CN110834541A - Safety monitoring method and related device - Google Patents
Safety monitoring method and related device Download PDFInfo
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- CN110834541A CN110834541A CN201911117802.XA CN201911117802A CN110834541A CN 110834541 A CN110834541 A CN 110834541A CN 201911117802 A CN201911117802 A CN 201911117802A CN 110834541 A CN110834541 A CN 110834541A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
Abstract
The application provides a safety monitoring method and a related device, and relates to the field of electric power management of traffic vehicles. The safety monitoring method is applied to the vehicle control unit, and comprises the following steps: acquiring a first signal and a second signal sent by a component to be detected; judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is located when the component to be detected works normally; if yes, judging whether the first signal and the second signal are matched; and if the detection result is matched with the detection result, determining that the component to be detected is in a normal power-up and power-down state. The vehicle control unit obtains two signals sent by the component to be detected, validity judgment is carried out on the two signals, whether the two signals are matched with each other is further judged, whether the component to be detected is in a normal power-on and power-off state is determined, and compared with the prior art that a single signal is used, the power-on and power-off state of the component to be detected can be judged more accurately by the method, and safety of a traffic carrier is improved.
Description
Technical Field
The present application relates to the field of power management of transportation vehicles, and more particularly, to a safety monitoring method and related apparatus.
Background
The high-voltage power-on and power-off of the whole vehicle are directly related to safety, and the voltage of a high-voltage battery can reach 350V and is far higher than the safety voltage of a human body when the vehicle is charged and powered. If the vehicle is automatically powered on under the condition that a driver or a user does not give an instruction, serious safety accidents (such as vehicle maintenance) are easily caused by electric shock. If the vehicle can not cut off the high pressure when colliding, the serious safety accident can be caused.
When the functional safety level of the vehicle is evaluated, the functional safety level of the power-on and power-off function of the whole vehicle under high voltage is higher and reaches the level of ASIL B, and the traditional Quality Management (QM) scheme can not meet the safety requirement of the power-on and power-off function of the whole vehicle under high voltage. In the current scheme, the instruction signal is often transmitted only by a single mode, the redundancy is insufficient, and the system cannot judge whether the instruction is effective or not by comparing different signals. Therefore, how to accurately monitor the high-voltage power-on and power-off states of the whole vehicle is a problem to be solved at present.
Disclosure of Invention
In order to overcome at least the above-mentioned deficiencies in the prior art, an object of the present application is to provide a security monitoring method and related apparatus.
In a first aspect, an embodiment provides a safety monitoring method applied to a vehicle control unit, where the method includes: the method comprises the steps of acquiring a first signal and a second signal sent by a component to be detected. Judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is when the component to be detected works normally. If yes, judging whether the first signal and the second signal are matched; and if the parts to be detected are matched, determining that the parts to be detected are in a normal power-on and power-off state.
In an alternative embodiment, the method further comprises: acquiring a state signal of a Battery Management System (BMS); judging whether the state signal is matched with the working state of the component to be detected; and if the parts to be detected are matched, determining that the parts to be detected are in a normal working state.
In an optional embodiment, the vehicle control unit is connected to a watchdog, and the watchdog is configured to monitor an operating state of the vehicle control unit, and the method further includes: receiving a state test message sent by the watchdog; and sending a response message corresponding to the state test message to the watchdog so that the watchdog determines that the vehicle controller is normal.
In an optional embodiment, when the first signal or the second signal is not within the first preset interval or the first signal and the second signal are not matched, the method further includes: and determining that the component to be detected is in an abnormal power-on and power-off state.
In an alternative embodiment, the method further comprises: when the first time is longer than the preset time, the power-on demand of the part to be detected is not responded; the first time is the time from the part to be detected sending a power-on signal to the whole vehicle controller receiving the power-on signal.
In a second aspect, an embodiment provides a vehicle control unit, including: the device comprises a communication module, a judgment module and a processing module. The communication module is used for acquiring a first signal and a second signal sent by the component to be detected. The judging module is used for judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is when the component to be detected works normally. The judging module is further configured to judge whether the first signal and the second signal are matched when the first signal and the second signal are in the first preset interval. The processing module is used for determining that the component to be detected is in a normal power-on and power-off state when the first signal is matched with the second signal.
In an alternative embodiment, the communication module is further configured to acquire a status signal of the BMS. The judging module is also used for judging whether the state signal is matched with the working state of the component to be detected. The processing module is further used for determining that the component to be detected is in a normal working state when the state signal is matched with the working state of the component to be detected.
In an optional embodiment, the communication module is connected to a watchdog, and the watchdog is configured to monitor an operating state of the vehicle control unit. The communication module is also used for receiving a state test message sent by the watchdog; the communication module is further configured to send a response message corresponding to the status test message to the watchdog, so that the watchdog determines that the vehicle controller is normal.
In a third aspect, embodiments provide a transportation vehicle including the vehicle control unit according to any one of the foregoing embodiments.
In a fourth aspect, embodiments provide a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements a security monitoring method as described in any one of the preceding embodiments.
Compared with the prior art, the method has the following beneficial effects:
the vehicle control unit obtains two signals sent by the component to be detected, validity judgment is carried out on the two signals, whether the two signals are matched with each other is further judged, whether the component to be detected is in a normal power-on and power-off state is determined, and compared with the prior art that a single signal is used, the power-on and power-off state of the component to be detected can be judged more accurately by the method, and safety of a traffic carrier is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic flowchart of a security monitoring method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of another security monitoring method according to an embodiment of the present application;
fig. 3 is a schematic connection diagram of a vehicle control unit according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a functional algorithm provided in an embodiment of the present application;
fig. 5 is a schematic block diagram of a vehicle control unit according to an embodiment of the present application.
Icon: 40-a whole vehicle controller, 41-a communication module, 42-a judgment module and 43-a processing module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
In the prior art, the command signal is often transmitted only in a single mode, the redundancy is insufficient, and when the command signal is wrong, the vehicle control unit cannot judge the state of the electric control component according to the actual situation. Based on the problems in the background art and the above problems, an embodiment of the present application provides a safety monitoring method, which is applied to a Vehicle Control Unit (VCU).
It will be appreciated that the VCU described above may include a memory, a processor, and a communication interface. The memory, processor and communication interface are electrically connected to each other, directly or indirectly, to enable transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The memory may be configured to store software programs and modules, such as program instructions/modules corresponding to the security monitoring method provided in the embodiments of the present application, and the processor executes various functional applications and data processing by executing the software programs and modules stored in the memory. The communication interface may be used for communicating signaling or data with other node devices. The electronic device may have a plurality of communication interfaces in the present application.
The Memory may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor including a Central Processing Unit (CPU), a Network Processor (NP), etc.; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc.
Referring to fig. 1, fig. 1 is a schematic flow chart of a security monitoring method according to an embodiment of the present application, where the security monitoring method includes:
s200, acquiring a first signal and a second signal sent by the component to be detected.
S201, judging whether the first signal and the second signal are in a first preset interval.
The first preset interval is a signal interval in which a signal sent to the vehicle control unit is located when the component to be detected works normally.
If yes, go to S202.
S202, judging whether the first signal and the second signal are matched.
If so, go to S204.
And S204, determining that the component to be detected is in a normal power-up and power-down state.
It is understood that the first signal and the second signal may be, but are not limited to, a key power-on signal, a fast gun charging signal, a slow gun charging signal, etc. collected by the VCU. For example, when the first signal and the second signal are two paths of fast-charging gun signals input by a hard wire, validity verification is performed on the two paths of fast-charging gun signals, namely, verification of an upper limit value and verification of a lower limit value; and when the two paths of quick-charging gun signals are effective, checking the rationality of the two paths of redundant quick-charging gun signals, and if the two paths of signals are consistent, executing high voltage. Or when the first signal and the second signal are two paths of slow charging gun signals input by a hard wire, carrying out validity check on the two paths of slow charging gun signals, namely checking an upper limit value and a lower limit value; when the two paths of slow charging gun signals are effective, the rationality of the two paths of redundant slow charging gun signals is checked, and if the two paths of slow charging gun signals are consistent, high voltage is applied. Or when the first signal and the second signal are the two paths of key electrifying signals, carrying out validity check on the two paths of key electrifying signals, namely checking an upper limit value and a lower limit value; and when the two paths of redundant key power-on signals are effective, performing rationality check on the two paths of redundant key power-on signals, and if the two paths of redundant key power-on signals are consistent, performing high voltage application.
Through setting up the matching judgement between redundant signal detection and the signal, and then avoid the instability of single instruction or signal, confirm the upper and lower electric state of waiting to detect the part, and then control the upper and lower electric process of waiting to detect the part, improve the security of traffic carrier.
In an alternative embodiment, in order to protect the component to be detected, referring to fig. 1, when the first signal or the second signal is not in the first preset interval, or the first signal and the second signal are not matched, S203 is executed. The security monitoring method further comprises:
s203, determining that the component to be detected is in an abnormal power-on and power-off state.
For example, when the first signal and the second signal are two paths of fast-charging gun signals input by a hard wire, validity verification is performed on the two paths of fast-charging gun signals, namely, verification of an upper limit value and verification of a lower limit value; when any one of the two paths of quick charging gun signals is invalid, determining that the part to be detected is in an abnormal power-on and power-off state, and not carrying out power-on operation; when the two paths of quick-charging gun signals are effective, checking the rationality of the two paths of redundant quick-charging gun signals, and if the two paths of signals are consistent, executing high voltage application; and when the two paths of signals are inconsistent, determining that the component to be detected is in an abnormal power-on and power-off state, and not carrying out power-on operation.
And (3) carrying out validity and rationality inspection on the two paths of redundant signals of the component to be detected, and taking further measures to prevent safety accidents when the two paths of redundant signals are abnormal.
In an alternative embodiment, in order to improve the safety of the component to be detected and the transportation vehicle, a possible implementation manner is provided on the basis of fig. 1, please refer to fig. 2, and fig. 2 is a schematic flow chart of another safety monitoring method provided in an embodiment of the present application. The security monitoring method further comprises:
and S205, acquiring a state signal of the battery management system.
And S206, judging whether the state signal is matched with the working state of the component to be detected.
If so, executing S207; if not, go to step S208.
And S207, determining that the component to be detected is in a normal working state.
And S208, determining that the component to be detected is in an abnormal working state.
In the current scheme, a VCU controls a BMS to close a high-voltage positive and negative relay, and the VCU has no requirement on the actual working state of a battery; that is, the existing control system is only an open loop, and there is no feedback signal for diagnosing the BMS, so that the actual working condition cannot be known and adjusted, and if the battery is not executed according to the control requirement of the VCU, a serious safety accident may be caused. In the scheme provided by the embodiment of the application, the VCU is required to recover the actual working state of the battery, if the high-voltage positive and negative relays are closed when the VCU does not send an instruction, the part to be detected is confirmed to be in an abnormal working state, and a power supply circuit of the BMS can be cut off, so that the relays are disconnected.
It should be understood that the state signal of the BMS is acquired and matched with the actual state of the component to be detected, so that the working state of the component to be detected is monitored, and the safety of the component to be detected and the traffic vehicle is improved.
In an optional embodiment, in order to detect the operating state of the VCU, taking the connection between the vehicle controller and the watchdog as an example, the watchdog is used for monitoring the operating state of the vehicle controller. The security monitoring method further comprises: receiving a state test message sent by a watchdog; and sending a response message corresponding to the state test message to the watchdog so that the watchdog determines that the vehicle controller is normal.
It CAN be understood that the VCU is monitored by adding an external watchdog to the VCU, and the CAN output is cut off if the external watchdog finds that the controller is abnormal.
In an optional embodiment, in order to improve the safety of the product, the safety monitoring method further includes: and when the first time is longer than the preset time, the power-on demand of the component to be detected is not responded. The first time is the time from the part to be detected sending the power-on signal to the time when the vehicle control unit receives the power-on signal.
The safety of the CAN network signal is insufficient in the current scheme, and most CAN network signals are only subjected to overtime verification; it is foreseen that, in order to ensure the security of the network signal, in the solution provided in the embodiment of the present application, the Checksum and Rolling counter check algorithm may be added to the security related signal transmitted by the network. For example, a Body Control Module (BCM) and a BMS (BMS) input a power-on signal to a VCU through a CAN network, and require that a Checksum and a Rolling counter security check algorithm be added to a frame in which the signal is located in a CAN database, and the Checksum and the Rolling counter security check algorithm are correspondingly added to the two transceiving controllers, thereby improving the security of the product.
To facilitate understanding of the safety monitoring method provided by any one of the above embodiments, please refer to fig. 3, and fig. 3 is a schematic connection diagram of a vehicle control unit according to an embodiment of the present application. The input signals of high voltage power-on and power-off have redundancy, and two paths of signals are sent out to supply the diagnostic effectiveness and rationality of the L2 function monitoring layer of the VCU. The BMS feeds back the working state of high voltage power-on and power-off, and the L2 function monitoring layer of the VCU carries out diagnosis. BCM, BMS input the power-on signal to VCU through CAN network, increase Checksum and Rolling counter safety check algorithm in the frame that the signal in CAN database belongs to, and increase Checksum and Rolling counter safety check algorithm in the two controllers that receive and dispatch. Software redundancy may also be added at the L2 function monitoring layer.
The current scheme has no requirement on the functional layer software of the core. If the functional layer software fails, the power on/off abnormity can be caused, and further serious safety accidents can be caused. For example, if the functional layer software sends an electrical signal without receiving an instruction, the vehicle will be powered on without the user knowing, and there is a serious safety hazard. The scheme adopts software algorithm redundancy, and effectively prevents abnormal power-on and power-off caused by single-function software faults. The software algorithm redundancy can be a functional algorithm as shown in fig. 4, and fig. 4 is a schematic diagram of a functional algorithm provided in the embodiment of the present application.
The current scheme has no requirement on the actual working state of the battery. If the battery is not controlled by the VCU, a serious safety accident may be caused. In the scheme of the invention, the VCU is required to recover the actual state of the battery, and if the high-voltage positive and negative relays are closed when no instruction is sent, the power supply circuit of the BMS is cut off, so that the relays are disconnected.
The current scheme CAN not detect the fault of the VCU controller, but the VCU is additionally provided with an external watchdog to monitor the VCU, and if the external watchdog finds that the controller is abnormal, the CAN output is cut off. It should be understood that although fig. 3 shows the watchdog being disposed in the vehicle controller, it should not be understood as a limitation of the present application, and the watchdog may be packaged outside the VCU or together with the VCU, which may be disposed according to actual requirements.
It CAN be understood that, in order to meet the requirements related to functional safety, the L2 function monitoring layer safety algorithm is run on a controller whose hardware meets ASIL B, and the controller may be characterized in that an Electronic Control Unit (ECU) runs on bottom layer software, and an L3 ECU Test layer checks the controller itself for safety-related faults, including a CPU, a RAM, a ROM, a Clock, a Micro Control Unit (MCU) peripheral circuit, and a power module, and when the controller fails, the CAN module capable of turning off the power output and the power output through a safety pin.
In order to implement the foregoing safety monitoring method, an embodiment of the present application provides a vehicle control unit, please refer to fig. 5, and fig. 5 is a block diagram of the vehicle control unit according to the embodiment of the present application. This vehicle control unit 40 includes: a communication module 41, a judgment module 42 and a processing module 43.
The communication module 41 is used for acquiring a first signal and a second signal sent by a component to be detected.
The determining module 42 is configured to determine whether the first signal and the second signal are in a first preset interval. The first preset interval is a signal interval in which a signal sent to the vehicle control unit 40 is when the component to be detected normally works.
The determining module 42 is further configured to determine whether the first signal and the second signal are matched when the first signal and the second signal are in the first preset interval.
The processing module 43 is configured to determine that the component to be detected is in a normal power-up/power-down state when the first signal and the second signal match.
It is understood that the communication module 41, the judgment module 42 and the processing module 43 may cooperatively implement the above-mentioned S200 to S204.
In an alternative embodiment, the communication module 41 is further configured to acquire a status signal of the BMS in order to monitor the operating status of the component to be detected. The determination module 42 is further configured to determine whether the status signal matches the operating status of the component to be tested. The processing module 43 is further configured to determine that the component to be detected is in a normal operating state when the status signal matches the operating state of the component to be detected.
It is understood that the communication module 41, the determination module 42 and the processing module 43 may cooperatively implement the above-mentioned S206 to S208.
In an alternative embodiment, to monitor the state of the vehicle control unit, the communication module 41 is connected to a watchdog, which is used to monitor the operating state of the vehicle control unit 40. The communication module 41 is further configured to receive a status test message sent by the watchdog. The communication module 41 is further configured to send a response message corresponding to the status test message to the watchdog, so that the watchdog determines that the vehicle controller 40 is normal.
An embodiment of the present application further provides a transportation vehicle, including the vehicle control unit according to any one of the foregoing embodiments. The transportation vehicle may be, but is not limited to, an electric automobile, an electric motorcycle, an electric tricycle, a hybrid automobile, a hybrid tricycle, etc.
An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the security monitoring method according to any one of the foregoing embodiments. The computer readable storage medium may be, but is not limited to, various media that can store program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a PROM, an EPROM, an EEPROM, a magnetic or optical disk, etc.
In summary, the present application provides a safety monitoring method and related apparatus, and relates to the field of power management of transportation vehicles. The safety monitoring method is applied to the vehicle control unit, and comprises the following steps: acquiring a first signal and a second signal sent by a component to be detected; judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is located when the component to be detected works normally; if yes, judging whether the first signal and the second signal are matched; and if the detection result is matched with the detection result, determining that the component to be detected is in a normal power-up and power-down state. The vehicle control unit obtains two signals sent by the component to be detected, validity judgment is carried out on the two signals, whether the two signals are matched with each other is further judged, whether the component to be detected is in a normal power-on and power-off state is determined, and compared with the prior art that a single signal is used, the power-on and power-off state of the component to be detected can be judged more accurately by the method, and safety of a traffic carrier is improved.
The above description is only for various embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present application, and all such changes or substitutions are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A safety monitoring method is applied to a vehicle control unit, and comprises the following steps:
acquiring a first signal and a second signal sent by a component to be detected;
judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is located when the to-be-detected component works normally;
if yes, judging whether the first signal and the second signal are matched;
and if the parts to be detected are matched, determining that the parts to be detected are in a normal power-on and power-off state.
2. The method of claim 1, further comprising:
acquiring a state signal of a battery management system BMS;
judging whether the state signal is matched with the working state of the component to be detected;
and if the parts to be detected are matched, determining that the parts to be detected are in a normal working state.
3. The method according to claim 1 or 2, wherein the vehicle control unit is connected to a watchdog, the watchdog being configured to monitor an operating state of the vehicle control unit, the method further comprising:
receiving a state test message sent by the watchdog;
and sending a response message corresponding to the state test message to the watchdog so that the watchdog determines that the vehicle controller is normal.
4. The method of claim 1 or 2, wherein when the first signal or the second signal is not within the first preset interval or the first signal and the second signal are not matched, the method further comprises:
and determining that the component to be detected is in an abnormal power-on and power-off state.
5. The method of claim 1, further comprising:
when the first time is longer than the preset time, the power-on demand of the part to be detected is not responded; the first time is the time from the part to be detected sending a power-on signal to the whole vehicle controller receiving the power-on signal.
6. A vehicle control unit, comprising: the device comprises a communication module, a judgment module and a processing module;
the communication module is used for acquiring a first signal and a second signal sent by the component to be detected;
the judging module is used for judging whether the first signal and the second signal are in a first preset interval or not; the first preset interval is a signal interval in which a signal sent to the vehicle control unit is located when the to-be-detected component works normally;
the judging module is further configured to judge whether the first signal and the second signal are matched when the first signal and the second signal are in the first preset interval;
and the processing module is used for determining that the component to be detected is in a normal power-on and power-off state when the first signal is matched with the second signal.
7. The vehicle control unit of claim 6, wherein the communication module is further configured to obtain a status signal of the BMS;
the judging module is also used for judging whether the state signal is matched with the working state of the component to be detected;
the processing module is further used for determining that the component to be detected is in a normal working state when the state signal is matched with the working state of the component to be detected.
8. The vehicle control unit according to claim 6 or 7, wherein the communication module is connected with a watchdog, and the watchdog is used for monitoring the working state of the vehicle control unit;
the communication module is also used for receiving a state test message sent by the watchdog;
the communication module is further configured to send a response message corresponding to the status test message to the watchdog, so that the watchdog determines that the vehicle controller is normal.
9. A vehicle comprising a vehicle control unit according to any one of claims 6-8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the security monitoring method according to any one of claims 1 to 5.
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| CN111752263A (en) * | 2020-07-22 | 2020-10-09 | 广州小鹏汽车科技有限公司 | Detection system, detection method, and storage medium |
| CN112462731A (en) * | 2020-10-16 | 2021-03-09 | 北京西南交大盛阳科技股份有限公司 | Safety supervision control method, safety supervision control device, computer equipment and safety supervision system |
| CN114114017A (en) * | 2021-12-24 | 2022-03-01 | 广州巨湾技研有限公司 | Method, device and system for testing power-down logic of battery management system |
| CN114683851A (en) * | 2021-11-19 | 2022-07-01 | 北京新能源汽车股份有限公司 | Ignition signal validity detection method and device and electric automobile |
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| CN114683851B (en) * | 2021-11-19 | 2024-04-09 | 北京新能源汽车股份有限公司 | Ignition signal validity detection method and device and electric automobile |
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