehicle remote control unit, if detecting vehicle remote control unit and remote control
The wireless connection conditions of receiving unit are in an off state, then the driving mode for combining vehicle current is needed to determine vehicle remote control list
The fault level of member, because vehicle remote control unit is different to the influence degree of the vehicle in different driving modes, it is thus evident that such as
When fruit vehicle remote control unit breaks down, the driving mode of vehicle is remote driving control model, and vehicle remote control unit is to vehicle
Influence degree highest.
S103: the fault level of the control unit based on each failure determines the vehicle trouble states of the vehicle.
It in specific implementation, can be after determining the fault level of control unit of all failures, according to each
The weight and fault level of the control unit of failure, to be scaled the vehicle trouble states of vehicle, specifically, Ke Yiwei
The control unit of each failure distributes weight, and then the fault level of the control unit of failure can be weighted
Summation, to determine the vehicle trouble states of vehicle.
S104: control mode corresponding with the vehicle trouble states is determined, and according to described in control mode control
Vehicle.
It in specific implementation, can be according to the vehicle trouble shape set after determining the vehicle trouble states of vehicle
Corresponding relationship between state and control mode is found out opposite with the vehicle trouble states according to the vehicle trouble states determined
The control mode answered, and vehicle is controlled according to the control mode.
Here, control mode, which can be, controls electronic brake control unit, motor control unit, electricity according to preset mode
Sub- parking control unit makes vehicle deceleration, is also possible to control the torque etc. of vehicle motor output.
It should be noted that after completing to the control of vehicle according to control mode, the control that can will break down
The attribute information and fault information reporting of unit know the failure feelings of the vehicle with convinent car cloud interactive system to vehicle cloud interactive system
Condition, issues the scheme for solving failure or notification technique personnel check the failure of vehicle, and solves failure.
In the embodiment of the present application, pass through the attribute information and failure of the control unit of each failure in acquisition vehicle
Information, and the driving mode of vehicle that while having control unit to break down in monitoring vehicle gets, can determine every
The fault level of the control unit of a failure, and then the fault level of the control unit based on each failure, can be with
It determines the vehicle trouble states of vehicle, further, controls vehicle according to control mode corresponding with vehicle trouble states.Using
Aforesaid way can accurately judge the vehicle trouble states of vehicle, and then can quickly use and vehicle trouble states phase
Matched control mode controls vehicle, and the efficiency of control vehicle can be improved.
Embodiment two
Shown in Figure 2, the component for executing the control method of the vehicle drive can be entire car controller in vehicle,
It is also possible to the server being connected with vehicle.It is below the angle of entire car controller from executing subject, to the embodiment of the present application
The control method of vehicle drive provided by two is illustrated.A kind of control of vehicle drive provided by the embodiment of the present application two
The flow chart of method, comprising the following steps:
S201: when monitor has control unit to break down in vehicle, the control list of each failure is obtained respectively
The attribute information and fault message of member.
In specific implementation, entire car controller can monitor each control list of vehicle in real time or every preset duration
Member obtains the control list of each failure when monitoring has any one or more control units to break down in vehicle
The attribute information and fault message of member.
Wherein, preset duration can be set according to vehicle actual conditions, can be 5 seconds；Control unit can be distant for vehicle
Control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, electronic brake control unit, motor control
Unit processed, electronic parking control unit, electrical steering control unit, battery management unit, at least one in battery control unit
Kind；The attribute information of control unit can be at least one of the identity information of corresponding unit, address information, identification information,
And then the control unit can be determined by the attribute information of control unit；The fault message of control unit can be to appearance
The information that the control unit of failure is described, for example, vehicle remote control unit and vehicle wireless connection situation information.
S202: it according to the attribute information of the control unit of each failure and the driving mode, determines described
The degree of association under driving mode between the control unit of each failure and the vehicle.
In specific implementation, the failure due to each control unit under different driving modes, to the influence degree of vehicle
Difference, thus while obtaining the attribute information of control unit of each failure, need to obtain the driving mode of vehicle,
It, can be according to by the attribute information of the control unit and driving when breaking down and then for the control unit of each failure
Mode is sailed, determines the degree of association between the control unit and vehicle.
Here, the degree of association between control unit and vehicle can be under a certain driving mode, and the control unit is to vehicle
Significance level, such as under a certain driving mode, the operation of vehicle is without using the control unit, at this point, the control unit
It is low with the degree of association of vehicle, conversely, the control unit plays vital work to the operation of vehicle under a certain driving mode
With at this point, the control unit and the degree of association of vehicle are high.
Wherein, the driving mode of vehicle can be controlled for remote driving control model, autopilot control mode, parallel drive
Molding formula.
In one example, the control unit of failure is vehicle remote control unit, and detects vehicle remote control unit and remote control
The wireless connection conditions of receiving unit are in an off state, if the driving mode of vehicle is remote driving control model at this time,
The degree of association between vehicle remote control unit and vehicle is high；If the driving mode of vehicle is autopilot control mode or parallel at this time
Driving control mode, then the degree of association between vehicle remote control device and vehicle is low.
S203: according to the corresponding degree of association of the control unit of each failure and the control unit of each failure
Fault message, determine the fault level of the control unit of each failure.
In specific implementation, for the control unit of each failure, the corresponding association of the control unit is being determined
After degree, which can be combined to the fault level to determine the control unit with the fault message of the control unit,
In this way, the fault level of the obtained control unit, can more accurately reflect the vehicle trouble states of vehicle.
S204: the fault level of the control unit based on each failure determines the vehicle trouble states of the vehicle.
It in specific implementation, can be after determining the fault level of control unit of all failures, according to each
The weight and fault level of the control unit of failure can be every specifically to determine the vehicle trouble states of vehicle
The control unit of a failure distributes weight, and then the fault level of the control unit of failure can be weighted and be asked
With to determine the vehicle trouble states of vehicle.
S205: control mode corresponding with the vehicle trouble states is determined, and according to described in control mode control
Vehicle.
It in specific implementation, can be according to the vehicle event set in advance after determining the vehicle trouble states of vehicle
Corresponding relationship between barrier state and control mode is found out and the vehicle trouble states according to the vehicle trouble states determined
Corresponding control mode, and vehicle is controlled according to the control mode.
Here, control mode, which can be, controls electronic brake control unit, motor control unit, electricity according to preset mode
Sub- parking control unit makes vehicle deceleration, is also possible to control the torque etc. of vehicle motor output.
The application passes through the attribute information for obtaining the control unit of each failure in vehicle, and is monitoring vehicle
In the driving mode of vehicle that gets when thering is control unit to break down, can determine each appearance under the driving mode therefore
The degree of association between the control unit of barrier and the vehicle, and then according to the corresponding degree of association of the control unit of each failure
And the fault message of the control unit of each failure, it can determine the failure etc. of the control unit of each failure
Grade, and then the fault level of the control unit based on each failure, can determine the vehicle trouble states of vehicle, further
Ground controls vehicle according to control mode corresponding with vehicle trouble states.Using aforesaid way, vehicle can be accurately judged
Vehicle trouble states, and then vehicle, Ke Yiti quickly can be controlled using the control mode that matches with vehicle trouble states
The efficiency of height control vehicle.
In a kind of possible embodiment, the fault level of the control unit based on each failure in S204,
Determine the vehicle trouble states of the vehicle, comprising the following steps:
It is corresponding according to the corresponding degree of association of the control unit of each failure and the control unit of each failure
Fault level, determine the vehicle trouble states of the vehicle.
It in specific implementation, can be after determining the fault level of control unit of all failures, according to each
The weight and fault level of the control unit of failure, to determine the vehicle trouble states of vehicle, here, weight can be by
The corresponding degree of association of the control unit of each failure determines, wherein weight is directly proportional to the degree of association, specifically, for every
The control unit of a failure can distribute weight according to the corresponding degree of association of the control unit, and then can will occur
The fault level of the control unit of failure is weighted summation, to determine the vehicle trouble states of vehicle.
In this embodiment, for the control unit of all failures, pass through the corresponding degree of association of each control unit
And fault level, it can determine the vehicle trouble states of vehicle, in this way, determine the vehicle trouble states of vehicle, it can be accurate
Ground reflects the vehicle trouble states of vehicle.
In a kind of possible embodiment, when the vehicle trouble states include highly dangerous state, poor risk shape
When three kinds of malfunctions of state and ordinary hazard state, control mode corresponding with the vehicle trouble states is determined in S205, and
The vehicle is controlled according to the control mode, comprising:
If the vehicle trouble states are the highly dangerous state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity under vehicle.
In specific implementation, however, it is determined that when vehicle trouble states are highly dangerous state, it is believed that under the malfunction
Vehicle will lead to safety accident in the process of moving, then corresponding control must be taken to arrange the vehicle under the malfunction
Apply, specifically, can first control the vehicle and first slow down until travel speed is zero, i.e. parking, and control under the whole vehicle it is electric,
Before handling failure well completely, the vehicle driving cannot be operated again, avoid that safety accident occurs, to guarantee that the vehicle will not
Other vehicles or pedestrians are impacted or injured.
If the vehicle trouble states are the poor risk state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity, low-voltage power supply under high pressure.
In specific implementation, however, it is determined that when vehicle trouble states are poor risk state, it is believed that under the malfunction
Vehicle will lead in the process of moving vehicle drive function failure, then the vehicle under the malfunction must be taken accordingly
Control measure specifically can first control the vehicle and first slow down until travel speed is zero, i.e. parking, and control the vehicle
Vehicle carries out electricity, low-voltage power supply under high pressure, before handling failure well completely, can only carry out shirtsleeve operation to the vehicle, than
The position for such as adjusting parking avoids that safety accident occurs, to guarantee that vehicle will not impact or hurt to other vehicles or pedestrians
Evil.
If the vehicle trouble states are the ordinary hazard state, the travel speed for controlling the vehicle is pre- lower than first
If speed and/or the torque of engine output are lower than the first predetermined torque.
In specific implementation, however, it is determined that when vehicle trouble states are ordinary hazard state, it is believed that under the malfunction
Vehicle will lead to the reduction of power sexual function in the process of moving, then need to take accordingly the vehicle under the malfunction
Control measure specifically can control the travel speed of the vehicle lower than the first pre-set velocity, i.e., control the maximum row of vehicle
Speed is sailed lower than the threshold speed that vehicle can bear under the malfunction, also can control the torsion of vehicle motor output
Square is lower than the first predetermined torque, i.e., to control the peak torque of vehicle lower than the torsion that engine can bear under the malfunction
Square threshold value allows the normal driving of vehicle under the malfunction, only the vehicle to travel speed and/or the vehicle
The torque of engine output is limited.
Wherein, the first pre-set velocity and the first predetermined torque can be set according to the actual conditions of vehicle, inhomogeneity
First pre-set velocity of type vehicle can be different.
Here, according to the fault level of the control unit of each failure, the vehicle trouble states of vehicle can be determined,
And vehicle trouble states can be divided into different grades, may include risk of disturbance state and safety failure state, risk of disturbance
Vehicle under state may cause accident or influence normally travel, and the vehicle under safety failure state can be with normally travel.Here,
Risk of disturbance state can be highly dangerous state, poor risk state, ordinary hazard state, it is of course also possible to be divided into more
Grade；Vehicle under safety failure state can be with normally travel, specifically, and influence of the failure of some control units to vehicle is not
It influences greatly or not, thus, finally the malfunction of determining vehicle is just not at precarious position, thus danger classes is
Zero, for example under automatic driving mode, vehicle enters the region of network signal difference, vehicle remote control unit can not be with remote control reception list
When member establishes connection, vehicle remote control unit does not influence the driving of vehicle substantially, at this point, determining the vehicle trouble states of vehicle
For safety failure state, it is only necessary to report to vehicle cloud interactive system.
In this embodiment, different control modes is taken to control respectively by the different vehicle malfunction to vehicle
System controls vehicle using the control mode to match with vehicle trouble states, the efficiency of control vehicle can be improved.
In a kind of possible embodiment, when the vehicle trouble states are the highly dangerous state or the moderate
When precarious position, the vehicle deceleration is controlled in the following manner until the travel speed of the vehicle is zero:
The vehicle is controlled by electronic brake control unit and motor control unit to slow down；In the vehicle deceleration
In the process, whether the travel speed of vehicle described in real-time detection is less than the second pre-set velocity；If the travel speed is less than described
Second pre-set velocity is down to zero by the travel speed that electronic parking control unit controls the vehicle, and controls the vehicle
In parked state.
In specific implementation, brak control unit and motor control unit control vehicle deceleration can be first passed through, in the vehicle
Slow down after, the travel speed of the vehicle after deceleration is measured in real time, when the travel speed for detecting the vehicle is less than
When the second pre-set velocity, that is, when meeting the use condition of electronic parking control unit, controlled by electronic parking control unit
The vehicle parking.
Wherein, the second pre-set velocity is usually 5km/h.
In this embodiment, when vehicle trouble states are highly dangerous state or poor risk state, electronics is first passed through
Brak control unit and motor control unit make vehicle deceleration, and reusing electronic parking control unit makes vehicle parking, in this way, can
Rapidly to control fault car, avoid that safety accident occurs.
It is described by described in electronic brake control unit and motor control unit control in a kind of possible embodiment
Vehicle slows down, comprising the following steps:
Detect whether the electronic brake control unit be in normal operating conditions and the motor control unit
In normal operating conditions.
If the electronic brake control unit is in normal operating conditions, and the motor control unit is in normal work
Make state, control the electronic brake control unit and the motor control unit jointly brakes the vehicle, with control
The vehicle is made to slow down.
If the electronic brake control unit is in abnormal operation, but the motor control unit is in normal work
Make state, negative torque output is carried out by the motor control unit, the vehicle is braked, subtracted with controlling the vehicle
Speed.
If the electronic brake control unit is in abnormal operation, and the motor control unit is in abnormal work
Make state, the torque output for controlling the motor control unit is zero, is slowed down to control the vehicle.
In specific implementation, it due to electronic brake control unit and motor control unit it can also happen that failure, thus needs
To slow down to control vehicle according to the actual conditions of electronic brake control unit and motor control unit, only work as electronics
When brak control unit and normal motor control unit, just controls electronic brake control unit and motor control unit is made jointly
It is dynamic to make the vehicle deceleration；When electronic brake control unit breaks down, and motor control unit is normal, only pass through motor control
Unit implementation negative torque processed, which carries out braking, makes vehicle deceleration；When electronic brake control unit and motor control unit are abnormal
When, only make vehicle deceleration by becoming zero the torque of motor control unit brake.
Here, there is no the events of braking aspect for the electronic brake control unit that just refers to of electronic brake control unit
Barrier, i.e., electronic brake control unit can be normally carried out braking；The motor control unit that just refers to of motor control unit does not have
The failure of driving aspect occurs, i.e. motor control unit can normally implement negative twist torque.
In a kind of possible embodiment, described control unit is at least one of lower unit: vehicle remote control list
Member, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, electronic brake control unit, motor control list
Member, electronic parking control unit, electrical steering control unit, battery management unit, battery control unit.
In specific implementation, entire car controller passes through signal and vehicle remote control unit, remote control receiver unit, automatic Pilot control
Unit processed, parallel Driving control unit, electronic brake control unit, motor control unit, electronic parking control unit, electronics turn
It is connected to control units such as control unit, battery management unit, battery control units, entire car controller is in real time or every default
Duration detects the state of each control unit, and obtains the attribute information and fault message of the control unit of each failure,
And then the vehicle trouble states of Comprehensive Assessment vehicle, after determining vehicle trouble states, determination is corresponding with vehicle trouble states
Control mode, and according to control mode control vehicle, common control mode be control electronic brake control unit, motor control
Unit and electronic parking control unit processed makes vehicle deceleration.
In the embodiment of the present application, believed by obtaining the attribute information of the control unit of each failure and failure in vehicle
The driving mode of the vehicle got when ceasing, and having control unit to break down in monitoring vehicle, can determine each
The fault level of the control unit of failure, and then the fault level of the control unit based on each failure, can be true
Determine the vehicle trouble states of vehicle, further, controls vehicle according to control mode corresponding with vehicle trouble states.Using upper
Mode is stated, can accurately judge the vehicle trouble states of vehicle, and then can quickly use and vehicle trouble states phase
The control mode control vehicle matched, can be improved the efficiency of control vehicle.
Embodiment three
Conceived based on same application, the vehicle with embodiment one and the offer of embodiment two is additionally provided in the embodiment of the present application three
Drive the corresponding vehicle drive of control method control device, the original solved the problems, such as due to the device in the embodiment of the present application
Reason is similar to the control method of the vehicle drive of the above embodiments of the present application one and embodiment two, therefore the implementation of device can be joined
The implementation of square method, overlaps will not be repeated.
It is shown in Figure 3, it is a kind of functional module of the control device 300 for vehicle drive that the embodiment of the present application three provides
Figure, wherein control device 300 includes:
Module 310 is obtained, for when monitor has control unit to break down in vehicle, obtaining each appearance event respectively
The attribute information and fault message of the control unit of barrier；
First determining module 320, for the attribute information and fault message of the control unit based on each failure, with
And the driving mode of the vehicle got when thering is control unit to break down in monitoring vehicle, determine each failure
The fault level of control unit；
Second determining module 330, described in determining according to the fault level of the control unit based on each failure
The vehicle trouble states of vehicle；
Control module 340, for determining control mode corresponding with the vehicle trouble states, and according to the controlling party
Formula controls the vehicle.
In the embodiment of the present application, the attribute of the control unit of each failure in vehicle is obtained by obtaining module 310
Information and fault message, and the driving mode of vehicle that while having control unit to break down in monitoring vehicle gets,
The fault level of the control unit of each failure can be determined by the first determining module 320, and then is based on each appearance
The fault level of the control unit of failure can determine the vehicle trouble states of vehicle, further by the second determining module 330
Ground controls vehicle according to control mode corresponding with vehicle trouble states.Using aforesaid way, vehicle can be accurately judged
Vehicle trouble states, and then vehicle, Ke Yiti quickly can be controlled using the control mode that matches with vehicle trouble states
The efficiency of height control vehicle.
In a kind of possible embodiment, first determining module 320, for determining each to go out according to following steps
The fault level of the control unit of existing failure:
According to the attribute information and the driving mode of 340 control unit of control module of each failure, determine
The degree of association between 340 control unit of control module of failure each under the driving mode and the vehicle；
According to the corresponding degree of association of 340 control unit of control module of each failure and the control of each failure
The fault message of 340 control unit of molding block determines the failure of 340 control unit of control module of each each failure
Grade.
In a kind of possible embodiment, second determining module 330, for determining the vehicle according to following steps
Vehicle trouble states:
It is corresponding according to the corresponding degree of association of the control unit of each failure and the control unit of each failure
Fault level, determine the vehicle trouble states of the vehicle.
In a kind of possible embodiment, when the vehicle trouble states include highly dangerous state, poor risk shape
When three kinds of malfunctions of state and ordinary hazard state, the control module 340, for controlling the vehicle according to following steps:
If the vehicle trouble states are the highly dangerous state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity under vehicle；
If the vehicle trouble states are the poor risk state, the vehicle deceleration is controlled up to the row of the vehicle
Sailing speed is zero, controls the vehicle and carries out electricity, low-voltage power supply under high pressure；
If the vehicle trouble states are the ordinary hazard state, the travel speed for controlling the vehicle is pre- lower than first
If speed and/or the torque of engine output are lower than the first predetermined torque.
In a kind of possible embodiment, when the vehicle trouble states are highly dangerous state or poor risk state
When, the control module 340 controls the vehicle deceleration in the following manner until the travel speed of the vehicle is zero:
The vehicle is controlled by electronic brake control unit and motor control unit to slow down；
In the vehicle deceleration process, whether the travel speed of vehicle described in real-time detection is less than the second pre-set velocity；
If the travel speed is less than second pre-set velocity, the vehicle is controlled by electronic parking control unit
Travel speed is down to zero, and controls the vehicle and be in parked state.
In a kind of possible embodiment, the control module 340 is specifically used for passing through electronics system according to following steps
Dynamic control unit and motor control unit control make the vehicle deceleration, comprising:
Detect whether the electronic brake control unit be in normal operating conditions and the motor control unit
In normal operating conditions；
If the electronic brake control unit is in normal operating conditions, and the motor control unit is in normal work
Make state, control the electronic brake control unit and the motor control unit jointly brakes the vehicle, with control
The vehicle is made to slow down.
In a kind of possible embodiment, the control module 340 is also used to:
If the electronic brake control unit is in abnormal operation, but the motor control unit is in normal work
Make state, negative torque output is carried out by the motor control unit, the vehicle is braked, subtracted with controlling the vehicle
Speed；
If the electronic brake control unit is in abnormal operation, and the motor control unit is in abnormal work
Make state, the torque output for controlling the motor control unit is zero, is slowed down to control the vehicle.
In a kind of possible embodiment, described control unit is at least one of lower unit:
Vehicle remote control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, deceleration of electrons
Control unit, motor control unit, electronic parking control unit, electrical steering control unit, battery management unit, battery control
Unit.
In the embodiment of the present application, the attribute of the control unit of each failure in vehicle is obtained by obtaining module 310
Information and fault message, and the driving mode of vehicle that while having control unit to break down in monitoring vehicle gets,
The fault level of the control unit of each failure can be determined by the first determining module 320, and then is based on each appearance
The fault level of the control unit of failure can determine the vehicle trouble states of vehicle, further by the second determining module 330
Ground controls vehicle according to control mode corresponding with vehicle trouble states.Using aforesaid way, vehicle can be accurately judged
Vehicle trouble states, and then vehicle, Ke Yiti quickly can be controlled using the control mode that matches with vehicle trouble states
The efficiency of height control vehicle.
Example IV
Conceived based on same application, it is shown in Figure 4, it is a kind of electronic equipment 400 that the embodiment of the present application four provides
Structural schematic diagram, comprising: processor 410, memory 420 and bus 430, the memory 420 are stored with the processor 410
Executable machine readable instructions pass through between the processor 410 and the memory 420 when electronic equipment 400 is run
The bus 430 is communicated, and such as embodiment one is executed when the machine readable instructions are run by the processor 410, and/or
In embodiment two the step of the control method of any vehicle drive.
Specifically, following processing can be executed when the machine readable instructions are executed by the processor 410:
When monitor has control unit to break down in vehicle, the category of the control unit of each failure is obtained respectively
Property information and fault message；
The attribute information and fault message of control unit based on each failure, and have control in monitoring vehicle
The driving mode for the vehicle that unit processed is got when breaking down determines the fault level of the control unit of each failure；
The fault level of control unit based on each failure determines the vehicle trouble states of the vehicle；
It determines control mode corresponding with the vehicle trouble states, and controls the vehicle according to the control mode.
In the embodiment of the present application, believed by obtaining the attribute information of the control unit of each failure and failure in vehicle
The driving mode of the vehicle got when ceasing, and having control unit to break down in monitoring vehicle, can determine each
The fault level of the control unit of failure, and then the fault level of the control unit based on each failure, can be true
Determine the vehicle trouble states of vehicle, further, controls vehicle according to control mode corresponding with vehicle trouble states.Using upper
Mode is stated, can accurately judge the vehicle trouble states of vehicle, and then can quickly use and vehicle trouble states phase
The control mode control vehicle matched, can be improved the efficiency of control vehicle.
Embodiment five
Conceived based on same application, the embodiment of the present application five has also supplied a kind of computer readable storage medium, the calculating
Computer program is stored on machine readable storage medium storing program for executing, the computer program executes above-described embodiment when being run by processor
One and/or embodiment two in provide vehicle drive control method the step of.
Specifically, the storage medium can be general storage medium, such as mobile disk, hard disk, and the storage is situated between
When computer program in matter is run, it is able to carry out the control method of above-mentioned vehicle drive, can quickly be used and vehicle event
The control mode that barrier state matches controls vehicle, and the efficiency of control vehicle can be improved.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description
It with the specific work process of device, can refer to corresponding processes in the foregoing method embodiment, details are not described herein.In the application
In provided several embodiments, it should be understood that arriving, disclosed systems, devices and methods can be by another way
It realizes.The apparatus embodiments described above are merely exemplary, for example, the division of the unit, only a kind of logic
Function division, there may be another division manner in actual implementation, in another example, multiple units or components can combine or can be with
It is integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed mutual
Coupling, direct-coupling or communication connection can be the INDIRECT COUPLING or communication link by some communication interfaces, device or unit
It connects, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in the executable non-volatile computer-readable storage medium of a processor.Based on this understanding, the application
Technical solution substantially the part of the part that contributes to existing technology or the technical solution can be with soft in other words
The form of part product embodies, and the computer software product is stored in a storage medium, including some instructions to
So that a computer equipment (can be personal computer, server or the network equipment etc.) executes each implementation of the application
The all or part of the steps of example the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
The above is only the protection scopes of the specific embodiment of the application, but the application to be not limited thereto, any to be familiar with
Those skilled in the art within the technical scope of the present application, can easily think of the change or the replacement, and should all cover
Within the protection scope of the application.Therefore, the protection scope of the application should be subject to the protection scope in claims.
Claims (10)
1. a kind of control method of vehicle drive, which is characterized in that the control method includes:
When monitor has control unit to break down in vehicle, the attribute letter of the control unit of each failure is obtained respectively
Breath and fault message；
The attribute information and fault message of control unit based on each failure, and have control single in monitoring vehicle
The driving mode of the vehicle got when member breaks down determines the fault level of the control unit of each failure；
The fault level of control unit based on each failure determines the vehicle trouble states of the vehicle；
It determines control mode corresponding with the vehicle trouble states, and controls the vehicle according to the control mode.
2. control method according to claim 1, which is characterized in that the control unit based on each failure
Attribute information and fault message, and the driving mould of vehicle that while having control unit to break down in monitoring vehicle gets
Formula determines the fault level of the control unit of each failure, comprising:
According to the attribute information of the control unit of each failure and the driving mode, determine under the driving mode
The degree of association between the control unit of each failure and the vehicle；
Believed according to the failure of the corresponding degree of association of the control unit of each failure and the control unit of each failure
Breath, determines the fault level of the control unit of each failure.
3. control method according to claim 2, which is characterized in that the control unit based on each failure
Fault level determines the vehicle trouble states of the vehicle, comprising:
According to the corresponding event of the control unit of the corresponding degree of association of the control unit of each failure and each failure
Hinder grade, determines the vehicle trouble states of the vehicle.
4. control method according to claim 1, which is characterized in that when the vehicle trouble states include highly dangerous shape
When three kinds of state, poor risk state and ordinary hazard state malfunctions, the determination is corresponding with the vehicle trouble states
Control mode, and the vehicle is controlled according to the control mode, comprising:
If the vehicle trouble states are the highly dangerous state, the vehicle deceleration is controlled until the traveling of the vehicle is fast
Degree is zero, controls the vehicle and carries out electricity under vehicle；
If the vehicle trouble states are the poor risk state, the vehicle deceleration is controlled until the traveling of the vehicle is fast
Degree is zero, controls the vehicle and carries out electricity, low-voltage power supply under high pressure；
If the vehicle trouble states are the ordinary hazard state, the travel speed of the vehicle is controlled lower than the first default speed
Degree and/or the torque of engine output are lower than the first predetermined torque.
5. control method according to claim 4, which is characterized in that when the vehicle trouble states are the highly dangerous
When state or the poor risk state, the vehicle deceleration is controlled in the following manner until the travel speed of the vehicle is
Zero:
The vehicle is controlled by electronic brake control unit and motor control unit to slow down；
In the vehicle deceleration process, whether the travel speed of vehicle described in real-time detection is less than the second pre-set velocity；
If the travel speed is less than second pre-set velocity, the traveling of the vehicle is controlled by electronic parking control unit
Speed is down to zero, and controls the vehicle and be in parked state.
6. control method according to claim 5, which is characterized in that described to pass through electronic brake control unit and motor control
Unit processed controls the vehicle and slows down, comprising:
Detect whether the electronic brake control unit is in normal operating conditions and whether the motor control unit is in
Normal operating conditions；
If the electronic brake control unit is in normal operating conditions, and the motor control unit is in and works normally shape
State, controls the electronic brake control unit and the motor control unit jointly brakes the vehicle, to control
Vehicle is stated to slow down.
7. control method according to claim 6, which is characterized in that be in the detection electronic brake control unit
It is no whether to be in after normal operating conditions in normal operating conditions and the motor control unit, it is described to pass through electronics
Brak control unit and motor control unit control the vehicle and slow down, further includes:
If the electronic brake control unit is in abnormal operation, but the motor control unit is in and works normally shape
State carries out negative torque output by the motor control unit and brakes to the vehicle, to control the vehicle deceleration；
If the electronic brake control unit is in abnormal operation, and the motor control unit is in abnormal work shape
State, the torque output for controlling the motor control unit is zero, is slowed down with controlling the vehicle.
8. control method according to any one of claim 1 to 7, which is characterized in that described control unit is to place an order
At least one of member:
Vehicle remote control unit, remote control receiver unit, automatic Pilot control unit, parallel Driving control unit, deceleration of electrons control
Unit, motor control unit, electronic parking control unit, electrical steering control unit, battery management unit, battery control are single
Member.
9. a kind of control device of vehicle drive, which is characterized in that the control device includes:
Module is obtained, for obtaining the control of each failure respectively when monitor has control unit to break down in vehicle
The attribute information and fault message of unit processed；
First determining module for the attribute information and fault message of the control unit based on each failure, and is being supervised
The driving mode for measuring the vehicle got when having control unit to break down in vehicle determines the control list of each failure
The fault level of member；
Second determining module determines the vehicle for the fault level according to the control unit based on each failure
Vehicle trouble states；
Control module is controlled for determining control mode corresponding with the vehicle trouble states, and according to the control mode
The vehicle.
10. control device according to claim 9, which is characterized in that first determining module, for according to following step
Suddenly the fault level of the control unit of each failure is determined:
According to the attribute information and the driving mode of the control module control unit of each failure, determination is driven described
Sail the degree of association between the control module control unit of each failure under mode and the vehicle；
According to the corresponding degree of association of control module control unit of each failure and the control module of each failure
The fault message of control unit determines the fault level of the control module control unit of each each failure.
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