CN117841683B - Vehicle recovery power control method, system, terminal equipment and storage medium - Google Patents
Vehicle recovery power control method, system, terminal equipment and storage medium Download PDFInfo
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- CN117841683B CN117841683B CN202410145134.6A CN202410145134A CN117841683B CN 117841683 B CN117841683 B CN 117841683B CN 202410145134 A CN202410145134 A CN 202410145134A CN 117841683 B CN117841683 B CN 117841683B
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Classifications
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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
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
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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
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a control method, a system, terminal equipment and a storage medium for vehicle power recovery, which comprise the following steps: after receiving a vehicle power-on signal, reading a calibration mark of a key variable at a calibration position in real time, if the calibration mark of the key variable at the calibration position is a first mark, controlling power-related management of the vehicle to enter a power restoration control mode, and switching the power-related management to a conventional control mode after the vehicle power is restored to a state before the soft reset of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter a conventional control mode; the normal control mode is a control mode when the whole vehicle controller is not in soft reset. According to the scheme, the power is quickly recovered after the software is reset, the problem of high pressure or power interruption of the vehicle is avoided, and the safety and stability of the vehicle are improved.
Description
Technical Field
The application relates to the technical field of vehicle controllers, in particular to a vehicle power recovery control method, a system, terminal equipment and a storage medium.
Background
With the popularization of automobiles, the importance degree of users on the safety performance of the automobiles is increased, and a whole electric automobile controller (VCU) of a new energy electric automobile bears most of functions of the electric automobile, so that the safety performance of the automobile is crucial, but the possibility of abnormal stack overflow of software or task scheduling is very high due to the fact that the bearing functions are more, and once the situation occurs, the situation of resetting of the controller software possibly occurs.
When the whole vehicle controller is in a software reset state, the functional tasks can be restarted to operate, if the vehicle is running at the moment, the whole vehicle can be suddenly pressed down or power is interrupted after the soft reset, and great potential safety hazards exist.
Disclosure of Invention
In view of the foregoing drawbacks or shortcomings of the related art, the present application is directed to a control method, system, terminal device, and storage medium for vehicle restoration power.
The first aspect of the application provides a control method for vehicle power recovery, comprising the steps of:
After receiving a power-on signal of a vehicle, reading calibration marks of key variables at calibration positions in real time, wherein the calibration marks comprise a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
If the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, and switching the power-related management to a conventional control mode after the power of the vehicle is recovered to a state before the soft reset of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management.
According to the technical scheme provided by the embodiment of the application, if the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, wherein the method comprises the following steps:
and if the calibration mark of the key variable at the calibration position is the first mark, judging the state of the vehicle, and when the vehicle is in a driving state, controlling the power-related management of the vehicle to enter a power recovery control mode.
According to the technical scheme provided by the embodiment of the application, each power related management is related to a plurality of related key variables;
controlling power-related management of a vehicle to enter a power restoration control mode, comprising at least the steps of:
reading the stored data of a plurality of related key variables corresponding to each power related management before soft reset;
Based on the stored data, controlling each power-related management to restore to a state before soft reset of the whole vehicle controller
According to the technical scheme provided by the embodiment of the application, if the calibration mark of the key variable at the calibration position is the first mark, the application layer ASW sends a first signal to the bottom layer BSW; when the first identifier is switched to the second identifier, or the calibration identifier of the key variable at the calibration position is that the duration time of the first identifier is longer than or equal to a first preset duration time, the application layer ASW sends a second signal to the bottom layer BSW;
when the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, and comprising the following steps:
When the calibration mark of the key variable at the calibration position is the first mark and the first signal is received, setting the maximum power allowed to be used by the high-voltage accessory to be zero, and setting the driving limiting power to be the battery allowed discharging power;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made into a quotient, and the quotient is the motor required torque;
stopping the sending function of CAN communication, which is used for prohibiting the motor required torque from being transmitted to a motor controller;
And when the second signal is received and the second preset time period is continued, starting a sending function of CAN communication, filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
According to the technical scheme provided by the embodiment of the application, when the power-related management of the control vehicle enters a power recovery control mode, timing is started;
when the power of the vehicle is restored to the state before the soft reset of the whole vehicle controller, the power related management is switched to the normal control mode, and the method at least comprises the following steps:
and controlling the power-related management to enter the normal control mode when the duration of the power recovery control mode is longer than or equal to a second preset duration.
According to the technical scheme provided by the embodiment of the application, the power-related management of the control vehicle enters the power recovery control mode, and the method at least comprises the following steps:
Receiving corresponding information of each power-related management, and judging whether each power-related management meets a recovery condition corresponding to each power-related management based on each corresponding information;
And when the power-related management meets the recovery condition corresponding to the power-related management, recovering the power-related management to a state before the soft reset of the whole vehicle controller.
According to the technical scheme provided by the embodiment of the application, if the calibration mark of the key variable at the calibration position is the second mark, the power related management is directly controlled to enter the conventional control mode, and the method comprises the following steps:
If the calibration mark of the key variable at the calibration position is the second mark, setting the maximum power allowed to be used by the high-voltage accessory as the battery allowed discharge power, and setting the driving limiting power as the difference between the battery allowed discharge power and the actual power of the high-voltage accessory;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made into a quotient, and the quotient is the motor required torque;
And filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
A second aspect of the present application provides a control system for restoring power to a vehicle, comprising:
The judging module is configured to read the calibration marks of the key variables at the calibration positions in real time after receiving the power-on signal of the vehicle, wherein the calibration marks comprise a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
The control module is configured to control power-related management of the vehicle to enter a power restoration control mode if the calibration mark of the key variable at the calibration position is the first mark, and switch the power-related management to a conventional control mode after the power of the vehicle is restored to a state before the soft restoration of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management.
A third aspect of the present application provides a terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the control method for vehicle restoration power as described above when the computer program is executed.
A fourth aspect of the present application provides a computer-readable storage medium having a computer program which, when executed by a processor, implements the steps of the control method of vehicle restoration power as described above.
Compared with the prior art, the beneficial effects are that: according to the method, the calibration mark of the key variable on the calibration position is the first mark, after the whole vehicle controller is judged to be in the software reset state, the power-related management of the vehicle is controlled to enter the power recovery control mode, the state before the software reset state is ensured to be restored by high-voltage management, energy management and the like, the power of the whole vehicle is quickly recovered, and then the vehicle enters the conventional control mode.
Drawings
FIG. 1 is a flow chart of steps of a method for controlling vehicle power recovery according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a control system for recovering power of a vehicle according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
As mentioned in the background art, in order to solve the problems in the prior art, the present application provides a control method for recovering power of a vehicle, please refer to fig. 1, which includes the following steps:
S101, after receiving a vehicle power-on signal, reading a calibration mark of a key variable at a calibration position in real time, wherein the calibration mark comprises a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
Specifically, the key variable is a judging basis for judging whether the whole vehicle controller is in software reset, when the whole vehicle controller is in software reset, a corresponding signal is sent to the key variable to enable the calibration mark of the key variable to change, further, the key variable is at least PtReady, ptReady =1 as the first mark to indicate that the whole vehicle controller is in soft reset, and PtReady =0 is the second mark to indicate that the whole vehicle controller is not in soft reset.
S102, if the calibration mark of the key variable at the calibration position is the first mark, controlling power-related management of the vehicle to enter a power recovery control mode, and switching the power-related management to a conventional control mode after the vehicle power is recovered to a state before the soft reset of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management.
Specifically, the power-related management further includes gear management and torque management, and the whole control process is described by taking the power-related management as high-voltage management as an example: when PtReady =1 is read, the high-voltage management is controlled to enter the power restoration control mode, the high-voltage management of the vehicle is restored to the state before the soft reset of the whole vehicle controller, and when PtReady =0 is read, the high-voltage management is controlled to directly enter the normal control mode. Under normal conditions, the power-related management needs to be restored to the state before the soft reset of the whole vehicle controller, and then the power restoration of the whole vehicle can be completed, namely, the power restoration of the whole vehicle is completed when the state before the high-voltage management, the gear management, the energy management and the torque management are restored to the soft reset is described.
Each power related management has a corresponding normal control mode, wherein the normal control mode is an original running process of the vehicle when the software and hardware of the whole vehicle are normal, and takes high-voltage management as an example, the normal control mode of the high-voltage management is an upper high-voltage process under normal conditions, and specifically comprises the following steps: the external controller sends an upper high-voltage request to the whole vehicle controller, the whole vehicle controller judges whether an upper high-voltage condition is met (the upper high-voltage condition is that a condition a and a condition b are met at the same time, the condition a and the gear are in a P/N gear, the speed of the vehicle is less than 3 kph), judges whether a fault for prohibiting upper high voltage is existed (simultaneously meeting a condition c, a condition d and a condition e, the condition c, the no BMS prohibits upper high-voltage fault, the condition d, the no power supply module DCDC prohibits upper high-voltage fault, the condition e and the no MCU prohibits upper high-voltage fault), and if the upper high-voltage condition is met and high-voltage management has no fault, at the moment, an upper high-voltage command is sent to the BMS.
When the power related management is restored to the state before the soft reset of the whole vehicle controller, the purpose of restoring the power of the whole vehicle is achieved, the potential safety hazards of sudden high pressure or power interruption and the like of the whole vehicle caused by the reset of the software of the whole vehicle controller are avoided, and the safety of the vehicle is improved.
In an alternative embodiment, if the calibration identifier of the key variable at the calibration position is the first identifier, controlling power-related management of the vehicle to enter a power recovery control mode, including the following steps:
and if the calibration mark of the key variable at the calibration position is the first mark, judging the state of the vehicle, and when the vehicle is in a driving state, controlling the power-related management of the vehicle to enter a power recovery control mode.
Specifically, when PtReady =1 is read, the vehicle state can be judged through the in-vehicle instrument display or gear information and the vehicle speed information, when the vehicle is in the driving state, the power-related management of the control vehicle enters a power restoration control mode, after the power restoration is finished, the control mode is entered, and when the vehicle is in the parking state, the power-related management of the control vehicle directly enters the conventional control mode.
According to the embodiment, when the vehicle is in the parking state, the operation of power recovery is not needed even if the whole vehicle controller software is reset, the step of judging the vehicle state is added to avoid the redundant recovery process, and the accuracy of the control process is further ensured.
In an alternative embodiment, each of said power-related management is associated with a number of related key variables;
controlling power-related management of a vehicle to enter a power restoration control mode, comprising at least the steps of:
reading the stored data of a plurality of related key variables corresponding to each power related management before soft reset;
And controlling each power-related management to restore to a state before the soft reset of the whole vehicle controller based on the stored data.
Specifically, the relevant key variables are key signals needing to recover power, the key signals are all stored in the RAM space, the relevant key variables at least comprise an energy control type request, a high-voltage mode request, a high-voltage enabling permission flag bit, a BMS high-voltage normal state, a high-voltage/low-voltage on state, a high-voltage/low-voltage off state, an actual gear and an accelerator pedal 1/2 self-learning voltage value, and the power relevant management of the vehicle is controlled to enter a power recovery control mode, namely, the high-voltage management, the gear management, the energy management and the torque management are all recovered to a state between software resets of the whole vehicle controller based on the relevant key variables.
Specifically, when the Vehicle Control Unit (VCU) operates, the conventional control module stores the calibration identifier of the key variable at the calibration position in real time and the storage data of each related key variable before soft reset in the RAM space in real time, the data information in the RAM space is not affected by the soft reset, that is, the data information in the RAM space is not lost after the vehicle control unit is soft reset, the RAM is RamdomAccessMemory for short, and the chinese name is random access memory, and has a function of high-speed access.
The embodiment provides a method for controlling each power-related management to be restored to a state before soft reset of a vehicle controller, and the power-related management is restored to the state before software reset by reading a plurality of key signals stored in a RAM space, so that potential safety hazards, such as sudden low pressure or power interruption, of the vehicle caused by the software reset of the vehicle controller are avoided, and vehicle safety is improved.
In an alternative embodiment, if the calibration identifier of the key variable at the calibration position is the first identifier, the application layer ASW sends a first signal to the bottom layer BSW; when the first identifier is switched to the second identifier, or the calibration identifier of the key variable at the calibration position is that the duration time of the first identifier is longer than or equal to a first preset duration time, the application layer ASW sends a second signal to the bottom layer BSW;
when the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, and comprising the following steps:
When the calibration mark of the key variable at the calibration position is the first mark and the first signal is received, setting the maximum power allowed to be used by the high-voltage accessory to be zero, and setting the driving limiting power to be the battery allowed discharging power;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made into a quotient, and the quotient is the motor required torque;
stopping the sending function of CAN communication, which is used for prohibiting the motor required torque from being transmitted to a motor controller;
And when the second signal is received and the second preset time period is continued, starting a sending function of CAN communication, filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
Specifically, the first signal is "rest=1", the second signal is "rest=0", and when PtReady =1 is read, the application layer ASW sends rest=1 to the bottom layer BSW; optionally, the first preset duration is 100ms.
Specifically, CAN is an abbreviation of Controller Area Network, chinese is a controller area network, BSW is an abbreviation of Basic Software, chinese is a base Software layer, ASW is an abbreviation of Applications SoftWare, and chinese is an application Software layer.
Specifically, after the bottom layer BSW receives rest=1, rechecking whether the whole vehicle controller is in soft reset or not, and the specific rechecking process is as follows: the detection of the soft reset RESTGROUP =1 indicates that the whole vehicle controller is actually in soft reset, but not in hard reset, and at the moment, the sending function of CAN communication is stopped, so that the situation that the whole vehicle controller is incomplete in function recovery and incorrect CAN instructions are sent to cause the occurrence of abnormality of the whole vehicle function is avoided, and when the detection of the soft reset RESTGROUP =0 indicates that the function recovery of the whole vehicle controller is completed, the sending function of the CAN communication is recovered at the moment, and the accuracy of the sending instructions is ensured.
The present embodiment proposes a control procedure when the power-related management is the power recovery control mode.
In an alternative embodiment, the timing is started when the power-related management controlling the vehicle enters the power recovery control mode;
when the power of the vehicle is restored to the state before the soft reset of the whole vehicle controller, the power related management is switched to the normal control mode, and the method at least comprises the following steps:
and controlling the power-related management to enter the normal control mode when the duration of the power recovery control mode is longer than or equal to a second preset duration.
Optionally, the second preset duration is 150ms, and when the power recovery process lasts for 150ms, the default power recovery is completed.
The embodiment provides a simple and effective mode for judging whether the vehicle power is recovered, simplifies the judging process and enables the control process to be more effectively connected.
In an alternative embodiment, controlling power-related management of a vehicle to enter the power restoration control mode includes at least the steps of:
Receiving corresponding information of each power-related management, and judging whether each power-related management meets a recovery condition corresponding to each power-related management based on each corresponding information;
And when the power-related management meets the recovery condition corresponding to the power-related management, recovering the power-related management to a state before the soft reset of the whole vehicle controller.
Specifically, although the transmission function of CAN communication is stopped when soft reset RESTGROUP =1 is detected, the reception function of CAN communication is kept normal continuously, and when corresponding information of each power-related management transmitted from another controller or sensor is received through CAN communication and the corresponding information indicates that there is a failure in the power-related management, the power-related management is not restored, and if there is no failure, the state before reset is restored.
Taking high-voltage management as an example, the power recovery control mode of the high-voltage management is an upper high-voltage process after soft reset, and specifically comprises the following steps: when the calibration mark of the key variable is judged to be the first mark, corresponding information (current gear and current vehicle speed) of high-voltage management transmitted by other controllers (gear controllers and vehicle speed sensors) is received through CAN communication, whether an upper high-voltage condition is met (the upper high-voltage condition is met simultaneously with the upper high-voltage condition b, the condition a and the gear are in P/N gear, the condition b and the vehicle speed are less than 3 kph) is judged, whether a fault of upper high voltage is forbidden or not is judged through CAN communication by the corresponding information of the other controllers (the condition c, the condition d and the condition e are met simultaneously, the condition c, the upper high-voltage fault is forbidden without BMS, the condition d, the upper high-voltage fault is forbidden without a power module DCDC, the condition e and the upper high-voltage fault is forbidden without MCU), and at the moment, an upper high-voltage command is sent to the BMS.
The power recovery of the vehicle is completed, the Battery Management System (BMS) maintains a high-voltage state according to CAN communication sent by the whole Vehicle Controller (VCU), and the Motor Controller (MCU) controls the vehicle to run according to the CAN communication sent by the whole vehicle controller VCU.
In an alternative embodiment, if the calibration identifier of the key variable at the calibration position is the second identifier, the power-related management is directly controlled to enter the normal control mode, which includes the following steps:
If the calibration mark of the key variable at the calibration position is the second mark, setting the maximum power allowed to be used by the high-voltage accessory as the battery allowed discharge power, and setting the driving limiting power as the difference between the battery allowed discharge power and the actual power of the high-voltage accessory;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made into a quotient, and the quotient is the motor required torque;
And filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
Specifically, the present embodiment describes the control process of the conventional control mode of the power-related management.
Example 2
Referring to fig. 2, the present embodiment provides a control system for recovering power of a vehicle, including:
The judging module is configured to read the calibration marks of the key variables at the calibration positions in real time after receiving the power-on signal of the vehicle, wherein the calibration marks comprise a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
The control module is configured to control power-related management of the vehicle to enter a power restoration control mode if the calibration mark of the key variable at the calibration position is the first mark, and switch the power-related management to a conventional control mode after the power of the vehicle is restored to a state before the soft restoration of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management.
Example 3
Referring to fig. 3, the computer system 600 of the terminal device includes a CPU (central processing unit) 601, which can perform various appropriate actions and processes according to a program stored in a ROM (read only memory) 602 or a program loaded from a storage section 608 into a RAM (random access memory) 603. In the RAM603, various programs and data required for system operation are also stored. The CPU601, ROM602, and RAM603 are connected to each other through a bus 604. An I/O (input/output) interface 605 is also connected to the bus 604. The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drives are also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, the process described above with reference to flowchart 1 may be implemented as a computer software program according to an embodiment of the application. For example, embodiment 1 of the present application includes a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flowchart. In such embodiments, the computer program may be downloaded and installed from a network via a communication portion, and/or installed from a removable medium. When executed by the CPU601, the computer program performs the functions defined above in the present computer system 600.
The computer readable medium shown in the present application may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present application, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments 1 and 2 of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units involved in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be provided in a processor. Wherein the names of the units do not constitute a limitation of the units themselves in some cases. The described units or modules may also be provided in a processor, for example, as: a processor comprises a judging module and a control module. The names of these units or modules do not limit the units or modules themselves in some cases, for example, the judgment module may also be described as "the judgment module for reading the first identification instance of the first key variable in real time after receiving the vehicle power-up signal".
Example 4
As another aspect, the present application also provides a computer-readable medium that may be contained in the electronic device described in the above embodiment; or may exist alone without being incorporated into the electronic device. The computer-readable medium carries one or more programs that, when executed by one of the electronic devices, cause the electronic device to implement the vehicle power restoration control method as described in the above embodiment.
For example, the electronic device may implement the method as shown in fig. 1: s101, after receiving a vehicle power-on signal, reading a calibration mark of a key variable at a calibration position in real time, wherein the calibration mark comprises a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset; s102, if the calibration mark of the key variable at the calibration position is the first mark, controlling power-related management of the vehicle to enter a power recovery control mode, and switching the power-related management to a conventional control mode after the vehicle power is recovered to a state before the soft reset of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management. As another example, the electronic device may implement the various steps described herein.
It should be noted that although in the above detailed description several modules or units of a device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functions of two or more modules or units described above may be embodied in one module or unit in accordance with the disclosed embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into a plurality of modules or units to be embodied.
Furthermore, although the steps of the methods of the present application are depicted in the accompanying drawings in a particular order, this is not required to or suggested that the steps must be performed in this particular order or that all of the steps shown be performed in order to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step to perform, and/or one step decomposed into multiple steps to perform, etc.
From the above description of embodiments, those skilled in the art will readily appreciate that the example embodiments described herein may be implemented in software, or may be implemented in software in combination with the necessary hardware.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the present application is not limited to the specific combination of the above technical features, but also encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the present application. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (9)
1. A control method of restoring power to a vehicle, characterized by comprising the steps of:
After receiving a power-on signal of a vehicle, reading calibration marks of key variables at calibration positions in real time, wherein the calibration marks comprise a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
If the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, and switching the power-related management to a conventional control mode after the power of the vehicle is recovered to a state before the soft reset of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering power-related management of the vehicle to a state before the whole vehicle controller software is reset, and the power-related management at least comprises high-voltage management and energy management;
If the calibration mark of the key variable at the calibration position is the first mark, the application layer ASW sends a first signal to the bottom layer BSW; when the first identifier is switched to the second identifier, or the calibration identifier of the key variable at the calibration position is that the duration time of the first identifier is longer than or equal to a first preset duration time, the application layer ASW sends a second signal to the bottom layer BSW;
when the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, and comprising the following steps:
When the calibration mark of the key variable at the calibration position is the first mark and the first signal is received, setting the maximum power allowed to be used by the high-voltage accessory to be zero, and setting the driving limiting power to be the battery allowed discharging power;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made as a quotient, and the quotient is a motor required torque;
stopping the sending function of CAN communication, which is used for prohibiting the motor required torque from being transmitted to a motor controller;
And when the second signal is received and the second preset time period is continued, starting a sending function of CAN communication, filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
2. The control method of vehicle power recovery according to claim 1, characterized in that: and if the calibration mark of the key variable at the calibration position is the first mark, controlling the power-related management of the vehicle to enter a power recovery control mode, wherein the method comprises the following steps of:
and if the calibration mark of the key variable at the calibration position is the first mark, judging the state of the vehicle, and when the vehicle is in a driving state, controlling the power-related management of the vehicle to enter a power recovery control mode.
3. The control method of vehicle power recovery according to claim 1, characterized in that: each power-related management is related to a plurality of related key variables;
controlling power-related management of a vehicle to enter a power restoration control mode, comprising at least the steps of:
reading the stored data of a plurality of related key variables corresponding to each power related management before soft reset;
And controlling each power-related management to restore to a state before the soft reset of the whole vehicle controller based on the stored data.
4. The control method of vehicle power recovery according to claim 1, characterized in that: when the power-related management of the control vehicle enters a power recovery control mode, starting timing;
when the power of the vehicle is restored to the state before the soft reset of the whole vehicle controller, the power related management is switched to the normal control mode, and the method at least comprises the following steps:
and controlling the power-related management to enter the normal control mode when the duration of the power recovery control mode is longer than or equal to a second preset duration.
5. The control method of vehicle power recovery according to claim 1, characterized in that: controlling power-related management of a vehicle into the power restoration control mode, comprising at least the steps of:
Receiving corresponding information of each power-related management, and judging whether each power-related management meets a recovery condition corresponding to each power-related management based on each corresponding information;
And when the power-related management meets the recovery condition corresponding to the power-related management, recovering the power-related management to a state before the soft reset of the whole vehicle controller.
6. The control method of vehicle power recovery according to claim 1, characterized in that: if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power-related management to enter the conventional control mode, wherein the method comprises the following steps:
If the calibration mark of the key variable at the calibration position is the second mark, setting the maximum power allowed to be used by the high-voltage accessory as the battery allowed discharge power, and setting the driving limiting power as the difference between the battery allowed discharge power and the actual power of the high-voltage accessory;
Acquiring the real-time rotating speed of the motor and the allowable maximum torque of the motor, converting the driving limiting power into driving limiting torque, and taking the smaller value of the driving limiting torque and the allowable maximum torque of the motor as energy management limiting torque;
Acquiring real-time driving information, and obtaining a driver required torque based on the driving information, wherein the driver required torque and a speed ratio of a driving motor are made as a quotient, and the quotient is a motor required torque;
And filtering and smoothing the motor required torque, and sending the motor required torque to a motor controller to execute output.
7. A control system for vehicle power restoration, for executing the control method for vehicle power restoration according to any one of claims 1 to 6, characterized in that: comprising the following steps:
The judging module is configured to read the calibration marks of the key variables at the calibration positions in real time after receiving the power-on signal of the vehicle, wherein the calibration marks comprise a first mark and a second mark; the key variables are used for providing basis for judging whether software reset occurs to the whole vehicle controller or not; the first identifier is used for indicating that the whole vehicle controller is in soft reset, and the second identifier is used for indicating that the whole vehicle controller is not in soft reset;
The control module is configured to control power-related management of the vehicle to enter a power restoration control mode if the calibration mark of the key variable at the calibration position is the first mark, and switch the power-related management to a conventional control mode after the power of the vehicle is restored to a state before the soft restoration of the whole vehicle controller; if the calibration mark of the key variable at the calibration position is the second mark, directly controlling the power related management to enter the conventional control mode; the conventional control mode is a control mode when the whole vehicle controller does not generate soft reset; the power recovery control mode is used for recovering the power-related management of the vehicle to a state before the software of the whole vehicle controller is reset, and the power-related management at least comprises high-voltage management and energy management.
8. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: the processor, when executing the computer program, implements the steps of the control method for restoring power to a vehicle according to any one of claims 1 to 6.
9. A computer readable storage medium having a computer program, characterized by: the computer program when executed by a processor implements the steps of the vehicle power restoration control method according to any one of claims 1 to 6.
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| CN115723586A (en) * | 2021-09-01 | 2023-03-03 | 宇通客车股份有限公司 | New energy vehicle and vehicle output torque control method and device thereof |
| CN115891655A (en) * | 2022-11-11 | 2023-04-04 | 联合汽车电子有限公司 | Power recovery method and device for new energy automobile, terminal and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10286899B2 (en) * | 2016-11-16 | 2019-05-14 | Ford Global Technologies, Llc | Operation of power electronics during battery communication loss |
| CN116691367A (en) * | 2023-07-05 | 2023-09-05 | 深蓝汽车科技有限公司 | Vehicle power torque control method and device, electronic equipment and storage medium |
| CN116749790A (en) * | 2023-07-27 | 2023-09-15 | 深蓝汽车科技有限公司 | Torque control method, torque control device, vehicle and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115723586A (en) * | 2021-09-01 | 2023-03-03 | 宇通客车股份有限公司 | New energy vehicle and vehicle output torque control method and device thereof |
| CN115891655A (en) * | 2022-11-11 | 2023-04-04 | 联合汽车电子有限公司 | Power recovery method and device for new energy automobile, terminal and storage medium |
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