CN118008653A

CN118008653A - Engine starting method, engine starting device and vehicle in low-temperature state

Info

Publication number: CN118008653A
Application number: CN202410237697.8A
Authority: CN
Inventors: 范强; 张文; 杨敬恩; 牛塬塬; 刘宇亮
Original assignee: Weichai Power Co Ltd
Current assignee: Weichai Power Co Ltd
Priority date: 2024-03-01
Filing date: 2024-03-01
Publication date: 2024-05-10

Abstract

The application provides an engine starting method, an engine starting device and a vehicle in a low-temperature state, wherein the method comprises the following steps: acquiring a first temperature, and acquiring a second temperature, a third temperature and a fourth temperature under the condition that the first temperature is smaller than a first threshold value; calculating an engine state score based on the second temperature, the third temperature, and the fourth temperature; inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length; and determining a third time length according to the first time length and the second time length, starting the starter, and stopping supplying power to the starter after the third time length. According to the application, the engagement time and the dragging time of the starter and the engine are corrected according to the ambient temperature and the temperatures of different parts of the vehicle, so that the problem of low success rate in a low-temperature starting environment caused by short engagement judging time and short dragging time of the starter in the prior art is solved.

Description

Engine starting method, engine starting device and vehicle in low-temperature state

Technical Field

The present invention relates to the field of engine control technology, and in particular, to an engine starting method, an engine starting apparatus, a computer readable storage medium, and a vehicle in a low temperature state.

Background

The engine at the present stage needs to be heated before being started in a cold state at the low temperature of-20 ℃ and below, as the requirement of a user on products is higher and higher, the single starting success rate is higher, the products have competitive advantages, the working time of the single starter of the engine at the present stage is guided stepwise according to the water temperature, the oil temperature, the environment temperature and the like, the reliability of the starter is ensured, but the method still has the advantages that when the average dragging rotating speed is insufficient for judging the rotating speed in a blind engagement mode, the starting relay is controlled to be disconnected, the starter is stopped in the starting process, the starting failure is caused, the blind engagement judging time in the process is shorter, and the dragging time of the starter in the cold starting state is generally longer.

Disclosure of Invention

The application aims to provide an engine starting method, an engine starting device, a computer readable storage medium and a vehicle in a low-temperature state, which at least solve the problem that the starting success rate is low in a low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art.

In order to achieve the above object, according to one aspect of the present application, there is provided an engine starting method in a low temperature state, comprising: acquiring a first temperature, and acquiring a second temperature, a third temperature and a fourth temperature under the condition that the first temperature is smaller than a first threshold value, wherein the first temperature is the ambient temperature of a vehicle, the second temperature is the engine oil temperature of an engine, the third temperature is the air inlet temperature of the engine, and the fourth temperature is the cooling liquid temperature of the engine; calculating an engine state score from the second temperature, the third temperature and the fourth temperature, the engine state score being used to characterize the extent of influence of the first temperature on the probability of successful start of the engine; inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length.

Optionally, obtaining the second temperature, the third temperature, and the fourth temperature includes: inquiring a third mapping relation according to the first temperature to obtain a first coefficient, a second coefficient and a third coefficient, wherein the third mapping relation is a mapping relation between the first temperature and a correction coefficient, and the correction coefficient comprises the first coefficient, the second coefficient and the third coefficient; acquiring a first detection temperature and calculating the product of the first detection temperature and the first coefficient to obtain the second temperature, wherein the first detection temperature is the detection temperature of an oil temperature sensor; obtaining a second detection temperature and calculating the product of the second detection temperature and the second coefficient to obtain the third temperature, wherein the second detection temperature is the detection temperature of an air inlet temperature sensor; and obtaining a third detection temperature and calculating the product of the third detection temperature and the third coefficient to obtain the fourth temperature, wherein the third detection temperature is the detection temperature of the cooling liquid temperature sensor.

Optionally, calculating an engine state score from the second temperature, the third temperature, and the fourth temperature includes: determining a first interval according to a temperature interval to which the second temperature belongs, and determining a first state score according to the first temperature interval; determining a second interval according to the temperature interval to which the third temperature belongs, and determining a second state score according to the second temperature interval; determining a third interval according to the temperature interval to which the fourth temperature belongs, and determining a third state score according to the third temperature interval; and carrying out weighted average operation according to the first state score, the second state score and the third state score to obtain the engine state score.

Optionally, querying a first mapping relation according to the engine state score to obtain a first duration and querying a second mapping relation according to the engine state score to obtain a second duration includes: determining a fourth interval according to the interval to which the engine state score belongs, and inquiring the first mapping relation according to the fourth interval to obtain the first duration; and inquiring the second mapping relation according to the fourth interval to obtain the second duration.

Optionally, determining a third duration according to the first duration and the second duration includes: determining the first time period as the third time period in the case that the differences between the first temperature and the second, third and fourth temperatures are all smaller than a second threshold value; and under the condition that the difference value between the first temperature and the second temperature, the third temperature and the fourth temperature is larger than or equal to the second threshold value, determining a target proportion according to the difference value, and determining the third time length according to the target proportion, the first time length and the second time length, wherein the third time length is larger than the second time length.

Optionally, starting the starter, and stopping power supply to the starter after the third duration elapses, including: starting the starter, and acquiring first identification information after the second time period passes, wherein the first identification information is used for representing whether the starter is successfully meshed with the engine; stopping power supply to the starter and generating second identification information under the condition that the first identification information is engagement failure, wherein the second identification information is used for representing the engine start failure; stopping power supply to the starter and acquiring third identification information under the condition that the first identification information is successful in engagement and the power-on time of the starter reaches the third duration, wherein the third identification information is used for representing whether the rotating speed of the engine reaches a third threshold value or not; determining that the engine start was successful if the rotational speed reaches the third threshold; and determining to generate fourth identification information for representing the engine start failure under the condition that the rotating speed does not reach the third threshold value.

Optionally, starting the starter, and after the third period of time elapses, stopping power supply to the starter, the method further includes: and generating alarm information under the condition that the second identification information or the fourth identification information is generated in the process of starting the engine continuously for preset times, wherein the alarm information is used for indicating the maintenance of the engine and/or the starter.

According to another aspect of the present application, there is provided an engine starting apparatus in a low temperature state, the apparatus comprising: an obtaining unit, configured to obtain a first temperature, where the first temperature is less than a first threshold, and obtain a second temperature, a third temperature, and a fourth temperature, where the first temperature is an ambient temperature where a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine; a calculation unit configured to calculate an engine state score according to the second temperature, the third temperature, and the fourth temperature, the engine state score being used to characterize a degree of influence of the first temperature on a probability of successful start of the engine; the inquiring unit is used for inquiring a first mapping relation according to the engine state score to obtain a first time length and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; the control unit is used for determining a third time length according to the first time length and the second time length, starting the starter, and stopping supplying power to the starter after the third time length.

According to still another aspect of the present application, there is provided a computer readable storage medium including a stored program, wherein the program when run controls a device in which the computer readable storage medium is located to perform any one of the methods.

According to still another aspect of the present application, there is provided a vehicle including: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing any of the methods.

In the engine starting method in the low temperature state, first, a first temperature is obtained, and when the first temperature is smaller than a first threshold value, a second temperature, a third temperature and a fourth temperature are obtained, wherein the first temperature is an ambient temperature where a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine; then, calculating an engine state score based on the second temperature, the third temperature, and the fourth temperature, the engine state score being used to characterize a degree of influence of the first temperature on a probability of successful start of the engine; then, inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and finally, determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length. In a low-temperature environment, in a cold vehicle starting state, because of battery feeding, a starter needs to start a transmitter for a longer time, the application sets the water temperature, the oil temperature and the air inlet temperature of the engine according to the ambient temperature, and determines the current state of the engine according to the water temperature, the oil temperature and the air inlet temperature. According to the method, the engagement time and the dragging time of the starter and the engine are corrected according to the current state of the transmitter so as to ensure the single starting success rate of the low-temperature environment transmitter, and the problem that the starting success rate is low in the low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art is solved.

Drawings

Fig. 1 is a block diagram showing a hardware configuration of a mobile terminal according to a low-temperature engine starting method provided in an embodiment of the present application;

FIG. 2 illustrates a flow diagram of a low temperature engine start method according to an embodiment of the present application;

FIG. 3 illustrates a flow diagram of a sensor correction method provided in accordance with an embodiment of the present application;

FIG. 4 illustrates a flow diagram of a method for determining engine status according to an embodiment of the present disclosure;

FIG. 5 illustrates a flow diagram of a particular low temperature engine start method provided in accordance with an embodiment of the present disclosure;

fig. 6 shows a block diagram of a low-temperature engine starting apparatus according to an embodiment of the present application.

Wherein the above figures include the following reference numerals:

102. A processor; 104. a memory; 106. a transmission device; 108. and an input/output device.

Detailed Description

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.

In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As described in the background art, in the prior art, the problem that the blind engagement judging time is short, so that the dragging speed is failed to reach the engagement speed in the low-temperature environment is solved, and in order to solve the problem that the starting success rate is low in the low-temperature environment due to the short engagement judging time and the short dragging time of the starter in the prior art, the embodiment of the application provides an engine starting method, an engine starting device, a computer-readable storage medium and a vehicle in a low-temperature state.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The method embodiments provided in the embodiments of the present application may be performed in a mobile terminal, a computer terminal or similar computing device. Taking the mobile terminal as an example, fig. 1 is a block diagram of a hardware structure of the mobile terminal of a low-temperature engine starting method according to an embodiment of the present application. As shown in fig. 1, a mobile terminal may include one or more (only one is shown in fig. 1) processors 102 (the processor 102 may include, but is not limited to, a microprocessor MCU or a processing device such as a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 for communication functions and an input-output device 108. It will be appreciated by those skilled in the art that the structure shown in fig. 1 is merely illustrative and not limiting of the structure of the mobile terminal described above. For example, the mobile terminal may also include more or fewer components than shown in fig. 1, or have a different configuration than shown in fig. 1.

The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to a display method of device information in an embodiment of the present invention, and the processor 102 executes the computer program stored in the memory 104 to perform various functional applications and data processing, that is, to implement the above-described method. Memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, which may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, simply referred to as a NIC) that can connect to other network devices through a base station to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is configured to communicate with the internet wirelessly.

In the present embodiment, there is provided an engine starting method operating in a low temperature state of a mobile terminal, a computer terminal or the like, it is to be noted that the steps shown in the flowchart of the drawings may be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in an order different from that shown or described herein.

Fig. 2 is a flowchart of an engine starting method in a low temperature state according to an embodiment of the present application. As shown in fig. 2, the method comprises the steps of:

Step S201, acquiring a first temperature, wherein when the first temperature is smaller than a first threshold value, acquiring a second temperature, a third temperature and a fourth temperature, wherein the first temperature is the ambient temperature of a vehicle, the second temperature is the engine oil temperature of an engine, the third temperature is the air inlet temperature of the engine, and the fourth temperature is the cooling liquid temperature of the engine;

Specifically, the first temperature is obtained by acquiring the ambient temperature through the sensor, and then the corresponding monitoring parameters are corrected according to the influence of the ambient temperature on the sensor monitoring parameters of different parts of the vehicle, so as to obtain the engine oil temperature of the engine, namely the second temperature, the air inlet temperature of the engine, namely the third temperature, and the cooling liquid temperature of the engine, namely the fourth temperature.

Step S202, calculating an engine state score according to the second temperature, the third temperature and the fourth temperature, wherein the engine state score is used for representing the influence degree of the first temperature on the probability of successful start of the engine;

Specifically, the current temperature state of the engine is analyzed according to the second temperature, the third temperature and the fourth temperature to obtain the engine state score so as to represent the influence on the success rate of single engine starting when the current ambient temperature actually acts on the engine.

Step S203, inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is a dragging time length of a starter in a single starting process of the engine, the second time length is a maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is a mapping relation between the engine state score and the dragging time length, and the second mapping relation is a mapping relation between the engine state score and the maximum engagement time length;

Specifically, the mapping relation between the state score and the dragging time length of the starter and the engagement judging time length, which are stored in the ECU in advance, is queried according to the engine state score, namely the first mapping relation and the second mapping relation, so that the first time length and the second time length are obtained. And modifying the current written starter dragging time length and engagement judging time length of the ECU so as to avoid engine starting failure caused by shorter first time length and/or shorter second time length.

Step S204, determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length.

Specifically, according to the deviation amount of the ambient temperature and the first threshold, the dragging time length of the starter is revised according to the first time length and the second time length to obtain the third time length, and the engine is controlled to start according to the third time length so as to avoid the problem that the engine is damaged due to the longer first time length.

With the present embodiment, first, a first temperature is obtained, and when the first temperature is less than a first threshold value, a second temperature, a third temperature, and a fourth temperature are obtained, wherein the first temperature is an ambient temperature in which a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine; then, calculating an engine state score based on the second temperature, the third temperature, and the fourth temperature, the engine state score being used to characterize a degree of influence of the first temperature on a probability of successful start of the engine; then, inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and finally, determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length. In a low-temperature environment, in a cold vehicle starting state, because of battery feeding, a starter needs to start a transmitter for a longer time, the application sets the water temperature, the oil temperature and the air inlet temperature of the engine according to the ambient temperature, and determines the current state of the engine according to the water temperature, the oil temperature and the air inlet temperature. According to the method, the engagement time and the dragging time of the starter and the engine are corrected according to the current state of the transmitter so as to ensure the single starting success rate of the low-temperature environment transmitter, and the problem that the starting success rate is low in the low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art is solved.

In order to ensure the analysis accuracy of the engine state, in an alternative embodiment, as shown in fig. 3, the step S201 includes:

Step S2011, obtaining a first coefficient, a second coefficient and a third coefficient according to the first temperature query third mapping relationship, wherein the third mapping relationship is a mapping relationship between the first temperature and a correction coefficient, and the correction coefficient includes the first coefficient, the second coefficient and the third coefficient;

Specifically, the application calibrates the influence of the deviation of the measured value and the actual value of the temperature sensor at different parts of the vehicle caused by different environmental temperatures through a bench test, and determines the corresponding relation between the environmental temperature and the correction coefficient to obtain the third mapping relation. And then, inquiring the third mapping relation according to the ambient temperature to obtain the correction coefficients of each sensor, namely the first coefficient, the second coefficient and the third coefficient.

Step S2012, obtaining a first detection temperature and calculating the product of the first detection temperature and the first coefficient to obtain the second temperature, wherein the first detection temperature is the detection temperature of an oil temperature sensor;

Specifically, the first detection temperature is obtained by obtaining the engine oil temperature monitored by the oil temperature sensor, the first detection temperature is corrected according to the first coefficient to obtain the actual engine oil temperature, and the second temperature is obtained.

Step S2013, obtaining a second detection temperature and calculating the product of the second detection temperature and the second coefficient to obtain the third temperature, wherein the second detection temperature is the detection temperature of an air inlet temperature sensor;

Specifically, the second detection temperature is obtained by obtaining the engine air inlet temperature obtained through monitoring of an air inlet temperature sensor, and the second detection temperature is corrected according to the second coefficient to obtain the actual engine air inlet temperature, namely the third temperature is obtained.

Step S2014, obtaining a third detected temperature, and calculating a product of the third detected temperature and the third coefficient to obtain the fourth temperature, where the third detected temperature is a detected temperature of the coolant temperature sensor.

Specifically, the third detection temperature is obtained by obtaining the engine coolant temperature obtained by monitoring the coolant temperature sensor, and the third detection temperature is corrected according to the third coefficient to obtain the actual engine coolant temperature, so that the fourth temperature is obtained.

In order to obtain the engine state score, in an alternative embodiment, as shown in fig. 4, the step S202 includes:

Step S2021, determining a first interval according to a temperature interval to which the second temperature belongs, and determining a first status score according to the first temperature interval;

Specifically, the application determines the influence of the engine oil temperature on the engine start success rate according to the bench experiment to score, and sets a temperature interval for the engine oil temperature to obtain the corresponding relation between the temperature interval of the engine oil temperature and the engine state score in order to simplify the scoring flow. Therefore, after the second temperature is obtained, a temperature section to which the second temperature belongs is determined according to the second temperature, and then an engine state score corresponding to the engine oil temperature can be determined according to the section, so that the first state score is obtained.

Step S2022, determining a second interval according to the temperature interval to which the third temperature belongs, and determining a second status score according to the second temperature interval;

Specifically, the application determines that the engine air inlet temperature has a grading effect on the engine starting success rate according to bench experiments, and sets a temperature interval for the engine air inlet temperature to further obtain the corresponding relation between the temperature interval of the engine air inlet temperature and the engine state grading in order to simplify the grading process. Therefore, after the third temperature is obtained, a temperature interval to which the third temperature belongs is determined according to the third temperature, and then an engine state score corresponding to the engine intake air temperature can be determined according to the interval, so that the second state score is obtained.

Step S2023, determining a third interval according to the temperature interval to which the fourth temperature belongs, and determining a third status score according to the third temperature interval;

Specifically, the application determines that the influence of the temperature of the engine coolant on the engine start success rate is scored according to the bench experiment, and sets a temperature interval for the temperature of the engine coolant in order to simplify the scoring flow, thereby obtaining the corresponding relation between the temperature interval of the temperature of the engine coolant and the scoring of the engine state. Therefore, after the fourth temperature is obtained, a temperature section to which the fourth temperature belongs is determined according to the fourth temperature, and then an engine state score corresponding to the temperature of the engine coolant can be determined according to the section, so that the second state score is obtained.

Step S2024, performing a weighted average operation according to the first state score, the second state score, and the third state score to obtain the engine state score.

Further, preset weights corresponding to engine scores corresponding to temperatures of different parts are obtained, and weighted average calculation is performed according to the preset weights corresponding to the first state score, the second state score and the third state score to obtain the engine state score.

In order to obtain the first duration and the second duration, in an alternative embodiment, the step S203 includes:

step S2031, determining a fourth interval according to the interval to which the engine state score belongs, and inquiring the first mapping relation according to the fourth interval to obtain the first duration;

Specifically, the method sets the corresponding relation of the marking engine state score to the dragging time length of the starter with the highest single starting success rate of the engine, simplifies the corresponding relation to the corresponding relation between the scoring interval of the engine state score and the dragging time length to obtain the first mapping relation on the basis of simplifying the control flow, and further inquires the first mapping relation to obtain the corresponding first time length after the engine state is determined according to the engine state score.

Step S2032, obtaining the second duration by querying the second mapping relationship according to the fourth interval.

Specifically, the application sets the corresponding relation of the engine engagement judging duration with the highest success rate of the single start of the engine by calibrating the engine state score, and in order to simplify the control flow, the corresponding relation between the scoring interval of the engine state score and the engagement judging duration is simplified to obtain the second mapping relation on the basis of the corresponding relation, and then after the engine state is determined, the corresponding second duration is obtained by inquiring the second mapping relation after the engine state score is determined.

In order to obtain the third duration, in an alternative embodiment, the step S204 includes:

Step S2041 of determining the first time period as the third time period when the difference between the first temperature and the second temperature, the third temperature and the fourth temperature is smaller than a second threshold;

Specifically, in the case that the difference between the second temperature, the third temperature, the fourth temperature and the first temperature is smaller than the preset value, it is determined that the current engine is not warmed up, that is, the engine is started from a cold state, and the starter needs to increase the rotational speed of the engine to achieve engagement and starting when a longer time is required for feeding the battery, so the present application sets the first time period to be the third time period, and controls the starter to start the engine when the third time period is the third time period.

And step S2042, in the case that the difference between the first temperature and the second temperature, the third temperature and the fourth temperature is greater than or equal to the second threshold, determining a target ratio according to the difference, and determining the third time period according to the target ratio, the first time period and the second time period, wherein the third time period is greater than the second time period.

Specifically, when the difference between the second temperature, the third temperature, the fourth temperature and the first temperature is greater than or equal to a preset value, calibrating according to the maximum value of the difference between the second temperature, the third temperature, the fourth temperature and the first temperature, determining the influence of the warming process of the engine on the starting success rate, determining a target proportion according to the influence, calculating the difference between a first time length and a second time length, calculating the product of the difference and the target proportion, summing the second time length to obtain the third time length, and controlling the starter to start the engine according to the third time length.

In order to successfully start the engine, in an alternative embodiment, the step S204 further includes:

Step S2043, starting the starter, and obtaining first identification information after the second time period elapses, wherein the first identification information is used for representing whether the starter and the engine are successfully meshed;

Specifically, after the starter starts to drag the engine for the second time period, the engagement state judgment is performed, whether the rotation speed of the engine reaches the engagement standard is determined to determine whether the blind engagement is successful, and corresponding first identification information is generated.

Step S2044, in the case that the first identification information is engagement failure, of stopping power supply to the starter and generating second identification information, where the second identification information is used to characterize the engine start failure;

specifically, if the first identification information is engagement failure, the battery is controlled to stop supplying power to the starter, the current start failure is determined, and the second identification information is generated.

Step S2045, when the first identification information is that engagement is successful and the power-on time of the starter reaches the third duration, stopping power supply to the starter and obtaining third identification information, where the third identification information is used to indicate whether the rotational speed of the engine reaches a third threshold;

Specifically, under the condition that the first identification information is that engagement is successful, controlling a starter to continuously drag an engine until the power-on duration of the starter reaches the third duration, stopping the starter to obtain the rotating speed of the engine at the current moment, judging to determine whether the rotating speed of the engine reaches the third threshold, and generating corresponding third identification information.

Step S2046 of determining that the engine start is successful when the rotational speed reaches the third threshold;

Specifically, if the rotational speed reaches the third threshold value, it is determined that the engine start is successful.

Step S2047 is executed to determine, if the rotational speed does not reach the third threshold, to generate fourth identification information, where the fourth identification information is used to indicate that the engine start fails.

Specifically, when the rotational speed does not reach the third threshold value, the engine start failure is determined, and the fourth identification information is generated.

In order to avoid engine damage, in an alternative embodiment, after starting the starter and stopping power to the starter after the third period of time has elapsed, the method further includes:

Step S301, when the second identification information or the fourth identification information is generated during the process of starting the engine continuously for a preset number of times, generating alarm information, where the alarm information is used to instruct to overhaul the engine and/or the starter.

Specifically, if the engine is determined to be failed to start in the process of continuously starting the engine for a plurality of times, the engine is determined to have faults, and at the moment, alarm information is generated to prompt a driver to overhaul the engine.

In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the engine starting method in a low temperature state of the present application will be described in detail with reference to specific embodiments.

The embodiment relates to a specific engine starting method in a low temperature state, as shown in fig. 5, comprising the following steps:

step S1: acquiring engine oil temperature, air inlet temperature and cooling liquid temperature, and determining a state score of the engine according to the engine oil temperature, the air inlet temperature and the cooling liquid temperature;

Step S2: inquiring a pre-calibrated dragging time length and a change curve of a blind engagement time length and a state score according to the state score, and determining that the engine obtains a target dragging time length and a target blind engagement time length;

step S3: determining starting time according to the target dragging time and the target blind engagement time;

step S4: starting the starter, and stopping supplying power to the starter after the starting time is over.

It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.

The embodiment of the application also provides a low-temperature engine starting device, and the low-temperature engine starting device can be used for executing the low-temperature engine starting method. The device is used for realizing the above embodiments and preferred embodiments, and is not described in detail. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. While the means described in the following embodiments are preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and contemplated.

The engine starting apparatus in a low temperature state provided by the embodiment of the application is described below.

Fig. 6 is a block diagram of the structure of an engine starting apparatus in a low temperature state according to an embodiment of the present application. As shown in fig. 6, the apparatus includes:

An acquisition unit 10 configured to acquire a first temperature, wherein the first temperature is an ambient temperature in which a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine, when the first temperature is less than a first threshold value;

A calculating unit 20 for calculating an engine state score according to the second temperature, the third temperature and the fourth temperature, wherein the engine state score is used for representing the influence degree of the first temperature on the probability of successful start of the engine;

A query unit 30, configured to query a first mapping relationship according to the engine state score to obtain a first time length, and query a second mapping relationship according to the engine state score to obtain a second time length, where the first time length is a dragging time length of a starter in a single start of the engine, the second time length is a maximum engagement time length allowed by the starter and the engine in the single start of the engine, the first mapping relationship is a mapping relationship between the engine state score and the dragging time length, and the second mapping relationship is a mapping relationship between the engine state score and the maximum engagement time length;

And the control unit 40 is configured to determine a third duration according to the first duration and the second duration, start the starter, and stop power supply to the starter after the third duration passes.

With the present embodiment, the acquiring unit acquires a first temperature, which is an ambient temperature where the vehicle is located, a third temperature, which is an engine oil temperature of the engine, and a fourth temperature, which is a coolant temperature of the engine, when the first temperature is less than a first threshold; a calculation unit that calculates an engine state score indicating a degree of influence of the first temperature on a probability of successful start of the engine, based on the second temperature, the third temperature, and the fourth temperature; the inquiring unit inquires a first mapping relation according to the engine state score to obtain a first time length, and inquires a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and the control unit determines a third time length according to the first time length and the second time length, starts the starter, and stops supplying power to the starter after the third time length. In a low-temperature environment, in a cold vehicle starting state, because of battery feeding, a starter needs to start a transmitter for a longer time, the application sets the water temperature, the oil temperature and the air inlet temperature of the engine according to the ambient temperature, and determines the current state of the engine according to the water temperature, the oil temperature and the air inlet temperature. According to the method, the engagement time and the dragging time of the starter and the engine are corrected according to the current state of the transmitter so as to ensure the single starting success rate of the low-temperature environment transmitter, and the problem that the starting success rate is low in the low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art is solved.

In order to ensure the analysis accuracy of the engine state, in an alternative embodiment, as shown in fig. 3, the above-mentioned acquisition unit includes:

The first query module is configured to query a third mapping relationship according to the first temperature to obtain a first coefficient, a second coefficient and a third coefficient, where the third mapping relationship is a mapping relationship between the first temperature and a correction coefficient, and the correction coefficient includes the first coefficient, the second coefficient and the third coefficient;

The first acquisition module is used for acquiring a first detection temperature and calculating the product of the first detection temperature and the first coefficient to obtain the second temperature, wherein the first detection temperature is the detection temperature of the oil temperature sensor;

The second acquisition module is used for acquiring a second detection temperature and calculating the product of the second detection temperature and the second coefficient to obtain the third temperature, wherein the second detection temperature is the detection temperature of the air inlet temperature sensor;

And a third acquisition module for acquiring a third detection temperature and calculating the product of the third detection temperature and the third coefficient to obtain the fourth temperature, wherein the third detection temperature is the detection temperature of the cooling liquid temperature sensor.

In order to obtain the engine state score, in an alternative embodiment, as shown in fig. 4, the calculation unit includes:

The first determining module is used for determining a first interval according to the temperature interval to which the second temperature belongs, and determining a first state score according to the first temperature interval;

The second determining module is used for determining a second interval according to the temperature interval to which the third temperature belongs, and determining a second state score according to the second temperature interval;

The third determining module is used for determining a third interval according to the temperature interval to which the fourth temperature belongs, and determining a third state score according to the third temperature interval;

And the first calculation module is used for carrying out weighted average operation according to the first state score, the second state score and the third state score to obtain the engine state score.

In order to obtain the first duration and the second duration, in an alternative embodiment, the query unit includes:

the second query module is used for determining a fourth interval according to the interval to which the engine state score belongs, and querying the first mapping relation according to the fourth interval to obtain the first duration;

And the third query module is used for querying the second mapping relation according to the fourth interval to obtain the second duration.

In order to obtain the third duration, in an alternative embodiment, the control unit includes:

a fourth determining module configured to determine the first time period as the third time period when differences between the first temperature and the second temperature, between the third temperature and the fourth temperature are smaller than a second threshold;

And a fifth determining module, configured to determine a target ratio according to the difference value when the difference value between the first temperature and the second temperature, the third temperature and the fourth temperature is greater than or equal to the second threshold value, and determine the third duration according to the target ratio, the first duration and the second duration, where the third duration is greater than the second duration.

In order to successfully start the engine, in an alternative embodiment, the control unit further comprises:

the first control module is used for starting the starter and acquiring first identification information after the second time length elapses, wherein the first identification information is used for representing whether the starter and the engine are successfully meshed;

The second control module is used for stopping power supply to the starter and generating second identification information when the first identification information is engagement failure, and the second identification information is used for representing the engine start failure;

The third control module is used for stopping power supply to the starter and obtaining third identification information under the condition that the first identification information is successful in engagement and the power-on time of the starter reaches the third duration, and the third identification information is used for representing whether the rotating speed of the engine reaches a third threshold value or not;

A sixth determining module configured to determine that the engine start was successful if the rotational speed reaches the third threshold;

And a seventh determining module, configured to determine to generate fourth identification information when the rotational speed does not reach the third threshold, where the fourth identification information is used to characterize the engine start failure.

and the generation unit is used for generating alarm information when the second identification information or the fourth identification information is generated in the process of starting the engine continuously for preset times, and the alarm information is used for indicating the maintenance of the engine and/or the starter.

The engine starting device in the low-temperature state comprises a processor and a memory, wherein the acquisition unit, the calculation unit, the query unit, the control unit and the like are all stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions. The modules are all located in the same processor; or the above modules may be located in different processors in any combination.

The processor includes a kernel, and the kernel fetches the corresponding program unit from the memory. The kernel can be provided with one or more than one, and the success rate of single starting of the engine is improved by adjusting kernel parameters.

The memory may include volatile memory, random Access Memory (RAM), and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM), among other forms in computer readable media, the memory including at least one memory chip.

The embodiment of the invention provides a computer readable storage medium, which comprises a stored program, wherein the program is used for controlling equipment where the computer readable storage medium is positioned to execute an engine starting method in the low-temperature state.

Specifically, the engine starting method in the low temperature state includes:

The embodiment of the invention provides a processor, which is used for running a program, wherein the engine starting method in the low-temperature state is executed when the program runs.

Specifically, the engine starting method in the low temperature state includes:

The embodiment of the invention provides a vehicle, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor realizes at least the following steps when executing the program:

The application also provides a computer program product adapted to perform, when executed on a data processing device, a program initialized with at least the following method steps:

It will be appreciated by those skilled in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, they may be implemented in program code executable by computing devices, so that they may be stored in a storage device for execution by computing devices, and in some cases, the steps shown or described may be performed in a different order than that shown or described herein, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps of them may be fabricated into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.

It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.

From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

1) In the engine starting method in the low temperature state of the present application, first, a first temperature is acquired, and when the first temperature is smaller than a first threshold value, a second temperature, a third temperature and a fourth temperature are acquired, wherein the first temperature is an ambient temperature where a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine; then, calculating an engine state score based on the second temperature, the third temperature, and the fourth temperature, the engine state score being used to characterize a degree of influence of the first temperature on a probability of successful start of the engine; then, inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and finally, determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length. In a low-temperature environment, in a cold vehicle starting state, because of battery feeding, a starter needs to start a transmitter for a longer time, the application sets the water temperature, the oil temperature and the air inlet temperature of the engine according to the ambient temperature, and determines the current state of the engine according to the water temperature, the oil temperature and the air inlet temperature. According to the method, the engagement time and the dragging time of the starter and the engine are corrected according to the current state of the transmitter so as to ensure the single starting success rate of the low-temperature environment transmitter, and the problem that the starting success rate is low in the low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art is solved.

2) In the engine starting device in a low temperature state according to the present application, the acquisition means acquires a first temperature, which is an ambient temperature in which the vehicle is located, a second temperature, which is an engine oil temperature of the engine, a third temperature, which is an intake air temperature of the engine, and a fourth temperature, which is a coolant temperature of the engine, when the first temperature is less than a first threshold value; a calculation unit that calculates an engine state score indicating a degree of influence of the first temperature on a probability of successful start of the engine, based on the second temperature, the third temperature, and the fourth temperature; the inquiring unit inquires a first mapping relation according to the engine state score to obtain a first time length, and inquires a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length; and the control unit determines a third time length according to the first time length and the second time length, starts the starter, and stops supplying power to the starter after the third time length. In a low-temperature environment, in a cold vehicle starting state, because of battery feeding, a starter needs to start a transmitter for a longer time, the application sets the water temperature, the oil temperature and the air inlet temperature of the engine according to the ambient temperature, and determines the current state of the engine according to the water temperature, the oil temperature and the air inlet temperature. According to the method, the engagement time and the dragging time of the starter and the engine are corrected according to the current state of the transmitter so as to ensure the single starting success rate of the low-temperature environment transmitter, and the problem that the starting success rate is low in the low-temperature environment due to the fact that the engagement judging time and the starter dragging time are short in the prior art is solved.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A low-temperature engine starting method, comprising:

acquiring a first temperature, and acquiring a second temperature, a third temperature and a fourth temperature under the condition that the first temperature is smaller than a first threshold value, wherein the first temperature is the ambient temperature of a vehicle, the second temperature is the engine oil temperature of an engine, the third temperature is the air inlet temperature of the engine, and the fourth temperature is the cooling liquid temperature of the engine;

calculating an engine state score from the second temperature, the third temperature and the fourth temperature, the engine state score being used to characterize the extent of influence of the first temperature on the probability of successful start of the engine;

Inquiring a first mapping relation according to the engine state score to obtain a first time length, and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length;

and determining a third time length according to the first time length and the second time length, starting the starter, and stopping power supply to the starter after the third time length.

2. The method of claim 1, wherein obtaining the second temperature, the third temperature, and the fourth temperature comprises:

Inquiring a third mapping relation according to the first temperature to obtain a first coefficient, a second coefficient and a third coefficient, wherein the third mapping relation is a mapping relation between the first temperature and a correction coefficient, and the correction coefficient comprises the first coefficient, the second coefficient and the third coefficient;

Acquiring a first detection temperature and calculating the product of the first detection temperature and the first coefficient to obtain the second temperature, wherein the first detection temperature is the detection temperature of an oil temperature sensor;

Obtaining a second detection temperature and calculating the product of the second detection temperature and the second coefficient to obtain the third temperature, wherein the second detection temperature is the detection temperature of an air inlet temperature sensor;

and obtaining a third detection temperature and calculating the product of the third detection temperature and the third coefficient to obtain the fourth temperature, wherein the third detection temperature is the detection temperature of the cooling liquid temperature sensor.

3. The method of claim 1, wherein calculating an engine state score from the second temperature, the third temperature, and the fourth temperature comprises:

determining a first interval according to a temperature interval to which the second temperature belongs, and determining a first state score according to the first temperature interval;

determining a second interval according to the temperature interval to which the third temperature belongs, and determining a second state score according to the second temperature interval;

Determining a third interval according to the temperature interval to which the fourth temperature belongs, and determining a third state score according to the third temperature interval;

And carrying out weighted average operation according to the first state score, the second state score and the third state score to obtain the engine state score.

4. The method of claim 1, wherein querying a first mapping from the engine status score for a first duration and querying a second mapping from the engine status score for a second duration comprises:

Determining a fourth interval according to the interval to which the engine state score belongs, and inquiring the first mapping relation according to the fourth interval to obtain the first duration;

and inquiring the second mapping relation according to the fourth interval to obtain the second duration.

5. The method of claim 1, wherein determining a third time period from the first time period and the second time period comprises:

Determining the first time period as the third time period in the case that the differences between the first temperature and the second, third and fourth temperatures are all smaller than a second threshold value;

And under the condition that the difference value between the first temperature and the second temperature, the third temperature and the fourth temperature is larger than or equal to the second threshold value, determining a target proportion according to the difference value, and determining the third time length according to the target proportion, the first time length and the second time length, wherein the third time length is larger than the second time length.

6. The method of claim 1, wherein starting the starter and stopping power to the starter after the third period of time has elapsed comprises:

Starting the starter, and acquiring first identification information after the second time period passes, wherein the first identification information is used for representing whether the starter is successfully meshed with the engine;

Stopping power supply to the starter and generating second identification information under the condition that the first identification information is engagement failure, wherein the second identification information is used for representing the engine start failure;

stopping power supply to the starter and acquiring third identification information under the condition that the first identification information is successful in engagement and the power-on time of the starter reaches the third duration, wherein the third identification information is used for representing whether the rotating speed of the engine reaches a third threshold value or not;

determining that the engine start was successful if the rotational speed reaches the third threshold;

And determining to generate fourth identification information for representing the engine start failure under the condition that the rotating speed does not reach the third threshold value.

7. The method of claim 6, wherein after starting the starter and stopping power to the starter after the third period of time has elapsed, the method further comprises:

And generating alarm information under the condition that the second identification information or the fourth identification information is generated in the process of starting the engine continuously for preset times, wherein the alarm information is used for indicating the maintenance of the engine and/or the starter.

8. An engine starting device in a low temperature state, the device comprising:

An obtaining unit, configured to obtain a first temperature, where the first temperature is less than a first threshold, and obtain a second temperature, a third temperature, and a fourth temperature, where the first temperature is an ambient temperature where a vehicle is located, the second temperature is an engine oil temperature of an engine, the third temperature is an intake air temperature of the engine, and the fourth temperature is a coolant temperature of the engine;

A calculation unit configured to calculate an engine state score according to the second temperature, the third temperature, and the fourth temperature, the engine state score being used to characterize a degree of influence of the first temperature on a probability of successful start of the engine;

the inquiring unit is used for inquiring a first mapping relation according to the engine state score to obtain a first time length and inquiring a second mapping relation according to the engine state score to obtain a second time length, wherein the first time length is the dragging time length of a starter in the single starting process of the engine, the second time length is the maximum engagement time length allowed by the starter and the engine in the single starting process of the engine, the first mapping relation is the mapping relation between the engine state score and the dragging time length, and the second mapping relation is the mapping relation between the engine state score and the maximum engagement time length;

The control unit is used for determining a third time length according to the first time length and the second time length, starting the starter, and stopping supplying power to the starter after the third time length.

9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored program, wherein the program, when run, controls a device in which the computer readable storage medium is located to perform the method of any one of claims 1 to 7.

10. A vehicle, characterized by comprising: one or more processors, memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising instructions for performing the method of any of claims 1-7.