WO2024098484A1

WO2024098484A1 - Vehicle control method and apparatus, and storage medium and vehicle

Info

Publication number: WO2024098484A1
Application number: PCT/CN2022/136384
Authority: WO
Inventors: 曾倩楠; 陈聪; 刘永亮; 姚东升; 赵宏建
Original assignee: 北汽福田汽车股份有限公司
Priority date: 2022-11-08
Filing date: 2022-12-02
Publication date: 2024-05-16
Also published as: CN115675189A

Abstract

The present disclosure relates to a vehicle control method and apparatus, and a storage medium and a vehicle. The method comprises: in response to having received a collision signal of a hydrogen fuel cell vehicle, determining the current vehicle speed and collision acceleration of the hydrogen fuel cell vehicle; determining a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration; and according to the target power-off mode, controlling the hydrogen fuel cell vehicle to perform step-down power-off. Therefore, hierarchical control is performed on collision-triggered power-off of the hydrogen fuel cell vehicle, and different power-off policies are used according to different collision levels, thereby reducing the probability of damage caused by direct power-off of apparatuses such as an electric motor and a cell, and also preventing a potential leakage risk caused by a hydrogen fuel cell engine being directly powered off and thus not being able to turn off a power source and close a hydrogen fuel gas valve in a timely manner.

Description

Vehicle control method, device, storage medium and vehicle

Technical Field

The present disclosure relates to the field of automatic control, and in particular, to a vehicle control method, device, storage medium and vehicle.

Background technique

As an emerging technology for new energy vehicles, hydrogen fuel cell engines use hydrogen as fuel, and the waste product obtained after combustion is clean energy water. It is a promising automotive technology. Due to the particularity of fuel cell technology and the fuel used, when a hydrogen fuel cell vehicle collides, the high pressure or flammable hydrogen leakage output by the hydrogen fuel cell system may cause secondary injuries to passengers.

In the related art, when a hydrogen fuel cell vehicle collides, the power battery controller controls the disconnection between the power battery system and the vehicle power system, shuts down the power supply in time, and cuts off the output of the power battery to reduce the danger of high-voltage output of the power battery after the collision. However, emergency power outages can easily cause instantaneous potential changes in the motor, hydrogen fuel cell engine, hydrogen storage system, etc., which can easily lead to damage to related controllers in hydrogen fuel cell vehicles.

Summary of the invention

The purpose of the present invention is to provide a vehicle control method, device, storage medium and vehicle, which have solved the technical problem in the prior art that emergency power failure after a crash causes damage to the controller.

In order to achieve the above-mentioned object, according to a first aspect of the present disclosure, a vehicle control method is provided, which is applied to a hydrogen fuel cell vehicle, comprising:

In response to receiving a collision signal of the hydrogen fuel cell vehicle, determining a current vehicle speed and a collision acceleration of the hydrogen fuel cell vehicle;

determining a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration;

According to the target power-off mode, the hydrogen fuel cell vehicle is controlled to perform voltage reduction and power-off.

Optionally, controlling the hydrogen fuel cell vehicle to perform voltage reduction and power-off according to the target power-off mode includes:

Determining a target load reduction strategy for a motor module corresponding to the hydrogen fuel cell vehicle according to the target power-off mode;

Based on the target load reduction strategy, reducing the output power corresponding to the motor module;

In response to the output power being reduced to zero, controlling the motor module to perform active discharge;

When the DC side voltage of the motor corresponding to the hydrogen fuel cell vehicle is less than and equal to a set voltage threshold, it is determined that the hydrogen fuel cell vehicle completes the voltage reduction and power-off.

Optionally, the method comprises:

When the current vehicle speed is within a first set vehicle speed interval and the collision acceleration is within a first set acceleration interval, determining that the target power-off mode of the hydrogen fuel cell vehicle is a normal power-off mode;

When the current vehicle speed is greater than a set vehicle speed threshold, and the collision acceleration is greater than the set acceleration threshold, the target power-off mode of the hydrogen fuel cell vehicle is determined to be an emergency power-off mode.

Optionally, the target power-off mode is a normal power-off mode, and in response to the output power being reduced to zero, controlling the motor module to perform active discharge includes:

In response to the output power being reduced to zero, controlling the hydrogen fuel cell vehicle to purge an engine module;

When the engine module meets a first setting condition, the motor module is controlled to perform active discharge.

Optionally, the method comprises:

In response to the motor module actively discharging, stopping the input of electric energy to the voltage conversion module corresponding to the hydrogen fuel cell vehicle;

According to the thermal management module corresponding to the hydrogen fuel cell vehicle, cooling the engine module corresponding to the hydrogen fuel cell vehicle;

When the temperature of the engine module is lower than a set temperature threshold, the power output of the voltage conversion module is stopped.

Optionally, the target power-off mode is an emergency power-off mode, and reducing the output power corresponding to the motor module based on the target load reduction strategy includes:

Determining a setting adjustment duration of the motor module according to the target load reduction strategy;

The motor module is controlled to reduce the output power to zero within the set adjustment time.

Optionally, the method comprises:

When the main positive relay device corresponding to the hydrogen fuel cell vehicle is disconnected, determining the bus current corresponding to the hydrogen fuel cell vehicle;

When the bus current is less than a preset current threshold, disconnecting the main negative relay device corresponding to the hydrogen fuel cell vehicle;

In response to the disconnection of the main negative relay device, determining an engine ignition state corresponding to the hydrogen fuel cell vehicle;

When the engine ignition state is off, the power battery corresponding to the hydrogen fuel cell vehicle is controlled to be powered down at low voltage.

According to a second aspect of the present disclosure, there is provided a vehicle control device, comprising:

A first determination module, configured to determine a current vehicle speed and a collision acceleration of the hydrogen fuel cell vehicle in response to receiving a collision signal of the hydrogen fuel cell vehicle;

A second determination module, configured to determine a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration;

A control module is used to control the hydrogen fuel cell vehicle to reduce voltage and cut off power according to the target power-off mode.

According to a third aspect of the present disclosure, a non-temporary computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of any one of the methods described in the first aspect of the present disclosure are implemented.

According to a fourth aspect of the present disclosure, there is provided a vehicle, comprising:

a memory having a computer program stored thereon;

A processor is used to execute the computer program in the memory to implement the steps of any one of the methods described in the first aspect of the present disclosure.

Through the above technical solution, in response to receiving the collision signal of the hydrogen fuel cell vehicle, the current vehicle speed and collision acceleration of the hydrogen fuel cell vehicle are determined, and the target power-off mode of the hydrogen fuel cell vehicle is determined according to the current vehicle speed and collision acceleration. According to the target power-off mode, the hydrogen fuel cell vehicle is controlled to reduce the voltage and cut off the power. Thus, by performing graded control on the collision power-off of the hydrogen fuel cell vehicle, different power-off strategies are adopted according to different collision levels, reducing the probability of direct power-off of the motor, battery and other devices, causing damage, and avoiding the potential spillage caused by direct power-off of the hydrogen fuel cell engine and failure to close the power supply and hydrogen fuel gas valve in time.

Other features and advantages of the present disclosure will be described in detail in the following detailed description.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings are used to provide a further understanding of the present disclosure and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present disclosure but do not constitute a limitation of the present disclosure. In the accompanying drawings:

FIG. 1 is a flow chart showing a method for controlling a hydrogen fuel cell vehicle according to an exemplary embodiment.

Fig. 2 is a schematic diagram of a vehicle collision sensor according to an exemplary embodiment.

Fig. 3 is a flow chart showing yet another vehicle control method according to an exemplary embodiment.

Fig. 4 is a flow chart showing another vehicle control method according to an exemplary embodiment.

Fig. 5 is a structural diagram of a vehicle control device according to an exemplary embodiment.

Fig. 6 is a block diagram of a vehicle according to an exemplary embodiment.

Detailed ways

The specific implementation of the present disclosure is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described herein is only used to illustrate and explain the present disclosure, and is not used to limit the present disclosure.

It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

In order to achieve the above-mentioned purpose, an embodiment of the present disclosure provides a vehicle control method. FIG1 is a flow chart of a hydrogen fuel cell vehicle control method according to an exemplary embodiment. As shown in FIG1 , the method is applied to a hydrogen fuel cell vehicle and includes the following steps.

Step S101 , in response to receiving a collision signal of a hydrogen fuel cell vehicle, determining a current vehicle speed and a collision acceleration of the hydrogen fuel cell vehicle.

It is worth mentioning that the embodiments of the present disclosure are applied to hydrogen fuel cell vehicles, which use hydrogen as fuel, convert the heat energy generated after the combustion of hydrogen into the electric energy of the battery, and then transmit the electric energy to the engine and convert it into the mechanical kinetic energy of the engine, thereby driving the vehicle to move. The hydrogen fuel cell vehicle includes a generator and an engine, and the generator is used to transmit electricity to the engine so that the engine generates kinetic energy for the vehicle. A collision sensor is provided in the hydrogen fuel cell vehicle to detect the collision signal around the vehicle. For example, the collision sensor can be provided in multiple numbers to detect the collision signal at different positions of the vehicle. FIG2 is a schematic diagram of a vehicle collision sensor according to an exemplary embodiment. As shown in FIG2, the airbag sensor at the front end of the vehicle can be used as a collision sensor to detect the collision signal of the front of the vehicle, so that the vehicle can quickly make a corresponding collision response according to the front collision signal to avoid the damage to the driver caused by the front collision. For example, in order to avoid the hydrogen fuel cell vehicle from leaking hydrogen due to the change of the fuel cell state after the collision, or even causing an explosion to cause secondary damage to the vehicle, a battery side collision sensor is usually installed on the hydrogen fuel cell side of the vehicle to detect the collision signal generated on the hydrogen fuel cell side.

When the collision sensors installed around the hydrogen fuel cell vehicle detect the collision signal of the vehicle, the current vehicle speed of the speed acquisition unit is read through the vehicle controller, the collision acceleration caused by the collision is determined through the acceleration sensor, and the collision level corresponding to the collision signal is determined according to the current vehicle speed and collision acceleration.

Step S102, determining a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and collision acceleration.

It is worth mentioning that when a vehicle collides, the corresponding collision damage to the vehicle is different according to the collision state during the collision process. For example, a collision between two vehicles with a relative speed of 1m/s will not cause too serious damage to the vehicle due to the low relative speed, but the vehicle can still detect the corresponding collision signal, and the corresponding collision level of the collision is determined to be low; when a collision occurs between two vehicles with a relative speed of 30m/s, the relative speed is high, which makes it easy to cause greater damage to the vehicle after the collision, and the corresponding collision level is determined to be high. In the embodiment of the present disclosure, after the collision occurs, the collision level of the vehicle is determined by determining the current vehicle speed and collision acceleration of the vehicle, and the target power-off mode of the hydrogen fuel cell vehicle is determined according to different levels. It can be understood that a one-to-one correspondence between multiple different collision levels and multiple power-off modes is set in the hydrogen fuel cell vehicle, and the power-off mode of the hydrogen fuel cell under different power-off modes is different. The collision level of the vehicle is determined by the current vehicle speed and collision acceleration, and the target power-off mode of the hydrogen fuel cell vehicle is determined according to the collision level.

Optionally, the method may further include:

When the current vehicle speed is within the first set vehicle speed interval and the collision acceleration is within the first set acceleration interval, the target power-off mode of the hydrogen fuel cell vehicle is determined to be the normal power-off mode.

When the current vehicle speed is greater than a set vehicle speed threshold and the collision acceleration is greater than a set acceleration threshold, the target power-off mode of the hydrogen fuel cell vehicle is determined to be the emergency power-off mode.

For example, a hydrogen fuel cell vehicle is provided with a first set speed interval and a first set acceleration interval. When the current vehicle speed is within the first set speed interval and the collision acceleration is within the first set acceleration interval, it is determined that the hydrogen fuel cell vehicle is powered off in the normal power-off mode; when the current vehicle speed is greater than the set speed threshold and the collision acceleration is greater than the set acceleration threshold, it is determined that the hydrogen fuel cell vehicle is powered off in the emergency power-off mode. The set speed threshold is the maximum speed value within the first set speed interval, and the set acceleration threshold is the maximum acceleration value within the first set acceleration interval. When the current vehicle speed and collision acceleration of the vehicle do not meet the conditions of the above-mentioned normal power-off mode or emergency power-off mode, it is determined that the collision on the hydrogen fuel cell vehicle will not cause damage to the hydrogen fuel cell, and the hydrogen fuel cell on the vehicle will not be powered off. For example, the first set speed range is set to 30km/h-64km/h, the first set acceleration range is set to 5m/s ² -10m/s ² , the speed threshold is set to 64km/h, the acceleration threshold is set to 10m/s ² , and the target power-off mode of the hydrogen fuel cell vehicle is determined according to different vehicle speeds and different accelerations.

Step S103, controlling the hydrogen fuel cell vehicle to perform voltage reduction and power-off according to the target power-off mode.

For example, according to different target power-off modes, the hydrogen fuel cell vehicle is controlled to perform a voltage reduction and power-off operation. Optionally, if the target power-off mode is an emergency power-off mode, it means that the corresponding collision level is high and the damage to the vehicle is large. Due to the particularity of hydrogen fuel cell vehicles, when a large collision occurs, it is necessary to quickly cut off the power supply to avoid secondary damage. Therefore, in response to the emergency power-off mode, the vehicle is controlled to quickly release electric energy and turn off the power supply of the corresponding hydrogen fuel cell. If the target power-off mode is a normal power-off mode, it means that the corresponding collision level is low and the damage to the vehicle is small. In order to avoid damage to the vehicle motor, hydrogen fuel cell, etc. caused by instantaneous voltage changes due to rapid power off, the vehicle can be discharged with a gradient voltage reduction so that the control components can be fully buffered to avoid damage to each control component.

FIG. 3 is a flow chart of another vehicle control method according to an exemplary embodiment. As shown in FIG. 3 , the above step S103 may further include:

Step S201, determining a target load reduction strategy for a motor module corresponding to a hydrogen fuel cell vehicle according to a target power-off mode.

For example, in the embodiment of the present disclosure, when a hydrogen fuel cell vehicle collides, the target power-off mode of the vehicle is determined through the steps in the above embodiment, and the vehicle is de-energized and powered off according to the target power-off mode. After the vehicle controller determines the target power-off mode, the stop command is sent to the FCU (Fuel Control Unit) through the VCU (Vehicular Communication Unit), and the FCU executes the corresponding shutdown mode, and the power-off command is sent to the MCU (Motor control unit) through the FCU, so that the MCU reduces the load and powers off, and finally stops supplying power to the engine. Among them, different target power-off modes correspond to different target load-reduction strategies of the vehicle motor module. For example, when the target power-off mode is the normal power-off mode, the MCU can be made to perform gradient load reduction, increase the load-reduction time, so that the various system control components of the hydrogen fuel cell vehicle can be buffered, and the device damage caused by the instantaneous potential can be avoided; when the target power-off mode is the emergency power-off mode, the MCU can be made to reduce the load quickly, and the hydrogen fuel cell can be discharged quickly to avoid secondary damage to the personnel in the vehicle.

Step S202: based on the target load reduction strategy, reduce the output power corresponding to the motor module.

For example, a target load reduction strategy is used to reduce the load on the motor module of a hydrogen fuel cell vehicle, thereby reducing the output power of the motor module.

Optionally, the target power-off mode is a normal power-off mode, and the above step S202 includes:

According to the target load reduction strategy, the unit reduction step size of the output power is determined.

The output power is gradually reduced to zero according to the unit reduction step size.

For example, in an embodiment of the present disclosure, when the target power-off mode is the normal power-off mode, according to the normal power-off mode, the unit reduction step corresponding to the output power when the motor module is unloaded is determined, and the output power of the motor module is gradiently reduced according to the unit reduction step, gradually reducing the output power of the motor module from the current output power to zero.

Optionally, the target power-off mode is an emergency power-off mode, and the above step S202 includes:

According to the target load reduction strategy, the setting adjustment time of the motor module is determined.

For example, in the embodiment of the present disclosure, when the target power-off mode is the emergency power-off mode, according to the emergency power-off mode, it is determined that the motor module load reduction is when the output power is reduced from the current output power to zero, and the corresponding setting adjustment time is determined. It is worth mentioning that, under normal circumstances, the emergency power-off mode requires the motor module to be powered off quickly, and the corresponding setting adjustment time is shorter to ensure that the motor module can be quickly unloaded and discharged. According to the setting adjustment time of the motor module, the output power of the motor module is reduced to zero.

Step S203 , in response to the output power being reduced to zero, controlling the motor module to perform active discharge.

For example, the output power of the motor module corresponding to the hydrogen fuel cell vehicle is reduced to zero, indicating that the motor module no longer outputs electrical energy to the engine, but some electrical energy is still present inside the motor module. Therefore, when the motor module is unloaded and the corresponding output power is reduced to zero, the motor module is controlled to actively discharge to release the electrical energy inside the motor module to prevent the remaining electrical energy from damaging the motor. Optionally, the electricity inside the motor module can be released through the grounding wire; the electrical energy in the motor module can also be consumed through other electrical energy devices in the hydrogen fuel cell vehicle.

Optionally, the above step S203 may further include:

In response to the output power being reduced to zero, the hydrogen fuel cell vehicle is controlled to purge the engine module.

When the engine module meets the first setting condition, the motor module is controlled to perform active discharge.

For example, due to the particularity of hydrogen fuel cell vehicles, when hydrogen fuel burns to generate heat energy, after the hydrogen fuel cell engine stops, it will combine with oxygen in the air to produce water. Excessive water accumulation inside the battery can easily cause damage to the vehicle. Therefore, it is necessary to remove the residual moisture inside by blowing. When the output power corresponding to the motor module is reduced to zero, it means that the hydrogen fuel cell engine stops running. The vehicle controller issues a blowing command to the blowing system to blow the hydrogen fuel cell engine module. After blowing for a certain period of time, the temperature, humidity and other parameters inside the engine module are detected. When the engine module meets the first set condition, the motor module is controlled to start active discharge.

Step S204, when the DC side voltage of the motor corresponding to the hydrogen fuel cell vehicle is less than and equal to the set voltage threshold, it is determined that the hydrogen fuel cell vehicle has completed the voltage reduction and power-off.

For example, during the discharge process of the motor module, the DC side voltage of the motor is detected. When the DC side voltage of the motor is less than or equal to a set voltage threshold, it is determined that the hydrogen fuel cell vehicle has completed voltage reduction and power off.

Optionally, after the above step S204, the method includes:

In response to the motor module actively discharging, the electric energy input to the voltage conversion module corresponding to the hydrogen fuel cell vehicle is stopped.

According to the thermal management module corresponding to the hydrogen fuel cell vehicle, the engine module corresponding to the hydrogen fuel cell vehicle is cooled.

It is worth mentioning that the engine corresponding to the hydrogen fuel cell vehicle will generate corresponding heat after operation. When the vehicle is shut down, the heat in the engine module needs to be discharged to avoid damage to the engine module due to continuous high temperature. For example, in the embodiment of the present disclosure, during the active discharge of the motor module, the power input of the voltage conversion module DCDC corresponding to the hydrogen fuel cell vehicle is first stopped, and the power input to the thermal management module is performed through DCDC. According to the thermal management module of the hydrogen fuel cell vehicle, the power in the motor module is consumed, and the thermal management module is used to cool the generator module. When the temperature of the generator module is lower than the set temperature threshold, the power output of DCDC is stopped.

Optionally, the above method further includes:

In response to receiving a collision signal of a hydrogen fuel cell vehicle, a hydrogen concentration in a corresponding hydrogen storage module of the hydrogen fuel cell vehicle and/or a hydrogen tank pressure is determined.

When the hydrogen concentration is greater than a set concentration threshold and/or the hydrogen bottle pressure is greater than a set pressure threshold, the hydrogen storage system is controlled to stop supplying hydrogen.

It is worth mentioning that after the vehicle controller corresponding to the hydrogen fuel cell vehicle receives the collision signal, it detects the hydrogen concentration in the hydrogen storage module corresponding to the hydrogen fuel cell in the vehicle or the hydrogen bottle pressure corresponding to the hydrogen storage bottle to determine whether the hydrogen content index in the hydrogen storage system exceeds the standard. When the hydrogen concentration is greater than the set concentration threshold and/or the hydrogen bottle pressure is greater than the set pressure threshold, the hydrogen storage system is controlled to stop producing hydrogen, and the corresponding solenoid valve is closed to stop supplying hydrogen to the vehicle.

Optionally, the above method further includes:

When the main positive relay device corresponding to the hydrogen fuel cell vehicle is disconnected, the bus current corresponding to the hydrogen fuel cell vehicle is determined.

When the bus current is less than a preset current threshold, the main negative relay device corresponding to the hydrogen fuel cell vehicle is disconnected.

In response to the disconnection of the main negative relay device, an engine ignition state corresponding to the hydrogen fuel cell vehicle is determined.

For example, when the vehicle enters the collision power-off mode, the main positive relay corresponding to the hydrogen fuel cell is triggered to disconnect by determining whether the FCU_DCDC (voltage converter) output is disconnected and whether the active discharge process corresponding to the motor module is completed. If the FCU_DCDC (voltage converter) output is disconnected and the active discharge process corresponding to the motor module is completed, the main positive relay is still not disconnected, then the power battery controller BMS (Battery Management System) reports a PDU (Power Distribution Unit) high voltage fault to prompt the driver to handle the fault; When the main positive relay corresponding to the hydrogen fuel cell is disconnected, it is determined whether the bus current corresponding to the vehicle is less than or equal to the set current threshold. It is worth mentioning that the bus current corresponding to the vehicle will continue to decrease. Therefore, it is necessary to continuously detect the bus current. In the embodiment of the present disclosure, 2 minutes is set as a stage to perform cyclic detection on the bus current until the bus current is less than the set current threshold. The main negative relay corresponding to the hydrogen fuel cell is controlled to be disconnected, and a status instruction is sent. After the main negative relay is disconnected, the vehicle engine ignition status is detected. When the engine ignition status is on, that is, KL15=ON, the BMS is controlled to execute the standby state; when the engine ignition status is off, that is, KL15=OFF, the BMS is controlled to execute the low-voltage power-off process.

FIG. 4 is a flow chart showing another vehicle control method according to an exemplary embodiment. As shown in FIG. 4 , the control method includes the following steps.

(1) Sending the vehicle collision signal to the vehicle controller through the collision sensor;

(2) After receiving the collision signal, the vehicle controller determines the vehicle's power-off mode by checking whether the remaining battery level is less than 90%, whether the vehicle startup conditions are met, whether the vehicle gear is forward, and whether the journey fault level is less than level 2. If these conditions are met, the current vehicle speed V and the reverse acceleration a at the time of the collision are obtained. When V ≥ V1 and a ≥ a1, the vehicle is determined to enter the normal power-off mode; when V ≥ V2 and a ≥ a2, the vehicle is determined to enter the emergency power-off mode.

(3) When the vehicle enters the normal power-off mode, the operating state of the vehicle FCU is determined. When the FCU operates normally, a shutdown determination is made. When the set shutdown conditions are met, the FCU is controlled to perform a normal shutdown. After the FCU performs a normal shutdown, a power-off instruction is sent to the MCU, and the MCU performs a discharge process according to the power-off instruction. According to the power-off instruction, the MCU reduces the output power to reduce the load. During the process of reducing the load, the engine of the vehicle is purged to avoid engine failure caused by internal residual water. When the MCU load is reduced to 0, active discharge is performed again. During the active discharge of the MCU, the DC side voltage of the motor is monitored. When the voltage is less than the set voltage threshold U, it is determined that the active discharge of the MCU is completed. After the MCU discharge is completed, the voltage converter input is disconnected. The engine is cooled by the vehicle's thermal management device. After the engine temperature meets the conditions, the thermal management device is controlled to shut down and the output of the voltage converter is controlled to disconnect. At the same time, after receiving the collision signal, the vehicle controller determines the hydrogen concentration and hydrogen pressure in the hydrogen system storage space corresponding to the vehicle. When the hydrogen concentration reaches the set concentration threshold and the hydrogen pressure reaches the set pressure threshold, the hydrogen system is controlled to stop supplying hydrogen.

(4) When the vehicle enters the emergency power-off mode, the operating status of the vehicle FCU is determined. When the FCU operates normally, a shutdown determination is made. When the set shutdown conditions are met, the FCU is controlled to perform an emergency shutdown. After the FCU performs the emergency shutdown, a power-off instruction is sent to the MCU, and the MCU executes the discharge process according to the power-off instruction. According to the power-off instruction, the MCU quickly reduces the output power to quickly reduce the load. When the MCU load is reduced to 0, it actively discharges. During the active discharge of the MCU, the DC side voltage of the motor is monitored. When the voltage is less than the set voltage threshold U, it is determined that the MCU active discharge is completed. The engine is cooled by the vehicle's thermal management device. After the engine temperature meets the conditions, the thermal management device is controlled to shut down and the output of the control voltage converter is disconnected. At the same time, after receiving the collision signal, the vehicle controller determines the hydrogen concentration and hydrogen pressure in the hydrogen system storage space corresponding to the vehicle. When the hydrogen concentration reaches the set concentration threshold and the hydrogen pressure reaches the set pressure threshold, the hydrogen system is controlled to stop supplying hydrogen.

(5) Determine whether the output of the voltage converter is disconnected, whether the completion of active discharge triggers the corresponding main positive relay of the vehicle to disconnect, and if the main positive relay is not disconnected, trigger the BMS to report the PDU high voltage fault; when the main positive relay is disconnected, determine whether the corresponding bus current of the system is less than 10A every 2 minutes; when it is determined that the bus current is greater than or equal to 10A, continue to cycle for determination; when it is determined that the bus current is less than 10A, the BMS disconnects the main negative relay and detects the engine ignition status through the BMS. When the engine ignition status is off, control the BMS to execute the low voltage power-off process; when the engine ignition status is on, control the BMS to standby.

FIG. 5 is a structural diagram of a vehicle control device according to an exemplary embodiment. As shown in FIG. 5 , the control device 100 includes: a first determination module 110 , a second determination module 120 and a control module 130 .

The first determination module 110 is configured to determine the current vehicle speed and collision acceleration of the hydrogen fuel cell vehicle in response to receiving a collision signal of the hydrogen fuel cell vehicle.

The second determination module 120 is used to determine a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration.

The control module 130 is used to control the hydrogen fuel cell vehicle to perform voltage reduction and power-off according to the target power-off mode.

Optionally, the control module 130 may include:

The submodule is used to determine the target load reduction strategy of the motor module corresponding to the hydrogen fuel cell vehicle according to the target power-off mode.

The execution submodule is used to reduce the output power corresponding to the motor module based on the target load reduction strategy.

The control submodule is used for controlling the motor module to perform active discharge in response to the output power being reduced to zero.

When the DC side voltage of the motor corresponding to the hydrogen fuel cell vehicle is less than and equal to the set voltage threshold, it is determined that the hydrogen fuel cell vehicle has completed voltage reduction and power-off.

Optionally, the apparatus 100 further includes a third determining module, wherein the third determining module is configured to:

Optionally, the control submodule may also be used for:

Optionally, the execution submodule can also be used to:

Optionally, the device 100 may further include a cooling module, wherein the cooling module is used to:

Optionally, the execution submodule can also be used to:

Optionally, the device 100 may further include a stopping module, wherein the stopping module is used to:

Optionally, the apparatus 100 may further include an execution module, wherein the execution module is configured to:

Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

FIG6 is a block diagram of a vehicle 600 according to an exemplary embodiment. As shown in FIG6 , the vehicle 600 may include: a processor 601, a memory 602. The vehicle 600 may also include one or more of a multimedia component 603, an input/output (I/O) interface 604, and a communication component 605.

The processor 601 is used to control the overall operation of the vehicle 600 to complete all or part of the steps in the above-mentioned vehicle control method. The memory 602 is used to store various types of data to support the operation of the vehicle 600, and these data may include, for example, instructions for any application or method used to operate on the vehicle 600, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 602 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, disk or optical disk. The multimedia component 603 may include a screen and an audio component. The screen may be, for example, a touch screen, and the audio component is used to output and/or input audio signals. For example, the audio component may include a microphone for receiving external audio signals. The received audio signal may be further stored in the memory 602 or sent through the communication component 605. The audio component also includes at least one speaker for outputting audio signals. The I/O interface 604 provides an interface between the processor 601 and other interface modules, and the above-mentioned other interface modules may be keyboards, mice, buttons, etc. These buttons may be virtual buttons or physical buttons. The communication component 605 is used for wired or wireless communication between the vehicle 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G or 5G, NB-IOT (Narrow Band Internet of Things), or a combination of one or more of them, so the corresponding communication component 605 may include: Wi-Fi module, Bluetooth module, NFC module.

In an exemplary embodiment, the vehicle 600 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned vehicle control method.

In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned vehicle control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 602 including program instructions, and the above-mentioned program instructions can be executed by the processor 601 of the vehicle 600 to complete the above-mentioned vehicle control method.

In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided. When the program instructions are executed by a processor, the steps of the above-mentioned vehicle control method are implemented.

In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above-mentioned vehicle control method when executed by the programmable device.

The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments. Within the technical concept of the present disclosure, a variety of simple modifications can be made to the technical solution of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

It should also be noted that the various specific technical features described in the above specific implementation methods can be combined in any suitable manner without contradiction.

In addition, various embodiments of the present disclosure may be arbitrarily combined, and as long as they do not violate the concept of the present disclosure, they should also be regarded as the contents disclosed by the present disclosure.

Claims

A vehicle control method, characterized in that it is applied to a hydrogen fuel cell vehicle, comprising:

In response to receiving a collision signal of the hydrogen fuel cell vehicle, determining a current vehicle speed and a collision acceleration of the hydrogen fuel cell vehicle;

determining a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration;

According to the target power-off mode, the hydrogen fuel cell vehicle is controlled to perform voltage reduction and power-off.
The control method according to claim 1 is characterized in that, according to the target power-off mode, controlling the hydrogen fuel cell vehicle to perform voltage reduction and power-off comprises:

Determining a target load reduction strategy for a motor module corresponding to the hydrogen fuel cell vehicle according to the target power-off mode;

Based on the target load reduction strategy, reducing the output power corresponding to the motor module;

In response to the output power being reduced to zero, controlling the motor module to perform active discharge;

When the DC side voltage of the motor corresponding to the hydrogen fuel cell vehicle is less than and equal to a set voltage threshold, it is determined that the hydrogen fuel cell vehicle completes the voltage reduction and power-off.
The control method according to claim 2, characterized in that the method comprises:

When the current vehicle speed is within a first set vehicle speed interval and the collision acceleration is within a first set acceleration interval, determining that the target power-off mode of the hydrogen fuel cell vehicle is a normal power-off mode;

When the current vehicle speed is greater than a set vehicle speed threshold and the collision acceleration is greater than a set acceleration threshold, the target power-off mode of the hydrogen fuel cell vehicle is determined to be an emergency power-off mode.
The control method according to claim 3, characterized in that the target power-off mode is a normal power-off mode, and in response to the output power being reduced to zero, controlling the motor module to perform active discharge comprises:

In response to the output power being reduced to zero, controlling the hydrogen fuel cell vehicle to purge an engine module;

When the engine module meets a first setting condition, the motor module is controlled to perform active discharge.
The control method according to claim 4, characterized in that the method comprises:

In response to the motor module actively discharging, stopping the input of electric energy to the voltage conversion module corresponding to the hydrogen fuel cell vehicle;

According to the thermal management module corresponding to the hydrogen fuel cell vehicle, cooling the engine module corresponding to the hydrogen fuel cell vehicle;

When the temperature of the engine module is lower than a set temperature threshold, the power output of the voltage conversion module is stopped.
The control method according to claim 3, characterized in that the target power-off mode is an emergency power-off, and the reducing the output power corresponding to the motor module based on the target load reduction strategy comprises:

Determining a setting adjustment duration of the motor module according to the target load reduction strategy;

The motor module is controlled to reduce the output power to zero within the set adjustment time.
The control method according to claim 2, characterized in that the method comprises:

When the main positive relay device corresponding to the hydrogen fuel cell vehicle is disconnected, determining the bus current corresponding to the hydrogen fuel cell vehicle;

When the bus current is less than a preset current threshold, disconnecting the main negative relay device corresponding to the hydrogen fuel cell vehicle;

In response to the disconnection of the main negative relay device, determining an engine ignition state corresponding to the hydrogen fuel cell vehicle;

When the engine ignition state is off, the power battery corresponding to the hydrogen fuel cell vehicle is controlled to be powered down at low voltage.
A vehicle control device, characterized by comprising:

A first determination module, configured to determine a current vehicle speed and a collision acceleration of the hydrogen fuel cell vehicle in response to receiving a collision signal of the hydrogen fuel cell vehicle;

A second determination module, configured to determine a target power-off mode of the hydrogen fuel cell vehicle according to the current vehicle speed and the collision acceleration;

A control module is used to control the hydrogen fuel cell vehicle to reduce voltage and cut off power according to the target power-off mode.
A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that when the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.
A vehicle, characterized by comprising:

a memory having a computer program stored thereon;

A processor, configured to execute the computer program in the memory to implement the steps of the method according to any one of claims 1 to 7.