CN111994091A - Vehicle control method, device, storage medium and system - Google Patents

Vehicle control method, device, storage medium and system Download PDF

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Publication number
CN111994091A
CN111994091A CN202010866372.8A CN202010866372A CN111994091A CN 111994091 A CN111994091 A CN 111994091A CN 202010866372 A CN202010866372 A CN 202010866372A CN 111994091 A CN111994091 A CN 111994091A
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China
Prior art keywords
main contactor
signal
voltage
mcu
vehicle
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Granted
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CN202010866372.8A
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Chinese (zh)
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CN111994091B (en
Inventor
韩宜伟
李连强
袁岳超
吴延寿
王志嵩
黄天宇
赵鲁建
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FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
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FAW Jiefang Automotive Co Ltd
FAW Jiefang Qingdao Automobile Co Ltd
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Priority to CN202010866372.8A priority Critical patent/CN111994091B/en
Publication of CN111994091A publication Critical patent/CN111994091A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W20/00—Control systems specially adapted for hybrid vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle control method, a vehicle control device, a storage medium and a vehicle control system. The method comprises the following steps: responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor; when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor; and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode. Through the technical scheme, the high-voltage electrifying process of the parallel hybrid power vehicle can be safely and efficiently controlled, the situation that the vehicle cannot be electrified at high voltage due to motor faults can be effectively avoided, and the whole vehicle can normally run under the condition of motor faults as much as possible.

Description

Vehicle control method, device, storage medium and system
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control device, a storage medium and a vehicle control system.
Background
With the rapid development of the automobile industry, energy conservation and emission reduction become the main melody of the development of the automobile industry. The hybrid power system is used as an intermediate product for the transition from the traditional power to the new energy power, has a remarkable energy-saving effect, gives consideration to the use convenience and the habit of a driver, and becomes an important technical scheme for the current automobile development. The parallel hybrid electric vehicle can realize the efficient running of the engine, has high motor efficiency and flexible driving, and is widely applied to the fields of passenger vehicles and commercial vehicles. How to control high-voltage power supply and disconnection of a parallel hybrid vehicle becomes important to improve the safety and efficiency of high-voltage power supply and disconnection of the vehicle.
Disclosure of Invention
The invention provides a vehicle control method, a vehicle control device, a storage medium and a vehicle control system, which can safely and efficiently control the high-voltage electrifying process of a parallel hybrid vehicle.
In a first aspect, an embodiment of the invention provides a vehicle control method, the vehicle including a parallel hybrid vehicle, the method including:
responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor;
when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor;
and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode.
Optionally, the high-voltage power-on process corresponding to the normal power-on mode includes: the method comprises the steps of controlling a main contactor to be closed, controlling a micro control unit MCU pre-charging contactor to be closed, controlling the MCU main contactor to be closed, controlling the MCU pre-charging contactor to be disconnected and controlling an auxiliary contactor to be closed according to requirements.
Optionally, the high voltage component comprises a main contactor;
in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the closing of the main contactor, the method further comprises the following steps:
acquiring a main contactor control signal, a main contactor feedback signal and a reporting signal of an insulation monitoring module;
determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and a reported signal of an insulation monitoring module;
correspondingly, the method further comprises the following steps:
and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the main contactor.
Optionally, the main contactor control signal includes a closing instruction of the main contactor;
determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and the reported signal of the insulation monitoring module, wherein the fault mode comprises the following steps:
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a first fault mode; the first fault mode is that the main contactor is not attracted and the main contactor is abnormal in feedback;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a second fault mode; wherein the second fault mode is that only the main contactor has abnormal feedback;
when a closing instruction of a main contactor is received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a third fault mode; the third fault mode is that only the main contactor is not closed;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fourth fault mode; the fourth fault mode is that the main contactor is adhered and the main contactor has abnormal feedback;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fifth fault mode; wherein the fifth failure mode is main contactor only binding;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a second fault mode;
correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the main contactor, and the method comprises the following steps:
when the main contactor is in a first fault mode or a third fault mode, prohibiting the vehicle from being electrified at high voltage;
when the main contactor is in a fourth fault mode or a fifth fault mode, controlling the vehicle to suspend high-voltage power-on, prompting a user to overhaul the main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the main contactor is in a second fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the main contactor.
Optionally, the high-voltage component includes an MCU main contactor;
in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the MCU main contactor to be closed, the method further comprises the following steps:
acquiring state information of a main contactor, a control signal of an MCU main contactor, a feedback signal of the MCU main contactor and a report signal of the MCU;
determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal;
correspondingly, the method further comprises the following steps:
and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the MCU main contactor.
Optionally, the MCU main contactor control signal includes a closing instruction of the MCU main contactor;
determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal, comprising:
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a sixth fault mode; the sixth fault mode is that the MCU main contactor is not attracted and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reported signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a seventh fault mode; the seventh fault mode is that only the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a voltage signal is not included in a report signal of the MCU, determining that the MCU main contactor is in an eighth fault mode; the eighth fault mode is that only the MCU main contactor is not closed;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a ninth fault mode; the ninth fault mode is that the MCU main contactor is adhered and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a tenth fault mode; wherein, the tenth failure mode is that only the MCU main contactor is adhered;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a closing signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a non-close signal, determining that the MCU main contactor is in a normal mode;
correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the MCU main contactor, and the method comprises the following steps:
when the MCU main contactor is in a sixth fault mode or an eighth fault mode, prohibiting the vehicle from being electrified at high voltage;
when the MCU main contactor is in a ninth fault mode or a tenth fault mode, controlling the vehicle to pause high-voltage power-on, prompting a user to overhaul the MCU main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the MCU main contactor is in a seventh fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the MCU main contactor.
Optionally, after controlling the vehicle to perform high-voltage power-on in a special power-on mode or controlling the vehicle to perform high-voltage power-on in a normal power-on mode, the method further includes:
controlling the vehicle to perform high-voltage power-down in a high-voltage normal power-down mode in response to a high-voltage power-down request of the vehicle; the high-voltage power-off process corresponding to the high-voltage normal power-off mode comprises the steps of disconnecting an auxiliary contactor, unloading a motor, disconnecting a main contactor and disconnecting an MCU main contactor; alternatively, the first and second electrodes may be,
if the motor is detected to have an emergency high-voltage fault, controlling the vehicle to perform high-voltage power-down in an emergency power-down mode; the high-voltage power-off process corresponding to the emergency power-off mode comprises motor unloading, high-voltage contactor disconnection and low-voltage contactor disconnection; alternatively, the first and second electrodes may be,
monitoring whether the motor meets the upper high voltage in real time; and when the motor does not meet the upper high voltage, controlling the MCU main contactor to be switched off so as to enable the vehicle to be electrified under the high voltage in a motor electrifying mode.
In a second aspect, an embodiment of the present invention also provides a vehicle control apparatus, the vehicle including a parallel hybrid vehicle, the apparatus including:
the detection module is used for responding to a high-voltage power-on request of the vehicle and controlling each high-voltage component of the vehicle to carry out fault detection; wherein the high voltage component comprises a motor;
the first control module is used for controlling the vehicle to carry out high-voltage power-on in a special power-on mode when the motor is determined to have a fault; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor;
and the second control module is used for controlling the vehicle to carry out high-voltage electrification in a normal electrification mode when all the high-voltage components have no faults.
Optionally, the high-voltage power-on process corresponding to the normal power-on mode includes: the method comprises the steps of controlling a main contactor to be closed, controlling a micro control unit MCU pre-charging contactor to be closed, controlling the MCU main contactor to be closed, controlling the MCU pre-charging contactor to be disconnected and controlling an auxiliary contactor to be closed according to requirements.
Optionally, the high voltage component comprises a main contactor;
the device further comprises:
the first acquisition module is used for acquiring a main contactor control signal, a main contactor feedback signal and a reporting signal of the insulation monitoring module in the process of controlling each high-voltage component of the vehicle to perform fault detection or controlling the main contactor to be closed;
the first determining module is used for determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and the reported signal of the insulation monitoring module;
correspondingly, the device further comprises:
the first adjusting module is used for adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the main contactor.
Optionally, the main contactor control signal includes a closing instruction of the main contactor;
the first determining module is configured to:
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a first fault mode; the first fault mode is that the main contactor is not attracted and the main contactor is abnormal in feedback;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a second fault mode; wherein the second fault mode is that only the main contactor has abnormal feedback;
when a closing instruction of a main contactor is received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a third fault mode; the third fault mode is that only the main contactor is not closed;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fourth fault mode; the fourth fault mode is that the main contactor is adhered and the main contactor has abnormal feedback;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fifth fault mode; wherein the fifth failure mode is main contactor only binding;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a second fault mode;
correspondingly, the first adjusting module is configured to:
when the main contactor is in a first fault mode or a third fault mode, prohibiting the vehicle from being electrified at high voltage;
when the main contactor is in a fourth fault mode or a fifth fault mode, controlling the vehicle to suspend high-voltage power-on, prompting a user to overhaul the main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the main contactor is in a second fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the main contactor.
Optionally, the high-voltage component includes an MCU main contactor;
the device further comprises:
the second acquisition module is used for acquiring the state information of the main contactor, the control signal of the MCU main contactor, the feedback signal of the MCU main contactor and the report signal of the MCU in the process of controlling each high-voltage component of the vehicle to perform fault detection or controlling the MCU main contactor to be closed;
the second determining module is used for determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal;
correspondingly, the device further comprises:
and the second adjusting module is used for adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the MCU main contactor.
Optionally, the MCU main contactor control signal includes a closing instruction of the MCU main contactor;
the second determining module is configured to:
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a sixth fault mode; the sixth fault mode is that the MCU main contactor is not attracted and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reported signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a seventh fault mode; the seventh fault mode is that only the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a voltage signal is not included in a report signal of the MCU, determining that the MCU main contactor is in an eighth fault mode; the eighth fault mode is that only the MCU main contactor is not closed;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a ninth fault mode; the ninth fault mode is that the MCU main contactor is adhered and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a tenth fault mode; wherein, the tenth failure mode is that only the MCU main contactor is adhered;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a closing signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a non-close signal, determining that the MCU main contactor is in a normal mode;
correspondingly, the second adjusting module is configured to:
when the MCU main contactor is in a sixth fault mode or an eighth fault mode, prohibiting the vehicle from being electrified at high voltage;
when the MCU main contactor is in a ninth fault mode or a tenth fault mode, controlling the vehicle to pause high-voltage power-on, prompting a user to overhaul the MCU main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the MCU main contactor is in a seventh fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the MCU main contactor.
Optionally, the apparatus further comprises:
the third control module is used for responding to a high-voltage power-off request of the vehicle and controlling the vehicle to carry out high-voltage power-off in a high-voltage normal power-off mode after controlling the vehicle to carry out high-voltage power-on in a special power-on mode or controlling the vehicle to carry out high-voltage power-on in a normal power-on mode; the high-voltage power-off process corresponding to the high-voltage normal power-off mode comprises the steps of disconnecting an auxiliary contactor, unloading a motor, disconnecting a main contactor and disconnecting an MCU main contactor; alternatively, the first and second electrodes may be,
if the motor is detected to have an emergency high-voltage fault, controlling the vehicle to perform high-voltage power-down in an emergency power-down mode; the high-voltage power-off process corresponding to the emergency power-off mode comprises motor unloading, high-voltage contactor disconnection and low-voltage contactor disconnection; alternatively, the first and second electrodes may be,
monitoring whether the motor meets the upper high voltage in real time; and when the motor does not meet the upper high voltage, controlling the MCU main contactor to be switched off so as to enable the vehicle to be electrified under the high voltage in a motor electrifying mode.
In a third aspect, embodiments of the present invention further provide a computer storage medium, on which a computer program is stored, which when executed by a processor implements the vehicle control method provided in any of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention provides a vehicle control system, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the vehicle control method according to an embodiment of the present invention is implemented.
The vehicle control scheme provided by the invention is applied to a parallel hybrid vehicle and comprises the following steps: responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor; when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor; and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode. According to the technical scheme provided by the embodiment of the invention, the high-voltage electrifying process of the parallel hybrid power vehicle can be safely and efficiently controlled, the condition that the vehicle cannot be electrified at high voltage due to motor failure can be effectively avoided, and the whole vehicle can be normally operated under the condition of motor failure as much as possible.
Drawings
FIG. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a high voltage motor of a parallel hybrid vehicle according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating a high-voltage power-on and power-off control method for a parallel hybrid vehicle according to an embodiment of the present invention;
fig. 4 is a schematic diagram illustrating a result of performing a high-voltage up-down ionization line test when a high-voltage component is not faulty according to an embodiment of the present invention;
fig. 5 is a schematic diagram illustrating a result of performing a high-voltage power-on offline test when a motor fails according to an embodiment of the present invention;
fig. 6 is a schematic diagram illustrating a result of an ionization line test performed under high voltage when a motor fails during driving according to an embodiment of the present invention;
fig. 7 is a flowchart illustrating a fault monitoring process for the main contactor according to an embodiment of the present invention;
FIG. 8 is a flow chart of MCU master contactor fault monitoring provided by the embodiment of the present invention;
fig. 9 is a block diagram showing a configuration of a vehicle control apparatus according to an embodiment of the present invention;
fig. 10 is a block diagram of a vehicle control system according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Fig. 1 is a schematic flow chart of a vehicle control method according to an embodiment of the present invention, which may be executed by a vehicle control device, where the device may be implemented by software and/or hardware, and may be generally integrated in a vehicle control system, and the vehicle control system may be generally configured in a vehicle. As shown in fig. 1, the method includes:
step 101, responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises an electric motor.
In the embodiment of the invention, the vehicle comprises a parallel hybrid vehicle, and fig. 2 is a high-voltage motor schematic diagram of the parallel hybrid vehicle provided by the embodiment of the invention. For example, after the vehicle is detected to be powered on, if a high-voltage power-on request or a high-voltage power-on command is further detected, after each high-voltage component of the vehicle is controlled to be powered on at a low voltage, each high-voltage component of the vehicle is further controlled to perform self-checking so as to judge whether the high-voltage component has a fault. The high-voltage components of the vehicle may include a battery, a motor, a DCDC, a cooling system, a high-voltage tank, a main contactor, an MCU main contactor, and other related components.
Step 102, when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage electrification in a special electrification mode; and the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor.
In the embodiment of the invention, when each high-voltage component of the vehicle is subjected to fault detection, if the motor is determined to have a fault, the motor cannot be electrified at high voltage, and at the moment, the parallel hybrid electric vehicle can be controlled to be electrified at high voltage in a special electrifying mode. The high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of the main contactor and the closing of the auxiliary contactor. It can be understood that when the motor of the vehicle does not meet the high-voltage electrifying condition, a closing command is issued to the main contactor so as to close the main contactor, and the auxiliary contactor is controlled to be closed according to the user requirement. For example, when an instruction of opening an air conditioner by a driver is received, an auxiliary contactor corresponding to the air conditioner is controlled to be closed so as to control high voltage on an air conditioning system in a vehicle; and if the battery temperature is detected to be higher, controlling an auxiliary contactor corresponding to the battery to be closed so as to control the high voltage on a battery cooling system in the vehicle.
And 103, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode when all the high-voltage components have no faults.
In the embodiment of the invention, if all the high-voltage components are determined to have no fault after self-checking, the vehicle is controlled to be electrified in a normal mode. Optionally, the high-voltage power-on process corresponding to the normal power-on mode includes: the method comprises the steps of controlling a main contactor to be closed, controlling a micro control unit MCU pre-charging contactor to be closed, controlling the MCU main contactor to be closed, controlling the MCU pre-charging contactor to be disconnected and controlling an auxiliary contactor to be closed according to requirements. The MCU pre-charging comprises the steps of closing the MCU pre-charging contactor, closing the MCU main contactor and opening the MCU pre-charging contactor, and in the MCU pre-charging process, the MCU pre-charging contactor can report voltage signals through the power battery and report the voltage signals through the MCU, so that the closing time of the MCU main contactor can be judged, and the impact of heavy current on the MCU main contactor can be effectively avoided.
The invention provides a vehicle control method applied to a parallel hybrid vehicle, comprising the following steps: responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor; when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor; and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode. According to the technical scheme provided by the embodiment of the invention, the high-voltage electrifying process of the parallel hybrid power vehicle can be safely and efficiently controlled, the condition that the vehicle cannot be electrified at high voltage due to motor failure can be effectively avoided, and the whole vehicle can be normally operated under the condition of motor failure as much as possible.
In some embodiments, after controlling the vehicle to perform high voltage power-up in the special power-up mode or controlling the vehicle to perform high voltage power-up in the normal power-up mode, the method further includes: controlling the vehicle to perform high-voltage power-down in a high-voltage normal power-down mode in response to a high-voltage power-down request of the vehicle; the high-voltage power-off process corresponding to the high-voltage normal power-off mode comprises the steps of disconnecting an auxiliary contactor, unloading a motor, disconnecting a main contactor and disconnecting an MCU main contactor; or if the motor is detected to have an emergency high-voltage fault, controlling the vehicle to perform high-voltage low-voltage power supply in an emergency power supply mode; the high-voltage power-off process corresponding to the emergency power-off mode comprises motor unloading, high-voltage contactor disconnection and low-voltage contactor disconnection; or, monitoring whether the motor meets the upper high voltage in real time; and when the motor does not meet the upper high voltage, controlling the MCU main contactor to be switched off so as to enable the vehicle to be electrified under the high voltage in a motor electrifying mode.
For example, when the vehicle completes high-voltage power-up in the special power-up mode or the normal power-up mode, the high-voltage power-down may be performed at any time. The high-voltage power-down mode comprises a high-voltage normal power-down mode, an emergency power-down mode and a motor power-down mode. For example, when the vehicle receives a high-voltage power-down request (such as detection of the driver closing a key door of the vehicle), the vehicle is controlled to perform high-voltage power-down in a high-voltage normal power-down mode. Specifically, when the vehicle receives a high-voltage low-voltage request, the auxiliary contactor is controlled to be disconnected, the motor is controlled to be unloaded (namely, no current exists in the motor or the motor is under zero load), the main contactor is controlled to be disconnected, and the MCU main contactor is controlled to be disconnected, so that the vehicle completes high-voltage low-voltage. For example, after the vehicle completes high-voltage power-on, if an emergency high-voltage fault of the motor is suddenly detected, the vehicle is controlled to perform high-voltage power-down in an emergency power-down mode. Specifically, when the motor is detected to have an emergency high-voltage fault, the motor is controlled to be unloaded, the high-voltage contactor is controlled to be disconnected, and the low-voltage contactor is controlled to be disconnected in sequence, so that the vehicle completes high-voltage power-down in an emergency power-down mode. And for another example, after the vehicle finishes high-voltage power-on, monitoring whether the MCU meets the high-voltage power-on in real time, and if not, controlling the MCU main contactor to be disconnected so as to finish high-voltage power-down in a motor power-down mode. After the vehicle finishes high-voltage power-down in a motor power-down mode, the auxiliary contactor can be controlled to be closed according to requirements, so that other high-voltage components except the motor finish high-voltage power-up. The motor is unloaded, the high-voltage contactor can be prevented from being cut off with load, and the reliability and the safety of components are improved.
Fig. 3 is a schematic flow chart of a high-voltage power-on and power-off control method for a parallel hybrid vehicle according to an embodiment of the present invention. As shown in fig. 3, the high voltage power-on mode of the vehicle may be divided into a normal high voltage power-on mode and a special high voltage power-on mode. Wherein, the high-voltage power-on step corresponding to the normal power-on mode comprises: initialization, low-voltage electrification, high-voltage component self-inspection, main contactor closing, MCU pre-charging contactor closing, MCU main contactor closing, MCU pre-charging contactor opening, auxiliary contactor closing according to requirements and high-voltage electrification. When the high-voltage component is subjected to self-inspection, if the motor does not meet the high voltage, the vehicle is controlled to carry out high-voltage electrification in a special electrification mode, wherein the high-voltage electrification step corresponding to the special electrification mode comprises the following steps: initialization, low-voltage electrification, high-voltage component self-inspection, main contactor closing, auxiliary contactor closing according to requirements and high-voltage electrification. The high-voltage power-down mode of the vehicle comprises a high-voltage normal power-down mode, an emergency power-down mode and a motor power-down mode, wherein the power-down steps corresponding to the normal power-down mode comprise: and preparing to power off, disconnecting the auxiliary contactor, judging the unloading of the motor, disconnecting the main contactor, disconnecting the MCU main contactor and completing power off. The power-off step corresponding to the emergency power-off mode comprises the following steps: and (4) motor unloading judgment, disconnection of a high-voltage contactor and disconnection of a low-voltage contactor. The motor power-off mode can be understood as executing the motor power-off mode when the motor fails in the driving process and does not meet the condition of high voltage, and the motor failure does not affect the normal operation of other high-voltage components.
The following table is a mode definition table corresponding to each control process in the high-voltage power-on and power-off control process of the vehicle provided by the embodiment of the invention.
Figure BDA0002649874270000121
And after the modes corresponding to the control processes are defined according to the table, performing power-on and power-off tests when no fault exists in each high-voltage component. Fig. 4 is a schematic diagram illustrating a result of performing a high-voltage up-down ionization line test when a high-voltage component is not faulty according to an embodiment of the present invention. As shown in fig. 4, the key switch on time is simulated, and the test result shows that both the power-on process and the power-off process are normal and meet the expected requirements. And then, testing the condition that the motor system fails to apply high voltage. Fig. 5 is a schematic diagram illustrating a result of performing a high-voltage power-on offline test when a motor fails according to an embodiment of the present invention. As shown in fig. 5, the power-on process skips the mode 5, the mode 6 and the mode 7, and directly reaches the mode 8, which meets the expectation that the motor does not have high voltage and performs normally. And then, further testing the situation that the motor is suddenly failed after being normally electrified, the motor needs to be powered down at high voltage, and other high-voltage components still need to be tested. Fig. 6 is a schematic diagram illustrating a result of an ionization line test performed under high voltage when a motor fails during a driving process according to an embodiment of the present invention. As shown in fig. 6, the motor fault jumps to the lower high voltage of the motor, and the test result shows normal performance and accords with the expectation.
In some embodiments, the high voltage component comprises a main contactor; in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the closing of the main contactor, the method further comprises the following steps: acquiring a main contactor control signal, a main contactor feedback signal and a reporting signal of an insulation monitoring module; determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and a reported signal of an insulation monitoring module; correspondingly, the method further comprises the following steps: and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the main contactor. The advantage that sets up like this lies in, can solve can't satisfy the problem that complicated operating mode, high-voltage contactor fault rate and feedback are inaccurate etc. in the current high-voltage power on/off strategy, through increasing high-voltage contactor protection mechanism and trouble feedback strategy, can effectively avoid just can't power on/off influence whole car normal operating when single trouble.
Optionally, the main contactor control signal includes a closing instruction of the main contactor; determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and the reported signal of the insulation monitoring module, wherein the fault mode comprises the following steps: when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a normal mode; when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a first fault mode; the first fault mode is that the main contactor is not attracted and the main contactor is abnormal in feedback; when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a second fault mode; wherein the second fault mode is that only the main contactor has abnormal feedback; when a closing instruction of a main contactor is received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a third fault mode; the third fault mode is that only the main contactor is not closed; when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a normal mode; when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fourth fault mode; the fourth fault mode is that the main contactor is adhered and the main contactor has abnormal feedback; when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fifth fault mode; wherein the fifth failure mode is main contactor only binding; when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a second fault mode; correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the main contactor, and the method comprises the following steps: when the main contactor is in a first fault mode or a third fault mode, prohibiting the vehicle from being electrified at high voltage; when the main contactor is in a fourth fault mode or a fifth fault mode, controlling the vehicle to suspend high-voltage power-on, prompting a user to overhaul the main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on; and when the main contactor is in a second fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the main contactor.
Fig. 7 is a flowchart illustrating a fault monitoring process of the main contactor according to an embodiment of the present invention.
Optionally, the high-voltage component includes an MCU main contactor; in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the MCU main contactor to be closed, the method further comprises the following steps: acquiring state information of a main contactor, a control signal of an MCU main contactor, a feedback signal of the MCU main contactor and a report signal of the MCU; determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal; correspondingly, the method further comprises the following steps: and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the MCU main contactor. The advantage that sets up like this lies in, can solve can't satisfy the problem that complicated operating mode, high-voltage contactor fault rate and feedback are inaccurate etc. in the current high-voltage power on/off strategy, through increasing high-voltage contactor protection mechanism and trouble feedback strategy, can effectively avoid just can't power on/off influence whole car normal operating when single trouble.
Optionally, the MCU main contactor control signal includes a closing instruction of the MCU main contactor; determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal, comprising: when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a normal mode; when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a sixth fault mode; the sixth fault mode is that the MCU main contactor is not attracted and the MCU main contactor feeds back abnormity; when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reported signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a seventh fault mode; the seventh fault mode is that only the MCU main contactor feeds back abnormity; when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a voltage signal is not included in a report signal of the MCU, determining that the MCU main contactor is in an eighth fault mode; the eighth fault mode is that only the MCU main contactor is not closed; when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a normal mode; when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a ninth fault mode; the ninth fault mode is that the MCU main contactor is adhered and the MCU main contactor feeds back abnormity; when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a tenth fault mode; wherein, the tenth failure mode is that only the MCU main contactor is adhered; when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a seventh fault mode; when the main contactor is in an open state and a feedback signal of the MCU main contactor is a closing signal, determining that the MCU main contactor is in a seventh fault mode; when the main contactor is in an open state and a feedback signal of the MCU main contactor is a non-close signal, determining that the MCU main contactor is in a normal mode; correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the MCU main contactor, and the method comprises the following steps: when the MCU main contactor is in a sixth fault mode or an eighth fault mode, prohibiting the vehicle from being electrified at high voltage; when the MCU main contactor is in a ninth fault mode or a tenth fault mode, controlling the vehicle to pause high-voltage power-on, prompting a user to overhaul the MCU main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on; and when the MCU main contactor is in a seventh fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the MCU main contactor.
Fig. 8 is a flowchart of MCU main contactor fault monitoring provided in the embodiment of the present invention.
Fig. 9 is a block diagram of a vehicle control device according to an embodiment of the present invention, which may be implemented by software and/or hardware, and is generally integrated in a vehicle control system, and may analyze a vehicle emergency event by executing a vehicle control method. As shown in fig. 9, the apparatus includes:
the detection module 901 is used for responding to a high-voltage power-on request of a vehicle and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor;
a first control module 902, configured to control the vehicle to perform high-voltage power-on in a special power-on mode when it is determined that the motor has a fault; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor;
and the second control module 903 is used for controlling the vehicle to carry out high-voltage power-on in a normal power-on mode when all the high-voltage components have no faults.
The present invention provides a vehicle control device applied to a parallel hybrid vehicle, including: responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor; when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor; and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode. According to the technical scheme provided by the embodiment of the invention, the high-voltage electrifying process of the parallel hybrid power vehicle can be safely and efficiently controlled, the condition that the vehicle cannot be electrified at high voltage due to motor failure can be effectively avoided, and the whole vehicle can be normally operated under the condition of motor failure as much as possible.
Optionally, the high-voltage power-on process corresponding to the normal power-on mode includes: the method comprises the steps of controlling a main contactor to be closed, controlling a micro control unit MCU pre-charging contactor to be closed, controlling the MCU main contactor to be closed, controlling the MCU pre-charging contactor to be disconnected and controlling an auxiliary contactor to be closed according to requirements.
Optionally, the high voltage component comprises a main contactor;
the device further comprises:
the first acquisition module is used for acquiring a main contactor control signal, a main contactor feedback signal and a reporting signal of the insulation monitoring module in the process of controlling each high-voltage component of the vehicle to perform fault detection or controlling the main contactor to be closed;
the first determining module is used for determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and the reported signal of the insulation monitoring module;
correspondingly, the device further comprises:
the first adjusting module is used for adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the main contactor.
Optionally, the main contactor control signal includes a closing instruction of the main contactor;
the first determining module is configured to:
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a first fault mode; the first fault mode is that the main contactor is not attracted and the main contactor is abnormal in feedback;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a second fault mode; wherein the second fault mode is that only the main contactor has abnormal feedback;
when a closing instruction of a main contactor is received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a third fault mode; the third fault mode is that only the main contactor is not closed;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fourth fault mode; the fourth fault mode is that the main contactor is adhered and the main contactor has abnormal feedback;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fifth fault mode; wherein the fifth failure mode is main contactor only binding;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a second fault mode;
correspondingly, the first adjusting module is configured to:
when the main contactor is in a first fault mode or a third fault mode, prohibiting the vehicle from being electrified at high voltage;
when the main contactor is in a fourth fault mode or a fifth fault mode, controlling the vehicle to suspend high-voltage power-on, prompting a user to overhaul the main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the main contactor is in a second fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the main contactor.
Optionally, the high-voltage component includes an MCU main contactor;
the device further comprises:
the second acquisition module is used for acquiring the state information of the main contactor, the control signal of the MCU main contactor, the feedback signal of the MCU main contactor and the report signal of the MCU in the process of controlling each high-voltage component of the vehicle to perform fault detection or controlling the MCU main contactor to be closed;
the second determining module is used for determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal;
correspondingly, the device further comprises:
and the second adjusting module is used for adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the MCU main contactor.
Optionally, the MCU main contactor control signal includes a closing instruction of the MCU main contactor;
the second determining module is configured to:
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a sixth fault mode; the sixth fault mode is that the MCU main contactor is not attracted and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reported signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a seventh fault mode; the seventh fault mode is that only the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a voltage signal is not included in a report signal of the MCU, determining that the MCU main contactor is in an eighth fault mode; the eighth fault mode is that only the MCU main contactor is not closed;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a ninth fault mode; the ninth fault mode is that the MCU main contactor is adhered and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a tenth fault mode; wherein, the tenth failure mode is that only the MCU main contactor is adhered;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a closing signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a non-close signal, determining that the MCU main contactor is in a normal mode;
correspondingly, the second adjusting module is configured to:
when the MCU main contactor is in a sixth fault mode or an eighth fault mode, prohibiting the vehicle from being electrified at high voltage;
when the MCU main contactor is in a ninth fault mode or a tenth fault mode, controlling the vehicle to pause high-voltage power-on, prompting a user to overhaul the MCU main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the MCU main contactor is in a seventh fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the MCU main contactor.
Optionally, the apparatus further comprises:
the third control module is used for responding to a high-voltage power-off request of the vehicle and controlling the vehicle to carry out high-voltage power-off in a high-voltage normal power-off mode after controlling the vehicle to carry out high-voltage power-on in a special power-on mode or controlling the vehicle to carry out high-voltage power-on in a normal power-on mode; the high-voltage power-off process corresponding to the high-voltage normal power-off mode comprises the steps of disconnecting an auxiliary contactor, unloading a motor, disconnecting a main contactor and disconnecting an MCU main contactor; alternatively, the first and second electrodes may be,
if the motor is detected to have an emergency high-voltage fault, controlling the vehicle to perform high-voltage power-down in an emergency power-down mode; the high-voltage power-off process corresponding to the emergency power-off mode comprises motor unloading, high-voltage contactor disconnection and low-voltage contactor disconnection; alternatively, the first and second electrodes may be,
monitoring whether the motor meets the upper high voltage in real time; and when the motor does not meet the upper high voltage, controlling the MCU main contactor to be switched off so as to enable the vehicle to be electrified under the high voltage in a motor electrifying mode.
Storage medium-any of various types of memory devices or storage devices. The term "storage medium" is intended to include: mounting media such as CD-ROM, floppy disk, or tape devices; computer system memory or random access memory such as DRAM, DDRRAM, SRAM, EDORAM, Lanbas (Rambus) RAM, etc.; non-volatile memory such as flash memory, magnetic media (e.g., hard disk or optical storage); registers or other similar types of memory elements, etc. The storage medium may also include other types of memory or combinations thereof. In addition, the storage medium may be located in a first computer system in which the program is executed, or may be located in a different second computer system connected to the first computer system through a network (such as the internet). The second computer system may provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media that may reside in different locations, such as in different computer systems that are connected by a network. The storage medium may store program instructions (e.g., embodied as a computer program) that are executable by one or more processors.
Of course, the storage medium containing the computer-executable instructions provided by the embodiment of the present invention is not limited to the vehicle control operation described above, and may also perform the relevant operations in the vehicle control method provided by any embodiment of the present invention.
The embodiment of the invention provides a vehicle control system, and a vehicle control device provided by the embodiment of the invention can be integrated in the vehicle control system. Fig. 10 is a block diagram of a vehicle control system according to an embodiment of the present invention. The vehicle control system 1000 may include: a memory 1001, a processor 1002 and a computer program stored on the memory 1001 and executable on the processor, the processor 1002 implementing the vehicle control method according to an embodiment of the present invention when executing the computer program.
The vehicle control system provided in the embodiment of the invention is applied to a parallel hybrid vehicle, and includes: responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor; when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor; and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode. According to the technical scheme provided by the embodiment of the invention, the high-voltage electrifying process of the parallel hybrid power vehicle can be safely and efficiently controlled, the condition that the vehicle cannot be electrified at high voltage due to motor failure can be effectively avoided, and the whole vehicle can be normally operated under the condition of motor failure as much as possible.
The vehicle control device, the storage medium and the system provided in the above embodiments can execute the vehicle control method provided in any embodiment of the present invention, and have corresponding functional modules and beneficial effects for executing the method. Technical details that are not described in detail in the above embodiments may be referred to a vehicle control method provided in any embodiment of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (10)

1. A vehicle control method, the vehicle including a parallel hybrid vehicle, characterized by comprising:
responding to a high-voltage power-on request of a vehicle, and controlling each high-voltage component of the vehicle to perform fault detection; wherein the high voltage component comprises a motor;
when the motor is determined to have a fault, controlling the vehicle to carry out high-voltage power-on in a special power-on mode; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor;
and when no fault exists in each high-voltage component, controlling the vehicle to carry out high-voltage power-on in a normal power-on mode.
2. The method according to claim 1, wherein the high voltage power-up procedure corresponding to the normal power-up mode comprises: the method comprises the steps of controlling a main contactor to be closed, controlling a micro control unit MCU pre-charging contactor to be closed, controlling the MCU main contactor to be closed, controlling the MCU pre-charging contactor to be disconnected and controlling an auxiliary contactor to be closed according to requirements.
3. The method of claim 2, wherein the high voltage component comprises a main contactor;
in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the closing of the main contactor, the method further comprises the following steps:
acquiring a main contactor control signal, a main contactor feedback signal and a reporting signal of an insulation monitoring module;
determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and a reported signal of an insulation monitoring module;
correspondingly, the method further comprises the following steps:
and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the main contactor.
4. The method of claim 3, wherein the main contactor control signal comprises a main contactor close command;
determining a fault mode of the main contactor according to the main contactor control signal, the main contactor feedback signal and the reported signal of the insulation monitoring module, wherein the fault mode comprises the following steps:
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a first fault mode; the first fault mode is that the main contactor is not attracted and the main contactor is abnormal in feedback;
when a closing instruction of a main contactor is received, a feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a second fault mode; wherein the second fault mode is that only the main contactor has abnormal feedback;
when a closing instruction of a main contactor is received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a third fault mode; the third fault mode is that only the main contactor is not closed;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a normal mode;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a non-closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fourth fault mode; the fourth fault mode is that the main contactor is adhered and the main contactor has abnormal feedback;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module comprises a voltage signal, determining that the main contactor is in a fifth fault mode; wherein the fifth failure mode is main contactor only binding;
when a closing instruction of a main contactor is not received, the feedback signal of the main contactor is a closing signal, and the reported information of the insulation monitoring module does not include a voltage signal, determining that the main contactor is in a second fault mode;
correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the main contactor, and the method comprises the following steps:
when the main contactor is in a first fault mode or a third fault mode, prohibiting the vehicle from being electrified at high voltage;
when the main contactor is in a fourth fault mode or a fifth fault mode, controlling the vehicle to suspend high-voltage power-on, prompting a user to overhaul the main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the main contactor is in a second fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the main contactor.
5. The method of claim 2, wherein the high voltage component comprises an MCU main contactor;
in the process of controlling each high-voltage component of the vehicle to carry out fault detection or controlling the MCU main contactor to be closed, the method further comprises the following steps:
acquiring state information of a main contactor, a control signal of an MCU main contactor, a feedback signal of the MCU main contactor and a report signal of the MCU;
determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal;
correspondingly, the method further comprises the following steps:
and adjusting the power-on and power-off control strategy of the vehicle according to the fault mode of the MCU main contactor.
6. The method of claim 5, wherein the MCU master contactor control signal comprises a command to close the MCU master contactor;
determining a fault mode of the MCU main contactor according to the main contactor state information, the MCU main contactor control signal, the MCU main contactor feedback signal and the MCU report signal, comprising:
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a sixth fault mode; the sixth fault mode is that the MCU main contactor is not attracted and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reported signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a seventh fault mode; the seventh fault mode is that only the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and receives a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a voltage signal is not included in a report signal of the MCU, determining that the MCU main contactor is in an eighth fault mode; the eighth fault mode is that only the MCU main contactor is not closed;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a normal mode;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a non-closed signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a ninth fault mode; the ninth fault mode is that the MCU main contactor is adhered and the MCU main contactor feeds back abnormity;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal, and a reporting signal of the MCU comprises a voltage signal, determining that the MCU main contactor is in a tenth fault mode; wherein, the tenth failure mode is that only the MCU main contactor is adhered;
when the main contactor is in a closed state and does not receive a closing instruction of the MCU main contactor, a feedback signal of the MCU main contactor is a closing signal and a reporting signal of the MCU does not include a voltage signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a closing signal, determining that the MCU main contactor is in a seventh fault mode;
when the main contactor is in an open state and a feedback signal of the MCU main contactor is a non-close signal, determining that the MCU main contactor is in a normal mode;
correspondingly, the power-on and power-off control strategy of the vehicle is adjusted according to the fault mode of the MCU main contactor, and the method comprises the following steps:
when the MCU main contactor is in a sixth fault mode or an eighth fault mode, prohibiting the vehicle from being electrified at high voltage;
when the MCU main contactor is in a ninth fault mode or a tenth fault mode, controlling the vehicle to pause high-voltage power-on, prompting a user to overhaul the MCU main contactor, and after the fact that overhaul is completed is determined, enabling the vehicle to continue high-voltage power-on;
and when the MCU main contactor is in a seventh fault mode, controlling the vehicle to continue to be electrified at high voltage, and prompting a user to overhaul the MCU main contactor.
7. The method of claim 1, further comprising, after controlling the vehicle to high voltage power up in a special power up mode or controlling the vehicle to high voltage power up in a normal power up mode:
controlling the vehicle to perform high-voltage power-down in a high-voltage normal power-down mode in response to a high-voltage power-down request of the vehicle; the high-voltage power-off process corresponding to the high-voltage normal power-off mode comprises the steps of disconnecting an auxiliary contactor, unloading a motor, disconnecting a main contactor and disconnecting an MCU main contactor; alternatively, the first and second electrodes may be,
if the motor is detected to have an emergency high-voltage fault, controlling the vehicle to perform high-voltage power-down in an emergency power-down mode; the high-voltage power-off process corresponding to the emergency power-off mode comprises motor unloading, high-voltage contactor disconnection and low-voltage contactor disconnection; alternatively, the first and second electrodes may be,
monitoring whether the motor meets the upper high voltage in real time; and when the motor does not meet the upper high voltage, controlling the MCU main contactor to be switched off so as to enable the vehicle to be electrified under the high voltage in a motor electrifying mode.
8. A vehicle control apparatus, the vehicle including a parallel hybrid vehicle, characterized by comprising:
the detection module is used for responding to a high-voltage power-on request of the vehicle and controlling each high-voltage component of the vehicle to carry out fault detection; wherein the high voltage component comprises a motor;
the first control module is used for controlling the vehicle to carry out high-voltage power-on in a special power-on mode when the motor is determined to have a fault; the high-voltage electrifying process corresponding to the special electrifying mode comprises the closing of a main contactor and the closing of an auxiliary contactor;
and the second control module is used for controlling the vehicle to carry out high-voltage electrification in a normal electrification mode when all the high-voltage components have no faults.
9. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method according to any one of claims 1 to 7.
10. A vehicle control system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle control method of any one of claims 1 to 7 when executing the computer program.
CN202010866372.8A 2020-08-25 2020-08-25 Vehicle control method, device, storage medium and system Active CN111994091B (en)

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