WO2022206337A1 - 车辆控制方法及车辆 - Google Patents

车辆控制方法及车辆 Download PDF

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Publication number
WO2022206337A1
WO2022206337A1 PCT/CN2022/080236 CN2022080236W WO2022206337A1 WO 2022206337 A1 WO2022206337 A1 WO 2022206337A1 CN 2022080236 W CN2022080236 W CN 2022080236W WO 2022206337 A1 WO2022206337 A1 WO 2022206337A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving
low
power
voltage battery
Prior art date
Application number
PCT/CN2022/080236
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English (en)
French (fr)
Inventor
胡海波
Original Assignee
北京车和家信息技术有限公司
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Filing date
Publication date
Application filed by 北京车和家信息技术有限公司 filed Critical 北京车和家信息技术有限公司
Priority to US18/553,108 priority Critical patent/US20240182048A1/en
Priority to EP22778521.9A priority patent/EP4316938A1/en
Publication of WO2022206337A1 publication Critical patent/WO2022206337A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0051—Handover processes from occupants to vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/13—Maintaining the SoC within a determined range
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/18—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules
    • B60L58/20—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries of two or more battery modules having different nominal voltages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B60L2210/12—Buck converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2260/00—Operating Modes
    • B60L2260/20—Drive modes; Transition between modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/24—Energy storage means
    • B60W2510/242—Energy storage means for electrical energy
    • B60W2510/244—Charge state
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/209—Fuel quantity remaining in tank
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/24—Energy storage means
    • B60W2710/242—Energy storage means for electrical energy
    • B60W2710/244—Charge state
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present disclosure relates to the field of vehicle control, and in particular, to a vehicle control method, apparatus, storage medium, electronic device, and vehicle.
  • the new energy vehicle is mainly powered by the power battery when driving, and the DC converter converts the high-voltage power of the power battery into low-voltage power for the low-voltage electrical appliances in the vehicle to work.
  • the DC converter fails, the high-voltage electricity provided by the power battery cannot drive the low-voltage electrical appliances to work, which affects the driving safety of the vehicle.
  • the sensors and controllers required for autonomous driving are mostly low-voltage electrical appliances. In the absence of a low-voltage power supply, it is difficult to guarantee the safety of the autonomous driving vehicle.
  • the present disclosure provides a vehicle control method, apparatus, storage medium, electronic device, and vehicle.
  • a first aspect of the present disclosure provides a vehicle control method, the method comprising: in response to a driving mode switching instruction, detecting whether a low-voltage battery level of a vehicle is higher than a preset threshold, the preset threshold being performed according to the vehicle The electric power value required for parking is determined; when the electric power of the low-voltage battery is higher than the preset threshold, the vehicle is controlled to enter the target driving mode corresponding to the driving mode switching instruction.
  • the method further includes: when the power of the low-voltage battery is lower than the preset threshold, controlling the power battery to charge the low-voltage battery; when the power of the low-voltage battery is detected When the value is higher than the preset threshold, a driving mode inquiry message is sent, and the driving mode inquiry message is used to inquire whether the user enables the driving mode corresponding to the driving mode inquiry message.
  • the method includes: detecting whether the DC converter is faulty; in the case of the DC converter failure, supplying power to a low-voltage electrical appliance of the vehicle in a target driving mode through the low-voltage battery.
  • the low-voltage electrical appliances of the vehicle include driving electrical appliances and non-driving electrical appliances
  • the supplying power to the low-voltage electrical appliances of the vehicle in the automatic driving mode through the low-voltage battery includes: determining all the low-voltage electrical appliances.
  • the driving electrical appliance corresponding to the target driving mode is supplied; the driving electrical appliance corresponding to the target driving mode is powered by the low-voltage battery.
  • the method further includes: detecting environmental information, and determining whether the environmental information belongs to one of a plurality of preset environmental information; if the environmental information belongs to one of a plurality of preset environmental information , based on the corresponding relationship between each preset environmental information and the non-driving electrical appliance, determine the target electrical appliance corresponding to the environmental information; supply power to the driving electrical appliance corresponding to the target driving mode and the target electrical appliance through the low-voltage battery.
  • the detecting whether the DC converter is faulty includes: detecting an electrical connection state between the DC converter and the low-voltage battery, and if the electrical connection between the DC converter and the low-voltage battery is disconnected, The DC converter is determined to be faulty.
  • the method includes: acquiring a driving destination and the power of the low-voltage battery; judging whether the power of the low-voltage battery is sufficient to drive the vehicle to the driving destination, and determining whether the power of the low-voltage battery is sufficient for driving the vehicle to the driving destination; When the electric power is insufficient to drive the vehicle to the driving destination, the vehicle is controlled to park.
  • the method further includes: presenting at least one parking space to the user, and controlling the vehicle to drive to the parking space and automatically park based on the parking space selected by the user.
  • the method further includes: determining a drivable range of the vehicle based on the power of the low-voltage battery; acquiring a location within the drivable range selected by the user; determining the location as a new driving purpose land.
  • the method when the vehicle stops supplying power to the non-driving electrical appliance, the method further includes: judging whether the power of the low-voltage battery is sufficient to drive the vehicle to the driving destination, and When the power of the low-voltage battery is sufficient for driving the vehicle to the driving destination, power supply to the non-driving electrical appliance is restored.
  • restoring the power supply to the non-driving electrical appliance includes: displaying a list of the non-driving electrical appliances to be restored; determining at least one target non-driving electrical appliance to be restored to the power supply selected by the user; restoring Power supply to the target non-driving electrical appliance.
  • the driving mode switching instruction includes an instruction characterizing a switch to an automatic driving mode and an instruction characterizing a switch to a driver assist mode.
  • the present disclosure provides a vehicle control device, the vehicle control device comprising: a detection module for detecting whether the low-voltage battery power of the vehicle is higher than a preset threshold value in response to a driving mode switching instruction, the preset threshold value is determined according to the electric power value required for the vehicle to park; the control module is configured to control the vehicle to enter and switch between the driving mode when the electric power of the low-voltage battery is higher than the preset threshold value The target driving mode corresponding to the command.
  • the device further includes a charging module, configured to control the power battery to charge the low-voltage battery when the power of the low-voltage battery is lower than the preset threshold; when the low-voltage battery is detected When the power level of the low-voltage battery is higher than the preset threshold, a driving mode inquiry message is sent, where the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • a charging module configured to control the power battery to charge the low-voltage battery when the power of the low-voltage battery is lower than the preset threshold; when the low-voltage battery is detected When the power level of the low-voltage battery is higher than the preset threshold, a driving mode inquiry message is sent, where the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • the apparatus further includes a power supply module for detecting whether the DC converter is faulty; in the case of the DC converter failure, the low-voltage battery of the vehicle in the target driving mode is provided Powered by electrical appliances.
  • the low-voltage electrical appliances of the vehicle include driving electrical appliances and non-driving electrical appliances
  • the power supply module is configured to determine the driving electrical appliances corresponding to the target driving mode; The driving electrical appliances corresponding to the target driving mode are powered.
  • the power supply module is further configured to detect environmental information, and determine whether the environmental information belongs to one of a plurality of preset environmental information, if the environmental information belongs to a plurality of preset environmental information First, based on the corresponding relationship between each preset environmental information and non-driving electrical appliances, determine the target electrical appliance corresponding to the environmental information; use the low-voltage battery to perform the driving electrical appliance corresponding to the target driving mode and the target electrical appliance. powered by.
  • the power supply module is further configured to detect the electrical connection state between the DC converter and the low-voltage battery, and if the electrical connection between the DC converter and the low-voltage battery is disconnected, determine the DC converter failure.
  • the device further includes a processing module for acquiring a driving destination and the power of the low-voltage battery; judging whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and when When the power of the low-voltage battery is insufficient for driving the vehicle to the driving destination, the vehicle is controlled to park.
  • the processing module is further configured to display at least one parking space to the user, and based on the parking space selected by the user, control the vehicle to drive to the parking space and perform automatic parking.
  • the processing module is further configured to determine the drivable range of the vehicle based on the power of the low-voltage battery; acquire a location within the drivable range selected by the user; and determine the location as a new one driving destination.
  • the apparatus further includes a recovery module for judging whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and when the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination In the case of the driving destination, power supply to the non-driving electrical appliance is restored.
  • the restoration module is further configured to display a list of non-driving electric appliances to be restored for power supply; determine at least one target non-driving electric appliance to be restored to power supply selected by the user; restore power to the target non-driving electric appliances Electrical power supply.
  • the driving mode switching instruction includes an instruction characterizing a switch to an automatic driving mode and an instruction characterizing a switch to a driver assist mode.
  • the present disclosure provides a vehicle for implementing the vehicle control method described in the first aspect.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the vehicle control method described in the first aspect of the present disclosure.
  • the present disclosure provides an electronic device including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to execute the computer program in the memory to implement the vehicle control method described in the first aspect of the present disclosure.
  • the present disclosure provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the vehicle control method described in the first aspect of the present disclosure.
  • the present disclosure provides a computer program product, wherein the computer program product includes computer program code, when the computer program code is run on a computer, to execute the vehicle control described in the first aspect of the present disclosure method.
  • the present disclosure provides a computer program, wherein the computer program includes computer program code that, when executed on a computer, causes the computer to execute the vehicle control method described in the first aspect of the present disclosure .
  • the vehicle Before the vehicle switches the driving mode, check whether the power of the low-voltage battery is higher than the power value required for the vehicle to park, and control the vehicle to switch the driving mode when the power of the low-voltage battery is higher than the power value required for the vehicle to park. , when the vehicle is in the automatic driving mode or the driving assistance mode, and the DC transformer of the vehicle fails, the power of the low-voltage battery is at least sufficient for the vehicle to park, thereby improving the safety of the vehicle.
  • FIG. 1 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.
  • FIG. 2 is a flowchart of a vehicle control method according to an embodiment of the present disclosure.
  • FIG. 3 is a schematic diagram showing a connection relationship between a DC transformer, a low-voltage battery, and a vehicle controller according to an embodiment of the present disclosure.
  • FIG. 4 is a block diagram of a vehicle control apparatus according to an embodiment of the present disclosure.
  • FIG. 5 is a block diagram of a vehicle according to an embodiment of the present disclosure.
  • FIG. 6 is a block diagram of an electronic device according to an embodiment of the present disclosure.
  • the present disclosure is applied to vehicles equipped with automatic driving or driving assistance functions.
  • the automatic driving and driving assistance modes of the vehicle are implemented by relying on various types of sensors and controllers, and such driving appliances usually need to be powered by low-voltage electricity.
  • the vehicle includes a power battery for providing driving power, a DC converter for converting the high-voltage power of the power battery into low-voltage power for the operation of other low-voltage electrical appliances of the vehicle, and a low-voltage battery for power-on and emergency power supply of the vehicle,
  • the power of the low-voltage battery may not be enough for the vehicle in the automatic driving or driving assistance mode to perform emergency stop, which makes the driving safety of the vehicle not guaranteed.
  • the present disclosure can detect whether the low-voltage battery power of the vehicle is sufficient for parking before the vehicle enters the automatic driving or driving assistance mode, and the vehicle cannot enter the automatic driving or driving assistance mode when the low-voltage battery power is insufficient for parking. After driving or driving assistance mode, even if the DC converter fails, the power of the low-voltage battery is sufficient to stop the vehicle, which can improve the driving safety of the vehicle.
  • the present disclosure can also limit the power consumption of the non-driving electrical appliances in the low-voltage electrical appliances after the DC converter fails, so that the power of the low-voltage battery is used to provide the driving electrical appliances of the vehicle, so as to improve the power consumption of the vehicle after the DC converter fails. battery life.
  • FIG. 1 is a flowchart of a vehicle control method according to a disclosed embodiment. As shown in Figure 1, the method includes the following steps:
  • the driving mode switching instruction may be obtained by a control terminal of the vehicle (such as a vehicle-mounted terminal, a vehicle host, etc.) by obtaining a user's click operation on a function button used to control the vehicle to enter the target driving mode, and the button may be a physical button (
  • the "auto-driving mode" button on the main control panel of the vehicle) can also be a virtual button (eg, a virtual button on the display screen of the vehicle terminal);
  • the driving mode switching instruction can also be obtained by recognizing the user's voice message ;
  • the driving mode switching instruction can also be triggered based on the preset conditions for entering the target driving mode. For example, when the user sets the vehicle to enter the automatic driving mode after 5 minutes of power-on, the vehicle can be automatically driven after 5 minutes of power-on.
  • the driving mode switching instruction is generated to put the vehicle into the automatic driving mode.
  • the target driving mode may be a driving assistance mode, an advanced driving assistance mode, an automatic driving mode, or other modes for assisting the driver in controlling the vehicle or automatically controlling the vehicle.
  • the driving mode switching instruction may be an instruction to switch to a driving assistance mode, an instruction to switch to an advanced driving assistance mode, an instruction to switch to an automatic driving mode, or an instruction to switch to other vehicles for assisting the driver in controlling the vehicle or automatically controlling the vehicle. mode instruction.
  • the electric vehicle does not perform power detection before switching the driving mode, or the remaining power of the power battery is detected instead of the power of the low-voltage battery.
  • the vehicle's DCDC direct-current, DC transformer
  • the power battery cannot supply power to the low-voltage electrical appliances of the vehicle, and the low-voltage battery of the vehicle is low in power and cannot supply power to the low-voltage electrical appliances of the vehicle, which will lead to serious safety hazards for vehicles in automatic driving or driving assistance mode.
  • the power of the low-voltage battery after receiving the driving mode switching instruction, the power of the low-voltage battery can be detected to ensure that the power of the low-voltage battery is sufficient to supply the low-voltage electrical appliances for parking when the power battery cannot supply power to the low-voltage electrical appliances. Ensure the driving safety of the vehicle.
  • the low-voltage battery mentioned in the present disclosure may be a low-voltage battery used for vehicle power-on in an electric vehicle, or a backup low-voltage battery used for emergency, which is not limited in the present disclosure.
  • the preset threshold value set in the present disclosure may be the amount of electricity required for automatic parking, the value of electricity required for assisted parking, or higher than the value of electricity required for automatic parking or higher than the value of electricity required for assisted parking. power value.
  • the preset threshold value may be determined according to the electric power value required for parking in the target driving mode corresponding to the driving mode switching instruction. For example, in the case that the driving mode switching command is to switch to the automatic driving mode, the preset threshold may be the amount of electricity required for automatic parking in the automatic driving mode, and the driving mode switching command is to switch to the driving assistance mode. In the case of , the preset threshold may be the amount of electricity required for assisted parking in the driving assistance mode.
  • the power of the low-voltage battery may be an SOC value
  • the preset threshold value is also a corresponding SOC threshold value.
  • the SOC calibration value of each vehicle may be different, and the SOC threshold value may be set according to the SOC calibration value of the vehicle.
  • the driving mode is not switched, and a warning that the driving mode cannot be switched due to the low power of the low-voltage battery can be issued.
  • the low-voltage battery can be used to supply power to the low-voltage electrical appliances of the vehicle, and the power of the low-voltage battery at this moment is sufficient to control the parking, reducing the driving risk when the DC transformer of the vehicle fails.
  • the power battery when the power of the low-voltage battery is lower than the preset threshold, the power battery is controlled to charge the low-voltage battery, and when it is detected that the power of the low-voltage battery is higher than the preset threshold
  • a driving mode inquiry message is sent, and the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • the driving mode inquiry information may be displayed on the screen of the in-vehicle terminal, or may be broadcast by voice through the playback device of the vehicle.
  • the user's instruction information may also be acquired, and based on the user's instruction information, it is determined whether to control the vehicle to switch the driving mode.
  • the user's instruction information may be obtained in the same way as the driving mode switching instruction, which will not be repeated here.
  • step S12 in the present disclosure may also include "when the power of the low-voltage battery is higher than or equal to the preset threshold. control the vehicle to enter the target driving mode".
  • the vehicle Before the vehicle switches the driving mode, check whether the power of the low-voltage battery is higher than the power value required for the vehicle to park, and control the vehicle to switch the driving mode when the power of the low-voltage battery is higher than the power value required for the vehicle to park. , when the vehicle is in the automatic driving mode or the driving assistance mode, and the DC transformer of the vehicle fails, the power of the low-voltage battery is at least sufficient for the vehicle to park, thereby improving the safety of the vehicle.
  • FIG. 2 is a flowchart of a vehicle control method according to a disclosed embodiment. As shown in Figure 2, the method includes the following steps:
  • the driving mode switching instruction may be obtained by a control terminal of the vehicle (such as a vehicle-mounted terminal, a vehicle host, etc.) by obtaining a user's click operation on a function button used to control the vehicle to enter the target driving mode, and the button may be a physical button (
  • the "auto-driving mode" button on the main control panel of the vehicle) can also be a virtual button (eg, a virtual button on the display screen of the vehicle terminal);
  • the driving mode switching instruction can also be obtained by recognizing the user's voice message ;
  • the driving mode switching instruction can also be triggered based on the preset conditions for entering the target driving mode. For example, when the user sets the vehicle to enter the automatic driving mode after 5 minutes of power-on, the vehicle can be automatically driven after 5 minutes of power-on.
  • the driving mode switching instruction is generated to put the vehicle into the automatic driving mode.
  • the target driving mode may be a driving assistance mode, an advanced driving assistance mode, an automatic driving mode, or other modes for assisting the driver in controlling the vehicle or automatically controlling the vehicle.
  • the driving mode switching instruction may be an instruction to switch to a driving assistance mode, an instruction to switch to an advanced driving assistance mode, an instruction to switch to an automatic driving mode, or an instruction to switch to other vehicles for assisting the driver in controlling the vehicle or automatically controlling the vehicle. mode instruction.
  • the electric vehicle does not perform power detection before switching the driving mode, or the remaining power of the power battery is detected instead of the power of the low-voltage battery.
  • the vehicle's DCDC direct-current, DC transformer
  • the power battery cannot supply power to the low-voltage electrical appliances of the vehicle, and the low-voltage battery of the vehicle is low in power and cannot supply power to the low-voltage electrical appliances of the vehicle, which will lead to serious safety hazards for vehicles in automatic driving or driving assistance mode.
  • the power of the low-voltage battery after receiving the driving mode switching instruction, the power of the low-voltage battery can be detected to ensure that the power of the low-voltage battery is sufficient to supply the low-voltage electrical appliances for parking when the power battery cannot supply power to the low-voltage electrical appliances. Ensure the driving safety of the vehicle.
  • the low-voltage battery mentioned in the present disclosure may be a low-voltage battery used for vehicle power-on in an electric vehicle, or a backup low-voltage battery used for emergency, which is not limited in the present disclosure.
  • the low-voltage battery mentioned in the present disclosure may be a low-voltage battery used for vehicle power-on in an electric vehicle, or a backup low-voltage battery used for emergency, which is not limited in the present disclosure.
  • the preset threshold value set in the present disclosure may be the amount of electricity required for automatic parking, the value of electricity required for assisted parking, or higher than the value of electricity required for automatic parking or higher than the value of electricity required for assisted parking. the power value.
  • the preset threshold value may be determined according to the electric power value required for parking in the target driving mode corresponding to the driving mode switching instruction. For example, in the case that the driving mode switching command is to switch to the automatic driving mode, the preset threshold may be the amount of electricity required for automatic parking in the automatic driving mode, and the driving mode switching command is to switch to the driving assistance mode. In the case of , the preset threshold may be the amount of electricity required for assisted parking in the driving assistance mode.
  • the power of the low-voltage battery may be an SOC value
  • the preset threshold value is also a corresponding SOC threshold value.
  • the SOC calibration value of each vehicle may be different, and the SOC threshold value may be set according to the SOC calibration value of the vehicle.
  • the driving mode is not switched, and a warning that the driving mode cannot be switched due to the low power of the low-voltage battery can be issued.
  • the power battery is controlled to charge the low-voltage battery, and when it is detected that the power of the low-voltage battery is higher than the preset threshold.
  • a driving mode inquiry message is sent, and the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • the driving mode inquiry information may be displayed on the screen of the in-vehicle terminal, or may be broadcast by voice through the playback device of the vehicle.
  • the user's instruction information may also be acquired, and based on the user's instruction information, it is determined whether to control the vehicle to switch the driving mode.
  • the user's instruction information may be obtained in the same way as the driving mode switching instruction, which will not be repeated here.
  • step S22 in the present disclosure may also include "when the power of the low-voltage battery is higher than or equal to the preset threshold. control the vehicle to enter the target driving mode". S23. Detect whether the DC converter is faulty, and in the case that the DC converter is faulty, perform step S24.
  • FIG. 3 is a schematic diagram of a connection relationship between a DC transformer, a low-voltage battery and a vehicle controller.
  • the DC transformer DCDC and VCU Vehicle Control Unit vehicle controller
  • CAN Controller Area Network, controller area network
  • the VCU and low-voltage battery have a communication connection relationship through CAN.
  • DCDC and The low-voltage battery has an electrical connection relationship, and the low-voltage battery can be charged through the DCDC.
  • the VCU can obtain the fault message sent by the DC transformer to determine whether the DCDC is faulty, and the VCU can periodically send a detection signal to the DCDC and obtain the feedback signal of the DCDC to detect whether the DCDC fails.
  • Whether the DCDC fails can be determined by detecting the electrical connection relationship with the DCDC by the detection unit of the low voltage battery, and if the electrical connection between the DC converter DCDC and the low voltage battery is disconnected, it is determined that the DC converter DCDC is faulty.
  • the low-voltage battery and VCU can send DCDC status data to each other through CAN.
  • the low-voltage electrical appliances of the vehicle include driving electrical appliances and non-driving electrical appliances
  • the driving electrical appliances can include VCU, MCU (Microcontroller Unit, microcontroller unit), EPS (Electric Power Steering, electronic power steering system), ABS (antilock brake system) system, anti-lock braking system), ESP (Electronic Stability Program, body electronic stability system) and other unmanned driving related controllers to control driving safety, etc.
  • Non-driving electrical appliances can include lighting systems, audio-visual entertainment systems, as well as doors, windows, Wiper, seat heating and other appliances.
  • driving electrical appliances are used to control driving or provide driving assistance, and are more critical electrical appliances in automatic driving and driving assistance modes, while non-driving electrical appliances have little impact on the driving safety of the vehicle. Therefore, the power of the low-voltage battery can be supplied to the driving electrical appliances, while the power consumption of the non-driving electrical appliances can be limited, so as to improve the cruising ability of the vehicle after the failure of the DC transformer.
  • the driving electrical appliances corresponding to the target driving mode can be determined, and the corresponding relationship between each driving mode and the driving electrical appliances can be set in advance according to the requirements of the driving mode.
  • the driving electrical appliances corresponding to the automatic driving mode can be all the driving electrical appliances.
  • the types of driving electrical appliances that need to be enabled are less than those required for the automatic driving mode. Therefore, you can Set the driving appliances required for the driving assistance mode to the driving appliances corresponding to the driving assistance mode.
  • environmental information can be detected to determine whether the environmental information belongs to one of a plurality of preset environmental information; if the environmental information belongs to one of a plurality of preset environmental information, based on each The corresponding relationship between the environmental information and the non-driving electrical appliances is preset, the target electrical appliance corresponding to the environmental information is determined, and the low-voltage battery is used to supply power to the driving electrical appliance corresponding to the target driving mode and the target electrical appliance.
  • the preset environment information and the corresponding relationship between the preset environment information and the non-driving electrical appliances may be determined based on the target driving mode. For example, since the lighting of the vehicle not only affects its own driving safety, but also affects the driving safety of other vehicles, so , in all driving modes, the preset environment information may include "light intensity is lower than the preset intensity threshold", and the non-driving electrical appliances corresponding to the preset environment information are lighting lamps. In this way, when it is detected that the light is weak Or when it is in a preset night time period, the lights of the vehicle can be turned on to ensure the driving safety of other vehicles and pedestrians. In the driving assistance mode, the driver needs to observe the situation around the vehicle.
  • the preset environmental information can also include "The weather is "Rainy day", the non-driving electrical appliance corresponding to the preset environmental information is the wiper; in the automatic driving mode, the vehicle will automatically obtain the information required for driving through the sensor, and the driver does not need to observe through the front glass of the vehicle.
  • the preset environmental information in the driving mode may not include "weather is rainy”.
  • the driving destination and the power of the low-voltage battery can also be obtained, it is determined whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and the power of the low-voltage battery is The vehicle is controlled to park if it is not sufficient to drive the vehicle to the drive destination.
  • the time required for the vehicle to travel to the destination can be calculated, and whether the power of the low-voltage battery is sufficient to travel to the destination can be determined by calculating the power and usage frequency of the electrical appliances that are consuming electricity.
  • At least one parking space may also be displayed to the user, and based on the parking space selected by the user, the vehicle is controlled to drive to the parking space and perform automatic parking.
  • the at least one parking space may be a free parking space scanned by radar, or a parking area provided in map navigation, and the like.
  • the drivable range of the vehicle may be determined based on the power of the low-voltage battery, a location within the drivable range selected by the user may be acquired, and the location may be determined as a new driving destination.
  • the drivable range can be displayed in the form of a target circle on the map, and the user can select any place within the target circle by clicking on the screen and set the place as a new driving destination.
  • a popular parking spot or a maintenance spot within the drivable range may be determined, and the spot may be recommended to the user, and after it is determined that the user accepts the recommendation, the spot will be regarded as a new driving location destination.
  • the power supply recovery threshold can be determined based on the electricity required by the vehicle to drive to the destination. For example, when the SOC required by the vehicle to drive to the destination is 40%, it can be The power restoration threshold is set to 55% SOC, that is, when the SOC of the low-voltage battery reaches 55%, the power supply to non-driving electrical appliances is restored.
  • the SOC required for driving to the destination and the SOC corresponding to the power restoration threshold can be determined according to The real-time power consumption and real-time mileage are regularly updated. After each update, if it is determined that the current SOC of the vehicle is lower than the updated power supply restoration threshold, the power supply to the non-driving electrical appliances that have been restored is stopped.
  • the non-driving electrical appliances Due to the limited power resources, when restoring the power supply to non-driving electrical appliances, it can be determined to supply power to the non-driving electrical appliances corresponding to the obtained environmental information according to the obtained environmental information and the corresponding relationship between the environmental information and the electrical appliances For example, when the temperature information in the acquired environmental information is lower than a certain threshold, the heating of the seat cushion can be resumed.
  • a list of non-driving electrical appliances to be restored can also be displayed, at least one target non-driving electrical appliance to be restored power selected by the user is determined, and power supply to the target non-driving electrical appliance can be restored.
  • the low-voltage battery Before the vehicle switches the driving mode, check whether the power of the low-voltage battery is higher than the power value required for the vehicle to park, and control the vehicle to switch the driving mode when the power of the low-voltage battery is higher than the power value required for the vehicle to park.
  • the DC transformer of the vehicle fails in the automatic driving mode or the assisted driving mode, the low-voltage battery is used to supply power to the driving electrical appliances, and the power consumption of the non-driving electrical appliances is limited, and the electricity consumption of the non-driving electrical appliances is saved for supply.
  • the operation of driving electrical appliances improves the battery life in the event of a DC transformer failure, thereby improving the safety of the vehicle.
  • FIG. 4 is a block diagram of a vehicle control apparatus according to the disclosed embodiment. As shown in FIG. 4 , the vehicle control device 400 includes:
  • the detection module 410 is configured to, in response to the driving mode switching instruction, detect whether the low-voltage battery power of the vehicle is higher than a preset threshold value, where the preset threshold value is determined according to the power value required for the vehicle to park.
  • the control module 420 is configured to control the vehicle to enter a target driving mode corresponding to the driving mode switching instruction when the power level of the low-voltage battery is higher than the preset threshold.
  • the device further includes a charging module, configured to control the power battery to charge the low-voltage battery when the power of the low-voltage battery is lower than the preset threshold;
  • a driving mode inquiry message is sent, and the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • the device further includes a power supply module for detecting whether the DC converter is faulty; in the case of the DC converter being faulty, the low-voltage battery provides power to the vehicle in the target driving mode. low-voltage electrical appliances for power supply.
  • the low-voltage electrical appliances of the vehicle include driving electrical appliances and non-driving electrical appliances
  • the power supply module is configured to determine the driving electrical appliances corresponding to the target driving mode; The driving electrical appliance corresponding to the target driving mode is powered.
  • the power supply module is further configured to detect environmental information, and based on the corresponding relationship between each environmental information and non-driving electrical appliances, determine the target electrical appliance corresponding to the environmental information; The driving electrical appliance corresponding to the target driving mode and the target electrical appliance are supplied with power.
  • the power supply module is further configured to detect the electrical connection state between the DC converter and the low-voltage battery, and if the electrical connection between the DC converter and the low-voltage battery is disconnected, determine The DC converter is faulty.
  • the apparatus further includes a processing module configured to acquire a driving destination and the power of the low-voltage battery; determine whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and controlling the vehicle to park when the power of the low-voltage battery is insufficient for the vehicle to drive to the driving destination.
  • a processing module configured to acquire a driving destination and the power of the low-voltage battery; determine whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and controlling the vehicle to park when the power of the low-voltage battery is insufficient for the vehicle to drive to the driving destination.
  • the processing module is further configured to present at least one parking space to the user, and based on the parking space selected by the user, control the vehicle to drive to the parking space and perform automatic parking.
  • the processing module is further configured to determine the drivable range of the vehicle based on the power of the low-voltage battery; acquire a location within the drivable range selected by the user; determine the location as New driving destinations.
  • the device further includes a recovery module for judging whether the power of the low-voltage battery is sufficient for the vehicle to drive to the driving destination, and when the power of the low-voltage battery is sufficient for the vehicle When driving to the driving destination, power supply to the non-driving electrical appliance is restored.
  • the restoration module is further configured to display a list of non-driving electrical appliances to be restored for power supply; to determine at least one target non-driving electric appliance to be restored to power supply selected by the user; Power supply for driving appliances.
  • the driving mode switching instruction includes an instruction characterizing a switch to an automatic driving mode and an instruction characterizing a switch to a driver assist mode.
  • the vehicle Before the vehicle switches the driving mode, check whether the power of the low-voltage battery is higher than the power value required for the vehicle to park, and control the vehicle to switch the driving mode when the power of the low-voltage battery is higher than the power value required for the vehicle to park. , when the vehicle is in the automatic driving mode or the driving assistance mode, and the DC transformer of the vehicle fails, the power of the low-voltage battery is at least sufficient for the vehicle to park, thereby improving the safety of the vehicle.
  • FIG. 5 is a block diagram of a vehicle according to disclosed embodiments. As shown in FIG. 5 , the vehicle 500 includes the vehicle control device 400 in the above-mentioned embodiment, and the steps of each method in the above-mentioned embodiment can be implemented.
  • FIG. 6 is a block diagram of an electronic device 600 according to disclosed embodiments.
  • the electronic device 600 may include: a processor 601 and a memory 602 .
  • the electronic device 600 may also include one or more of a multimedia component 603 , an input/output (I/O) interface 604 , and a communication component 605 .
  • I/O input/output
  • the processor is used to:
  • the vehicle When the power of the low-voltage battery is higher than the preset threshold, the vehicle is controlled to enter a target driving mode corresponding to the driving mode switching command.
  • the processor is used to:
  • a driving mode inquiry message is sent, where the driving mode inquiry message is used to inquire the user whether to enable the driving mode corresponding to the driving mode inquiry message.
  • the processor is used to:
  • the low-voltage electrical consumers of the vehicle in the target driving mode are powered by the low-voltage battery.
  • the low-voltage electrical appliances of the vehicle include driving electrical appliances and non-driving electrical appliances, and the processor is used for:
  • the driving electrical appliance corresponding to the target driving mode is powered by the low-voltage battery.
  • the processor is used to:
  • the environmental information belongs to one of a plurality of preset environmental information, based on the corresponding relationship between each preset environmental information and the non-driving electrical appliance, determine the target electrical appliance corresponding to the environmental information;
  • the driving electrical appliance corresponding to the target driving mode and the target electrical appliance are powered by the low-voltage battery.
  • the processor is used to:
  • the electrical connection state of the DC converter and the low-voltage battery is detected, and if the electrical connection between the DC converter and the low-voltage battery is disconnected, it is determined that the DC converter is faulty.
  • the processor is used to:
  • the processor is used to:
  • At least one parking space is presented to the user, and based on the parking space selected by the user, the vehicle is controlled to drive to the parking space and automatically park.
  • the processor is used to:
  • the processor is used to:
  • the processor is used to:
  • the driving mode switching instruction includes an instruction characterizing a switch to an automatic driving mode and an instruction characterizing a switch to a driver assist mode.
  • the processor 601 is used to control the overall operation of the electronic device 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 operations on the electronic device 600, such data may include, for example, instructions for any application or method operating on the electronic device 600, and application-related data, Such as contact data, messages sent and received, pictures, audio, video, and so on.
  • 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 (SRAM for short), Electrically Erasable Programmable Read-Only Memory ( Electrically Erasable Programmable Read-Only Memory (EEPROM for short), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (Read-Only Memory, ROM for short), magnetic memory, flash memory, magnetic disk or optical disk.
  • Multimedia components 603 may include screen and audio components. Wherein the screen can be, for example, a touch screen, and the audio component is used for outputting and/or inputting audio signals.
  • the audio component may include a microphone for receiving external audio signals.
  • the received audio signal may be further stored in memory 602 or transmitted through communication component 605 .
  • the audio assembly 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 a keyboard, a mouse, a button, and the like. These buttons can be virtual buttons or physical buttons.
  • the communication component 605 is used for wired or wireless communication between the electronic device 600 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, Near Field Communication (NFC), 2G, 3G, 4G, NB-IOT, eMTC, or other 5G, etc., or one or more of them The combination is not limited here. Therefore, the corresponding communication component 605 may include: Wi-Fi module, Bluetooth module, NFC module and so on.
  • the electronic device 600 may be implemented by one or more application-specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), digital signal processors (Digital Signal Processor, DSP for short), digital signal processing devices (Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), controller, microcontroller, microprocessor or other electronic components
  • ASIC Application Specific Integrated Circuit
  • DSP Digital Signal Processor
  • DSP digital signal processing devices
  • DSPD Digital Signal Processing Device
  • PLD Programmable Logic Device
  • FPGA Field Programmable Gate Array
  • controller microcontroller, microprocessor or other electronic components
  • microcontroller microprocessor or other electronic components
  • the present disclosure also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the vehicle control method of the present disclosure.
  • 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.
  • 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 electronic device 600 to implement the above-mentioned vehicle control method.
  • the present disclosure also provides a computer program product, wherein the computer program product includes computer program code, when the computer program code is run on a computer, to execute the vehicle control method of the present disclosure.
  • the present disclosure also provides a computer program, wherein the computer program includes computer program code that, when executed on a computer, causes the computer to execute the vehicle control method of the present disclosure.

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Abstract

一种车辆控制方法、装置、存储介质、电子设备以及车辆。该车辆控制方法包括：响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，预设阈值是根据车辆进行泊车所需的电量值确定的；在低压电池的电量高于预设阈值的情况下，控制车辆进入与驾驶模式切换指令对应的目标驾驶模式。

Description

车辆控制方法及车辆
相关申请的交叉引用
本申请基于申请号为No.202110363695.X、申请日为2021年4月2日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本公开涉及车辆控制领域，具体地，涉及车辆控制方法、装置、存储介质、电子设备以及车辆。
背景技术
新能源车辆在行车时主要通过动力电池进行供电，由直流转换器将动力电池的高压电转换为低压电以供车辆中的低压用电器工作。在直流转换器失效的情况下，动力电池提供的高压电无法驱动低压用电器工作，影响车辆的行车安全。尤其是在车辆进行自动驾驶的情况下，自动驾驶所需的传感器及控制器多为低压用电器，在没有低压电源的情况下，自动驾驶的车辆的安全性很难得到保障。
目前，可以在直流转换器失效之后启动车辆的低压电池为车辆的低压用电器供电，但是，在直流转换器失效且车辆的低压电池电量较低的情况下，低压电池很难持续提供低压用电器所需的电量，车辆的驾驶安全仍然存在隐患。
发明内容
本公开提供车辆控制方法、装置、存储介质、电子设备以及车辆。
本公开的第一方面，提供一种车辆控制方法，所述方法包括：响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的；在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
在一些实施例中，所述方法还包括：在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电；在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
在一些实施例中，所述方法包括：检测直流转换器是否故障；在所述直流转换器故障的情况下，通过所述低压电池对处于目标驾驶模式的所述车辆的低压用电器进行供电。
在一些实施例中，所述车辆的低压用电器包括驾驶用电器和非驾驶用电器，所述通过所述低压电池对处于自动驾驶模式的所述车辆的低压用电器进行供电，包括：确定所述目标驾驶模式对应的驾驶用电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器进行供电。
在一些实施例中，所述方法还包括：检测环境信息，判断所述环境信息是否属于多个预设环境信息中的一者；若所述环境信息属于多个预设环境信息中的一者，基于各预设环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
在一些实施例中，所述检测直流转换器是否故障，包括：检测所述直流转换器与所述低压电池的电连接状态，若所述直流转换器与所述低压电池的电连接断开，确定所述直流转换器故障。
在一些实施例中，所述方法包括：获取驾驶目的地和所述低压电池的电量；判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
在一些实施例中，所述方法还包括：向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。
在一些实施例中，所述方法还包括：基于所述低压电池的电量，确定所述车辆的可行驶范围；获取用户选择的位于可行驶范围内的地点；将该地点确定为新的驾驶目的地。
在一些实施例中，在车辆处于停止对所述非驾驶用电器进行供电的情况下，所述方法还包括：判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量足够所述车辆驾驶至所述驾驶目的地的情况下，恢复对所述非驾驶用电器的供电。
在一些实施例中，所述恢复对所述非驾驶用电器的供电，包括：展示待恢复供电的非驾驶用电器的列表；确定用户选择的待恢复供电的至少一个目标非驾驶用电器；恢复对所述目标非驾驶用电器的供电。
在一些实施例中，所述驾驶模式切换指令包括表征切换至自动驾驶模式的指令和表征切换至驾驶辅助模式的指令。
第二方面，本公开提供一种车辆控制装置，所述车辆控制装置包括：检测模块，用于响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的；控制模块，用于在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
在一些实施例中，所述装置还包括充电模块，用于在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电；在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
在一些实施例中，所述装置还包括供电模块，用于检测直流转换器是否故障；在所述直流转换器故障的情况下，通过所述低压电池对处于目标驾驶模式的所述车辆的低压用电器进行供电。
在一些实施例中，所述车辆的低压用电器包括驾驶用电器和非驾驶用电器，所述供电模块，用于确定所述目标驾驶模式对应的驾驶用电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器进行供电。
在一些实施例中，所述供电模块，还用于检测环境信息，判断所述环境信息是否属于多个预设环境信息中的一者，若所述环境信息属于多个预设环境信息中的一者，基于各预设环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
在一些实施例中，所述供电模块，还用于检测所述直流转换器与所述低压电池的电连接状态，若所述直流转换器与所述低压电池的电连接断开，确定所述直流转换器故障。
在一些实施例中，所述装置还包括处理模块，用于获取驾驶目的地和所述低压电池的电量；判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
在一些实施例中，所述处理模块，还用于向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。
在一些实施例中，所述处理模块，还用于基于所述低压电池的电量，确定所述车辆的可行驶范围；获取用户选择的位于可行驶范围内的地点；将该地点确定为新的驾驶目的地。
在一些实施例中，所述装置还包括恢复模块，用于判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量足够所述车辆驾驶至所述驾驶目的地的情况下，恢复对所述非驾驶用电器的供电。
在一些实施例中，所述恢复模块，还用于展示待恢复供电的非驾驶用电器的列表；确定用户选择的待恢复供电的至少一个目标非驾驶用电器；恢复对所述目标非驾驶用电器的供电。
在一些实施例中，所述驾驶模式切换指令包括表征切换至自动驾驶模式的指令和表征切换至驾驶辅助模式的指令。
第三方面，本公开提供一种车辆，用于实现第一方面中所述的车辆控制方法。
第四方面，本公开提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开第一方面中所述的车辆控制方法。
第五方面，本公开提供一种电子设备，包括存储器和处理器，存储器上存储有计算机程序，处理器用于执行存储器中的计算机程序，以实现本公开第一方面中所述的车辆控制方法。
第六方面，本公开提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开第一方面中所述的车辆控制方法。
第七方面，本公开提供一种计算机程序产品，其中所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行本公开第一方面中所述的车辆控制方法。
第八方面，本公开提供一种计算机程序，其中所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行本公开第一方面中所述的车辆控制方法。
通过上述技术方案，至少可以达到以下的技术效果：
在车辆切换驾驶模式之前检查低压电池的电量是否高于车辆进行泊车所需的电量值，在低压电池的电量高于车辆进行泊车所需的电量值的情况下控制车辆切换驾驶模式，这样，在车辆处于自动驾驶模式或驾驶辅助模式的情况下，车辆的直流变压器故障的情况下，低压电池的电量至少满足车辆进行泊车，从而可以提升车辆的安全性。
本公开的其他特征和优点将在随后的具体实施方式部分予以详细说明。
附图说明
附图是用来提供对本公开的进一步理解，并且构成说明书的一部分，与下面的具体实施方式一起用于解释本公开，但并不构成对本公开的限制。在附图中：
图1是根据本公开实施例示出的一种车辆控制方法的流程图。
图2是根据本公开实施例示出的一种车辆控制方法的流程图。
图3是根据本公开实施例示出的一种直流变压器、低压电池及整车控制器的连接关系的示意图。
图4是根据本公开实施例示出的一种车辆控制装置的框图。
图5是根据本公开实施例示出的一种车辆的框图。
图6是根据本公开实施例示出的一种电子设备的框图。
具体实施方式
以下结合附图对本公开的具体实施方式进行详细说明。应当理解的是，此处所描述的具体实施方式仅用于说明和解释本公开，并不用于限制本公开。
本公开应用于配置有自动驾驶或驾驶辅助功能的车辆中，车辆的自动驾驶和驾驶辅助模式依赖于各种类型的传感器以及控制器实现，而此类驾驶用电器通常需要使用低压电进行供电，车辆包括用于提供行车动力的动力电池、用于将动力电池的高压电转换为低压电以供车辆其他低压用电器运行的直流转换器、以及用于车辆上电和应急供电的低压电池，目前，在直流转换器故障的情况下，低压电池的电量可能不足够自动驾驶或驾驶辅助模式的车辆进行应急停车，这使得车辆的行驶安全得不到保障。
本公开可以在车辆进入自动驾驶或驾驶辅助模式前检测车辆的低压电池电量是否足够进行停车，在低压电池电量不足以进行停车的情况下车辆无法进入自动驾驶或驾驶辅助 模式，这样，在进入自动驾驶或驾驶辅助模式后，即使直流转换器失效，低压电池的电量也足够车辆进行停车，从而可以提高车辆的行车安全。
本公开还可以在直流转换器失效后，限制低压用电器中的非驾驶用电器的用电，从而将低压电池的电量用以提供给车辆的驾驶用电器，提升车辆在直流转换器失效后的续航能力。
图1是根据公开实施例示出的一种车辆控制方法的流程图。如图1所示，所述方法包括以下步骤：
S11、响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的。
该驾驶模式切换指令可以是车辆的控制终端(例如车载终端、车辆主机等)通过获取用户对用于控制车辆进入目标驾驶模式的功能按键的点击操作而获取到的，该按键可以为实体按键(如车辆的主控制盘上的“自动驾驶模式”按键)也可以为虚拟按键(如车载终端的显示屏幕上的虚拟按键)；该驾驶模式切换指令还可以是通过识别用户的语音消息获取到的；该驾驶模式切换指令还可以是基于预设的进入目标驾驶模式的条件触发的，例如，当用户设置了车辆于上电5分钟后进入自动驾驶模式，则在车辆上电5分钟后可以自动生成该驾驶模式切换指令，以使车辆进入自动驾驶模式。
目标驾驶模式可以是驾驶辅助模式、高级驾驶辅助模式、自动驾驶模式，或者其他用于协助驾驶员控制车辆或自动控制车辆的模式。对应的，该驾驶模式切换指令可以是切换至驾驶辅助模式的指令、切换至高级驾驶辅助模式的指令、切换至自动驾驶模式的指令，或者切换至其他用于协助驾驶员控制车辆或自动控制车辆的模式的指令。
目前，电动车切换驾驶模式前不会进行电量检测，或者会对动力电池的剩余电量进行检测而不对低压电池的电量进行检测，这样，当车辆的DCDC(direct-current，直流变压器)失效的时候，动力电池无法为车辆的低压用电器供电，而车辆的低压电池电量较低，也无法为车辆的低压用电器供电，会导致处于自动驾驶或驾驶辅助模式的车辆存在严重的安全隐患。
在本公开中，可以在接收到驾驶模式切换指令之后，检测低压电池的电量，以保证在动力电池无法为低压用电器供电的情况下，低压电池的电量足以供给低压用电器进行泊车，从而保证车辆的驾驶安全。
值得说明的是，本公开中提到的低压电池可以是用于电动车中用于车辆上电的低压电池，还可以是用于应急的备用低压电池，本公开对此不作限定。
本公开中设置预设阈值可以是自动泊车所需的电量值，还可以是辅助泊车所需的电量值，还可以高于自动泊车所需的电量值或者高于辅助泊车所需的电量值。该预设阈值可以是根据驾驶模式切换指令对应的目标驾驶模式下进行泊车所需的电量值确定的。例如，在该驾驶模式切换指令为切换至自动驾驶模式的情况下，该预设阈值可以是自动驾驶模式下进行自动泊车所需的电量值，在该驾驶模式切换指令为切换至驾驶辅助模式的情况下，该 预设阈值可以是驾驶辅助模式下进行辅助泊车所需的电量值。
考虑到电池在不同的电量状态下输出的电压值不同，在SOC(State of Charge，荷电状态)较低的情况下输出的电压可能无法驱动低压用电器工作，因此，在本公开的实施方式中，该低压电池的电量可以为SOC值，该预设阈值也对应地为SOC阈值。其中，各车辆的SOC标定值可能不同，可以根据车辆的SOC标定值设置该SOC阈值。
S12、在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
在低压电池电量低于预设阈值的情况下，不切换驾驶模式，并且可以发出低压电池电量较低无法切换驾驶模式的警告。
这样，在直流变压器失效的情况下，可以通过低压电池对车辆的低压用电器进行供电，且此刻低压电池的电量足够控制进行泊车，减少了车辆的直流变压器失效时的行驶风险。
在本公开的实施方式中，在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电，在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
该驾驶模式询问信息可以是通过车载终端的屏幕进行展示的，也可以是通过车辆的播放设备进行语音播报的。在发送驾驶模式询问消息之后，还可以获取用户的指示信息，并基于用户的指示信息确定是否控制车辆切换驾驶模式。用户的指示信息可以是和驾驶模式切换指令相同的途径获取的，在此不做赘述。
值得说明的是，低压电池电量等于预设阈值的情况下，低压电池的电量可以供给车辆进行泊车，但是可能无法提供应急情况所需的电量，因此，低压电池电量等于预设阈值的情况下是否控制车辆切换驾驶模式可以根据对车辆安全性的需求进行灵活设置，也就是说，本公开中的步骤S12也可以包括“在所述低压电池的电量高于或等于所述预设阈值的情况下，控制所述车辆进入目标驾驶模式”的情况。
通过上述技术方案，至少可以达到以下的技术效果：
在车辆切换驾驶模式之前检查低压电池的电量是否高于车辆进行泊车所需的电量值，在低压电池的电量高于车辆进行泊车所需的电量值的情况下控制车辆切换驾驶模式，这样，在车辆处于自动驾驶模式或驾驶辅助模式的情况下，车辆的直流变压器故障的情况下，低压电池的电量至少满足车辆进行泊车，从而可以提升车辆的安全性。
图2是根据公开实施例示出的一种车辆控制方法的流程图。如图2所示，所述方法包括以下步骤：
S21、响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的。
该驾驶模式切换指令可以是车辆的控制终端(例如车载终端、车辆主机等)通过获取 用户对用于控制车辆进入目标驾驶模式的功能按键的点击操作而获取到的，该按键可以为实体按键(如车辆的主控制盘上的“自动驾驶模式”按键)也可以为虚拟按键(如车载终端的显示屏幕上的虚拟按键)；该驾驶模式切换指令还可以是通过识别用户的语音消息获取到的；该驾驶模式切换指令还可以是基于预设的进入目标驾驶模式的条件触发的，例如，当用户设置了车辆于上电5分钟后进入自动驾驶模式，则在车辆上电5分钟后可以自动生成该驾驶模式切换指令，以使车辆进入自动驾驶模式。
目标驾驶模式可以是驾驶辅助模式、高级驾驶辅助模式、自动驾驶模式，或者其他用于协助驾驶员控制车辆或自动控制车辆的模式。对应的，该驾驶模式切换指令可以是切换至驾驶辅助模式的指令、切换至高级驾驶辅助模式的指令、切换至自动驾驶模式的指令，或者切换至其他用于协助驾驶员控制车辆或自动控制车辆的模式的指令。
目前，电动车切换驾驶模式前不会进行电量检测，或者会对动力电池的剩余电量进行检测而不对低压电池的电量进行检测，这样，当车辆的DCDC(direct-current，直流变压器)失效的时候，动力电池无法为车辆的低压用电器供电，而车辆的低压电池电量较低，也无法为车辆的低压用电器供电，会导致处于自动驾驶或驾驶辅助模式的车辆存在严重的安全隐患。
在本公开中，可以在接收到驾驶模式切换指令之后，检测低压电池的电量，以保证在动力电池无法为低压用电器供电的情况下，低压电池的电量足以供给低压用电器进行泊车，从而保证车辆的驾驶安全。值得说明的是，本公开中提到的低压电池可以是用于电动车中用于车辆上电的低压电池，还可以是用于应急的备用低压电池，本公开对此不作限定。
值得说明的是，本公开中提到的低压电池可以是用于电动车中用于车辆上电的低压电池，还可以是用于应急的备用低压电池，本公开对此不作限定。
本公开中设置预设阈值可以是自动泊车所需的电量值，还可以是辅助泊车所需的电量值，还可以高于自动泊车所需的电量值或者高于辅助泊车所需的电量值。该预设阈值可以是根据驾驶模式切换指令对应的目标驾驶模式下进行泊车所需的电量值确定的。例如，在该驾驶模式切换指令为切换至自动驾驶模式的情况下，该预设阈值可以是自动驾驶模式下进行自动泊车所需的电量值，在该驾驶模式切换指令为切换至驾驶辅助模式的情况下，该预设阈值可以是驾驶辅助模式下进行辅助泊车所需的电量值。
考虑到电池在不同的电量状态下输出的电压值不同，在SOC(State of Charge，荷电状态)较低的情况下输出的电压可能无法驱动低压用电器工作，因此，在本公开的实施方式中，该低压电池的电量可以为SOC值，该预设阈值也对应地为SOC阈值。其中，各车辆的SOC标定值可能不同，可以根据车辆的SOC标定值设置该SOC阈值。
S22、在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
在低压电池电量低于预设阈值的情况下，不切换驾驶模式，并且可以发出低压电池电量较低无法切换驾驶模式的警告。在本公开的实施方式中，在所述低压电池的电量低于所 述预设阈值的情况下，控制动力电池对所述低压电池进行充电，在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
该驾驶模式询问信息可以是通过车载终端的屏幕进行展示的，也可以是通过车辆的播放设备进行语音播报的。在发送驾驶模式询问消息之后，还可以获取用户的指示信息，并基于用户的指示信息确定是否控制车辆切换驾驶模式。用户的指示信息可以是和驾驶模式切换指令相同的途径获取的，在此不做赘述。
值得说明的是，低压电池电量等于预设阈值的情况下，低压电池的电量可以供给车辆进行泊车，但是可能无法提供应急情况所需的电量，因此，低压电池电量等于预设阈值的情况下是否控制车辆切换驾驶模式可以根据对车辆安全性的需求进行灵活设置，也就是说，本公开中的步骤S22也可以包括“在所述低压电池的电量高于或等于所述预设阈值的情况下，控制所述车辆进入目标驾驶模式”的情况。S23、检测直流转换器是否故障，并在所述直流转换器故障的情况下，执行步骤S24。
图3是一种直流变压器、低压电池及整车控制器的连接关系的示意图。如图3所示，直流变压器DCDC与VCU(Vehicle Control Unit整车控制器)通过CAN(Controller Area Network，控制器域网)具有通信连接关系，VCU与低压电池通过CAN具有通信连接关系，DCDC与低压电池具有电连接关系，可以通过DCDC为低压电池充电。基于上述的连接关系，可以通过VCU获取直流变压器发出的故障报文来确定DCDC是否故障，还可以通过VCU定期向DCDC发送检测信号并获取DCDC的反馈信号的方式来检测DCDC是否失效，另外，还可以通过低压电池的检测单元检测与DCDC的电连接关系来确定DCDC是否失效，若直流转换器DCDC与所述低压电池的电连接断开，确定所述直流转换器DCDC故障。低压电池和VCU可以通过CAN互相发送DCDC的状态数据。
S24、通过所述低压电池对处于目标驾驶模式的所述车辆的驾驶用电器进行供电。
其中，车辆的低压用电器包括驾驶用电器和非驾驶用电器，驾驶用电器可以包括VCU、MCU(Microcontroller Unit，微控制单元)、EPS(Electric Power Steering，电子助力转向***)、ABS(antilock brake system，制动防抱死***)、ESP(Electronic Stability Program，车身电子稳定***)等无人驾驶相关控制行车安全的控制器等，非驾驶用电器可以包括灯光***、影音娱乐***，以及门窗、雨刮、座椅加热等用电器。其中，驾驶用电器用于进行驾驶控制或提供驾驶辅助，是自动驾驶和驾驶辅助模式较为关键的用电器，而非驾驶用电器是否开启对车辆的行驶安全的影响不大。因此，可以将低压电池的电量提供给驾驶用电器，而限制非驾驶用电器的用电，以提升车辆在直流变压器失效之后的续航能力。
在此之前，可以确定所述目标驾驶模式对应的驾驶用电器，各驾驶模式和驾驶用电器的对应关系可以预先根据驾驶模式的需求进行设置，例如，自动驾驶模式下，所有驾驶用电器均有可能启用，因此自动驾驶模式对应的驾驶用电器可以为所有的驾驶用电器，而在驾驶辅助模式下，需要启用的驾驶用电器的种类少于自动驾驶模式所需的驾驶用电器，因 此，可以将驾驶辅助模式所需的驾驶用电器设置为与驾驶辅助模式对应的驾驶用电器。
在本公开的实施方式中，可以检测环境信息，判断所述环境信息是否属于多个预设环境信息中的一者；若所述环境信息属于多个预设环境信息中的一者，基于各预设环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器，通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
该预设环境信息以及预设环境信息与非驾驶用电器的对应关系可以是基于目标驾驶模式确定的，例如，由于车辆的照明灯不仅影响自身行车安全，还会影响其他车辆的行车安全，因此，在所有的驾驶模式下，预设环境信息可以包括“光线强度低于预设强度阈值”，与该预设环境信息对应的非驾驶用电器为照明灯，这样，当检测到光线较弱时或处于预设的夜间时间段时，可以开启车辆的照明灯，以保证其他车辆以及行人的驾驶安全。在驾驶辅助模式下，驾驶员需要对车辆周围的情况进行观察，下雨天车辆不开启雨刷器可能会影响驾驶员进行观察，因此，在驾驶辅助模式下，预设环境信息还可以包括“天气为雨天”，与该预设环境信息对应的非驾驶用电器为雨刷器；在自动驾驶模式下，车辆会通过传感器自动获取驾驶所需的信息，驾驶员无需通过车前玻璃进行观察，因此，自动驾驶模式下的预设环境信息可以不包括“天气为雨天”。
在本公开的实施方式中，还可以获取驾驶目的地和所述低压电池的电量，判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
例如，可以计算车辆行驶至目的地所需的时间，并通过计算正在用电的用电器的功率和使用频率确定所述低压电池的电量是否足够行驶至目的地。
在确定进行自动泊车后，还可以向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。该至少一个停车位可以是通过雷达扫描到的空闲车位，或者地图导航中提供的可停车区域等。
在本公开的实施方式中，可以基于所述低压电池的电量，确定所述车辆的可行驶范围，获取用户选择的位于可行驶范围内的地点，将该地点确定为新的驾驶目的地。
其中，可行驶范围可以在地图上以目标圈的形式展示，用户可以对屏幕进行点击的形式选择目标圈内的任意地点并将该地点设置为新的驾驶目的地。在一些实施例中，还可以在确定可行驶范围之后，确定可行驶范围内的热门泊车地点或者维修地点，并向用户推荐该地点，在确定用户接受了推荐后将该地点作为新的驾驶目的地。
在本公开的实施方式中，在所述低压电池的电量足够所述车辆驾驶至所述目的地的情况下，恢复对所述非驾驶用电器的供电。考虑到行驶途中可能存在其他需要用电的意外情况，可以基于车辆驾驶至目的地所需的电量确定恢复供电阈值，例如，当车辆驾驶至目的地所需的SOC为40％的情况下，可以将恢复供电阈值设置为55％SOC，即在低压电池的SOC达到55％的情况下恢复对非驾驶用电器的供电，该驾驶至目的地所需的SOC和恢复供电阈值对应的SOC可以是根据实时的耗电情况和实时的里程进行定期更新的，在每次更 新之后，若判断车辆当前的SOC低于更新后的恢复供电阈值，则停止对已恢复供电的非驾驶用电器的供电。
由于电力资源有限，因此，在恢复对非驾驶用电器供电时，可以根据已获取的环境信息以及环境信息与用电器的对应关系，确定对与获取到的环境信息对应的非驾驶用电器进行供电，例如，当获取到环境信息中的气温信息低于一定阈值的情况下，可以恢复对坐垫的加热。
在本公开的实施方式中，还可以展示待恢复供电的非驾驶用电器的列表，确定用户选择的待恢复供电的至少一个目标非驾驶用电器，恢复对所述目标非驾驶用电器的供电。
通过上述的技术方案，至少可以达到以下技术效果：
在车辆切换驾驶模式之前检查低压电池的电量是否高于车辆进行泊车所需的电量值，在低压电池的电量高于车辆进行泊车所需的电量值的情况下控制车辆切换驾驶模式，这样，在自动驾驶模式或辅助驾驶模式途中车辆的直流变压器故障的情况下，通过低压电池对驾驶用电器进行供电，并限制非驾驶用电器的用电，节省非驾驶用电器的用电用以供给驾驶用电器运行，提升在直流变压器故障情况下的续航能力，从而可以提升车辆的安全性。
图4是根据公开实施例示出的一种车辆控制装置的框图。如图4所示，所述车辆控制装置400包括：
检测模块410，用于响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的。
控制模块420，用于在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
在本公开的实施方式中，所述装置还包括充电模块，用于在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电；在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
在本公开的实施方式中，所述装置还包括供电模块，用于检测直流转换器是否故障；在所述直流转换器故障的情况下，通过所述低压电池对处于目标驾驶模式的所述车辆的低压用电器进行供电。
在本公开的实施方式中，所述车辆的低压用电器包括驾驶用电器和非驾驶用电器，所述供电模块，用于确定所述目标驾驶模式对应的驾驶用电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器进行供电。
在本公开的实施方式中，所述供电模块，还用于检测环境信息，基于各环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器；通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
在本公开的实施方式中，所述供电模块，还用于检测所述直流转换器与所述低压电池 的电连接状态，若所述直流转换器与所述低压电池的电连接断开，确定所述直流转换器故障。
在本公开的实施方式中，所述装置还包括处理模块，用于获取驾驶目的地和所述低压电池的电量；判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
在本公开的实施方式中，所述处理模块，还用于向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。
在本公开的实施方式中，所述处理模块，还用于基于所述低压电池的电量，确定所述车辆的可行驶范围；获取用户选择的位于可行驶范围内的地点；将该地点确定为新的驾驶目的地。
在本公开的实施方式中，所述装置还包括恢复模块，用于判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量足够所述车辆驾驶至所述驾驶目的地的情况下，恢复对所述非驾驶用电器的供电。
在本公开的实施方式中，所述恢复模块，还用于展示待恢复供电的非驾驶用电器的列表；确定用户选择的待恢复供电的至少一个目标非驾驶用电器；恢复对所述目标非驾驶用电器的供电。
在一些实施例中，所述驾驶模式切换指令包括表征切换至自动驾驶模式的指令和表征切换至驾驶辅助模式的指令。
关于上述实施例中的装置，其中各个模块执行操作的具体方式已经在有关该方法的实施例中进行了详细描述，此处将不做详细阐述说明。
通过上述技术方案，至少可以达到以下的技术效果：
在车辆切换驾驶模式之前检查低压电池的电量是否高于车辆进行泊车所需的电量值，在低压电池的电量高于车辆进行泊车所需的电量值的情况下控制车辆切换驾驶模式，这样，在车辆处于自动驾驶模式或驾驶辅助模式的情况下，车辆的直流变压器故障的情况下，低压电池的电量至少满足车辆进行泊车，从而可以提升车辆的安全性。
图5是根据公开实施例示出的一种车辆的框图。如图5所示，所述车辆500包括了上述实施例中的车辆控制装置400，可以实现上述实施例中各方法的步骤。
图6是根据公开实施例示出的一种电子设备600的框图。如图6所示，该电子设备600可以包括：处理器601，存储器602。该电子设备600还可以包括多媒体组件603，输入/输出(I/O)接口604，以及通信组件605中的一者或多者。
在本公开的实施方式中，处理器用于：
响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的；
在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模 式切换指令对应的目标驾驶模式。
在本公开的实施方式中，处理器用于：
在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电；
在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
在本公开的实施方式中，处理器用于：
检测直流转换器是否故障；
在所述直流转换器故障的情况下，通过所述低压电池对处于目标驾驶模式的所述车辆的低压用电器进行供电。
在本公开的实施方式中，所述车辆的低压用电器包括驾驶用电器和非驾驶用电器，处理器用于：
确定所述目标驾驶模式对应的驾驶用电器；
通过所述低压电池对所述目标驾驶模式对应的驾驶用电器进行供电。
在本公开的实施方式中，处理器用于：
检测环境信息，判断所述环境信息是否属于多个预设环境信息中的一者；
若所述环境信息属于多个预设环境信息中的一者，基于各预设环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器；
通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
在本公开的实施方式中，处理器用于：
检测所述直流转换器与所述低压电池的电连接状态，若所述直流转换器与所述低压电池的电连接断开，确定所述直流转换器故障。
在本公开的实施方式中，处理器用于：
获取驾驶目的地和所述低压电池的电量；
判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
在本公开的实施方式中，处理器用于：
向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。
在本公开的实施方式中，处理器用于：
基于所述低压电池的电量，确定所述车辆的可行驶范围；
获取用户选择的位于可行驶范围内的地点；
将该地点确定为新的驾驶目的地。
在本公开的实施方式中，处理器用于：
判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电 池的电量足够所述车辆驾驶至所述驾驶目的地的情况下，恢复对所述非驾驶用电器的供电。
在本公开的实施方式中，处理器用于：
展示待恢复供电的非驾驶用电器的列表；
确定用户选择的待恢复供电的至少一个目标非驾驶用电器；
恢复对所述目标非驾驶用电器的供电。
在一些实施例中，所述驾驶模式切换指令包括表征切换至自动驾驶模式的指令和表征切换至驾驶辅助模式的指令。处理器601用于控制该电子设备600的整体操作，以完成上述的车辆控制方法中的全部或部分步骤。存储器602用于存储各种类型的数据以支持在该电子设备600的操作，这些数据例如可以包括用于在该电子设备600上操作的任何应用程序或方法的指令，以及应用程序相关的数据，例如联系人数据、收发的消息、图片、音频、视频等等。该存储器602可以由任何类型的易失性或非易失性存储设备或者它们的组合实现，例如静态随机存取存储器(Static Random Access Memory，简称SRAM)，电可擦除可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，简称EEPROM)，可擦除可编程只读存储器(Erasable Programmable Read-Only Memory，简称EPROM)，可编程只读存储器(Programmable Read-Only Memory，简称PROM)，只读存储器(Read-Only Memory，简称ROM)，磁存储器，快闪存储器，磁盘或光盘。多媒体组件603可以包括屏幕和音频组件。其中屏幕例如可以是触摸屏，音频组件用于输出和/或输入音频信号。例如，音频组件可以包括一个麦克风，麦克风用于接收外部音频信号。所接收的音频信号可以被进一步存储在存储器602或通过通信组件605发送。音频组件还包括至少一个扬声器，用于输出音频信号。I/O接口604为处理器601和其他接口模块之间提供接口，上述其他接口模块可以是键盘，鼠标，按钮等。这些按钮可以是虚拟按钮或者实体按钮。通信组件605用于该电子设备600与其他设备之间进行有线或无线通信。无线通信，例如Wi-Fi，蓝牙，近场通信(Near Field Communication，简称NFC)，2G、3G、4G、NB-IOT、eMTC、或其他5G等等，或它们中的一种或几种的组合，在此不做限定。因此相应的该通信组件605可以包括：Wi-Fi模块，蓝牙模块，NFC模块等等。
在本公开的实施例中，电子设备600可以被一个或多个应用专用集成电路(Application Specific Integrated Circuit，简称ASIC)、数字信号处理器(Digital Signal Processor，简称DSP)、数字信号处理设备(Digital Signal Processing Device，简称DSPD)、可编程逻辑器件(Programmable Logic Device，简称PLD)、现场可编程门阵列(Field Programmable Gate Array，简称FPGA)、控制器、微控制器、微处理器或其他电子元件实现，用于执行上述的车辆控制方法。
本公开还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现本公开的车辆控制方法。
在本公开的实施例中，还提供了一种包括程序指令的计算机可读存储介质，该程序指令被处理器执行时实现上述的车辆控制方法的步骤。例如，该计算机可读存储介质可以为 上述包括程序指令的存储器602，上述程序指令可由电子设备600的处理器601执行以完成上述的车辆控制方法。
本公开还提供一种计算机程序产品，其中所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行本公开的车辆控制方法。
本公开还提供一种计算机程序，其中所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行本公开的车辆控制方法。
以上结合附图详细描述了本公开的优选实施方式，但是，本公开并不限于上述实施方式中的具体细节，在本公开的技术构思范围内，可以对本公开的技术方案进行多种简单变型，这些简单变型均属于本公开的保护范围。
另外需要说明的是，在上述具体实施方式中所描述的各个具体技术特征，在不矛盾的情况下，可以通过任何合适的方式进行组合，为了避免不必要的重复，本公开对各种可能的组合方式不再另行说明。
此外，本公开的各种不同的实施方式之间也可以进行任意组合，只要其不违背本公开的思想，其同样应当视为本公开所公开的内容。

Claims (18)

  1. 一种车辆控制方法，所述方法包括：
    响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的；
    在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
  2. 根据权利要求1所述的方法，其中所述方法还包括：
    在所述低压电池的电量低于所述预设阈值的情况下，控制动力电池对所述低压电池进行充电；
    在检测到所述低压电池的电量高于所述预设阈值的情况下，发送驾驶模式询问消息，所述驾驶模式询问消息用于询问用户是否开启与所述驾驶模式询问消息对应的驾驶模式。
  3. 根据权利要求1或2所述的方法，其中所述方法包括：
    检测直流转换器是否故障；
    在所述直流转换器故障的情况下，通过所述低压电池对处于目标驾驶模式的所述车辆的低压用电器进行供电。
  4. 根据权利要求3所述的方法，其中所述车辆的低压用电器包括驾驶用电器和非驾驶用电器，所述通过所述低压电池对处于自动驾驶模式的所述车辆的低压用电器进行供电，包括：
    确定所述目标驾驶模式对应的驾驶用电器；
    通过所述低压电池对所述目标驾驶模式对应的驾驶用电器进行供电。
  5. 根据权利要求4所述的方法，其中所述方法还包括：
    检测环境信息，判断所述环境信息是否属于多个预设环境信息中的一者；
    若所述环境信息属于多个预设环境信息中的一者，基于各预设环境信息与非驾驶用电器的对应关系，确定所述环境信息对应的目的电器；
    通过所述低压电池对所述目标驾驶模式对应的驾驶用电器和所述目的电器进行供电。
  6. 根据权利要求3-5任一项所述的方法，其中所述检测直流转换器是否故障，包括：
    检测所述直流转换器与所述低压电池的电连接状态，若所述直流转换器与所述低压电池的电连接断开，确定所述直流转换器故障。
  7. 根据权利要求3-5任一项所述的方法，其中所述方法包括：
    获取驾驶目的地和所述低压电池的电量；
    判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量不足够所述车辆驾驶至所述驾驶目的地的情况下，控制所述车辆泊车。
  8. 根据权利要求7所述的方法，其中所述方法还包括：
    向用户展示至少一个停车位，基于用户选择的停车位，控制所述车辆行驶至该停车位并进行自动泊车。
  9. 根据权利要求7或8所述的方法，其中所述方法还包括：
    基于所述低压电池的电量，确定所述车辆的可行驶范围；
    获取用户选择的位于可行驶范围内的地点；
    将该地点确定为新的驾驶目的地。
  10. 根据权利要求7至9中任一项所述的方法，其中在车辆处于停止对所述非驾驶用电器进行供电的情况下，所述方法还包括：
    判断所述低压电池的电量是否足够所述车辆驾驶至所述驾驶目的地，并在所述低压电池的电量足够所述车辆驾驶至所述驾驶目的地的情况下，恢复对所述非驾驶用电器的供电。
  11. 根据权利要求10所述的方法，其中所述恢复对所述非驾驶用电器的供电，包括：
    展示待恢复供电的非驾驶用电器的列表；
    确定用户选择的待恢复供电的至少一个目标非驾驶用电器；
    恢复对所述目标非驾驶用电器的供电。
  12. 根据权利要求1至11中任一项所述的方法，其中所述驾驶模式切换指令包括表征切换至自动驾驶模式的指令和表征切换至驾驶辅助模式的指令。
  13. 一种车辆控制装置，其中所述装置包括：
    检测模块，用于响应于驾驶模式切换指令，检测车辆的低压电池电量是否高于预设阈值，所述预设阈值是根据所述车辆进行泊车所需的电量值确定的；
    控制模块，用于在所述低压电池的电量高于所述预设阈值的情况下，控制所述车辆进入与所述驾驶模式切换指令对应的目标驾驶模式。
  14. 一种电子设备，包括：
    存储器，其上存储有计算机程序；
    处理器，用于执行所述存储器中的所述计算机程序，以实现权利要求1-12中任一项所述的车辆控制方法。
  15. 一种车辆，其中所述车辆用于实现权利要求1-12中任一项所述的车辆控制方法。
  16. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该程序被处理器执行时实现如权利要求1-12中任一项所述的车辆控制方法。
  17. 一种计算机程序产品，其中所述计算机程序产品中包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以执行如权利要求1-12中任一项所述的车辆控制方法。
  18. 一种计算机程序，其中所述计算机程序包括计算机程序代码，当所述计算机程序代码在计算机上运行时，以使得计算机执行如权利要求1-12中任一项所述的车辆控制方法。
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