CN114670665A - Vehicle control method, device, control equipment and automobile - Google Patents

Abstract

The present invention provides a vehicle control method, device, control device and automobile. The vehicle control method includes: receiving a shift request; detecting whether a shift mechanism of the vehicle is faulty according to the shift request, and obtaining a detection result; And, according to the current running state of the vehicle, it is judged whether the shift request is reasonable, and a judgment result is obtained; according to the detection result and the judgment result, the shift control is performed on the vehicle. The above scheme can effectively judge whether the shift request is reasonable and timely diagnose whether the shift mechanism is faulty, so as to ensure that the vehicle can correctly identify the driver's demand for braking torque and avoid unreasonable driving operations or shifting gears. Traffic accidents caused by institutional failures.

Description

A vehicle control method, device, control device and automobile

technical field

The present invention relates to the field of automobiles, in particular to a vehicle control method, device, control device and automobile.

Background technique

At present, due to the increasingly serious environmental pollution and the shortage of petroleum resources, pure electric vehicles have been widely recognized by people for their advantages of green environmental protection and low energy consumption, and have become the preferred travel means for people.

Different from traditional gasoline vehicles, pure electric vehicles use motors as their power source. Due to the wide high-efficiency range of motor power characteristics, pure electric vehicles do not need a multi-speed ratio gearbox to change torque and speed to meet the needs of vehicles at different speeds. Therefore, pure electric vehicles can save the complex gearbox and complex gear control logic algorithm on traditional vehicles, and only need a first-level reducer; in addition, the pure electric vehicle motor and the drive shaft are rigidly connected, while There is no need for the clutch on a traditional car.

Usually, pure electric vehicles use electronic shifting mechanism to control gears, and the driver operates the electronic shifting mechanism to issue shifts such as R (reverse), N (neutral), D (forward), E (forward economy), etc. request, to control the forward and reverse rotation of the motor, so as to realize the forward or reverse of the vehicle. Therefore, it is very important whether the electronic shifting mechanism can correctly express the driver's gear requirements, and how to handle the gear when the electronic shifting mechanism fails. , and even lead to traffic accidents.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a vehicle control method, device, control device, and automobile, so as to solve the problem in the prior art that traffic accidents are easily caused due to unreasonable driving operations or gear shift mechanism failures.

In order to solve the above-mentioned technical problems, the present invention adopts the following technical solutions:

According to one aspect of the present invention, a vehicle control method is provided, comprising:

receive a shift request;

According to the shift request, detecting whether the shift mechanism of the vehicle fails, and obtaining a detection result; and,

According to the current running state of the vehicle, determine whether the shift request is reasonable, and obtain a judgment result;

According to the detection result and the judgment result, the vehicle is subjected to shift control.

Optionally, the shift request is at least two voltage values sent by the electronic shifter through hard wires, and the logic level values corresponding to the at least two voltage values constitute the logic level value of the target gear;

Wherein, the detecting whether the shift mechanism of the vehicle fails according to the shift request includes:

determining whether the voltage value satisfies a first preset condition;

In the case that the voltage value satisfies the first preset condition, it is determined that the shift mechanism is not faulty;

Wherein, the first preset condition includes at least the following two items:

each of the voltage values is greater than or equal to a first voltage threshold and less than or equal to a second voltage threshold, or each of the voltage values is greater than or equal to a third voltage threshold and less than or equal to a fourth voltage threshold;

The logic level value corresponding to the target gear is equal to the logic level value corresponding to the preset gear; wherein, the preset gear includes D gear, E gear, N gear and R gear; different preset gears correspond to different logic level values;

The order of the voltage thresholds from small to large is: a first voltage threshold, a second voltage threshold, a third voltage threshold, and a fourth voltage threshold.

Optionally, the vehicle control method further includes:

In the case that the voltage value does not meet the first preset condition, control the vehicle to prohibit shifting, and record the current first moment;

After a preset time at the first moment, if the voltage value does not satisfy a first preset condition, it is determined that the shift mechanism is faulty.

Optionally, the operating state includes at least one of the following: a rotation direction of the motor; a brake pedal opening; a vehicle speed;

Wherein, determining whether the shift request is reasonable according to the current operating state of the vehicle includes:

In the case that the operating state and the shift request satisfy a second preset condition, determining that the shift request is reasonable;

Wherein, the second preset condition includes any one of the following:

The vehicle speed is less than or equal to a first preset speed, the brake pedal opening is greater than zero, and the shift request is any one of the following conditions: a request to switch from N gear to D gear, E gear, and R gear any gear; requesting a switch between D gear and R gear; requesting a switch between E gear and R gear; wherein, the first preset speed is greater than zero;

The vehicle speed is greater than the first preset speed and less than the second preset speed, and the shift request is any one of the following conditions: a request to shift from N gear to any gear position among D gear, E gear, and R gear; Request the switch between D gear and R gear; request the switch between E gear and R gear; wherein, the second preset speed is greater than the first preset speed;

The vehicle speed is greater than or equal to the second preset speed, the rotation direction of the motor is forward, and the shift request is: a request to switch from N gear or R gear to D gear or E gear;

The vehicle speed is greater than or equal to the second preset speed, the rotation direction of the motor is reversed, and the shift request is: a request to switch from any one of the N, D, or E gears to the R gear;

The shift request is: a request to switch from any gear position among D gear, E gear and R gear to N gear;

The shift request is: a request to switch between the D range and the E range.

Optionally, performing shift control on the vehicle according to the detection result and the judgment result includes:

Controlling the vehicle to shift to a target gear when it is determined that the shift mechanism is not faulty and the shift request is reasonable;

Controlling the vehicle to prohibit shifting of gears when it is determined that the shifting mechanism is faulty and the vehicle speed is greater than or equal to a second preset speed;

In a case where it is determined that the shift mechanism is malfunctioning and the vehicle speed is less than the second preset speed, the vehicle is controlled to shift to the N gear.

Optionally, when it is determined that the shift mechanism is not faulty and the shift request is unreasonable, the performing shift control on the vehicle according to the detection result and the judgment result, including: :

When the vehicle speed is less than the second preset speed, the vehicle is controlled to switch to the target gear; otherwise, the vehicle is controlled to switch to the N gear.

Optionally, when it is determined that the shift mechanism is faulty, the vehicle control method further includes:

When the vehicle is powered off, storing fault information;

In the case that the vehicle is powered on again, detecting whether the shifting mechanism is faulty;

In the case that the shift mechanism is not faulty, the fault information is cleared; otherwise, the vehicle is controlled to prohibit high-voltage power-on.

According to another aspect of the present invention, a vehicle control device is provided, comprising:

a receiving module for receiving a shift request;

an analysis module, configured to detect whether the shift mechanism of the vehicle is faulty according to the shift request, and obtain the detection result; and, according to the current operating state of the vehicle, determine whether the shift request is reasonable, and obtain the judgment result;

The control module is configured to perform shift control on the vehicle according to the detection result and the judgment result.

According to another aspect of the present invention, a control device is provided, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor; the processor implements the program when the processor executes the program. The vehicle control method as described above.

According to another aspect of the present invention, there is provided an automobile including the vehicle control device as described above.

The beneficial effects of the present invention are:

The above scheme can effectively judge whether the shift request is reasonable and timely diagnose whether the shift mechanism is faulty, so as to ensure that the vehicle can correctly identify the driver's demand for braking torque and avoid unreasonable driving operations or shifting gears. Traffic accidents caused by institutional failures.

Description of drawings

FIG. 1 shows a schematic flowchart of a vehicle control method provided by an embodiment of the present invention;

FIG. 2 shows a block diagram of a gear shifting system provided by an embodiment of the present invention;

FIG. 3 shows a flowchart of judgment and processing of an unreasonable shift operation provided by an embodiment of the present invention;

FIG. 4 shows a flow chart of detection and processing of a shift mechanism failure provided by an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a vehicle control device provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

The present invention provides a vehicle control method, device, control device and automobile for the problem that traffic accidents are easily caused due to unreasonable driving operations or gear shift mechanism failures.

As shown in FIG. 1, an embodiment of the present invention provides a vehicle control method, including:

S11: Receive a shift request;

S12: Detecting whether the shift mechanism of the vehicle is faulty according to the shifting request, and obtaining a detection result; and, according to the current operating state of the vehicle, judging whether the shifting request is reasonable, and obtaining a judgment result.

In this step, it is possible to identify whether the current driver's operation is a valid request or a misoperation according to the working conditions of the whole vehicle (that is, the current operating state of the vehicle, such as the current rotation direction of the motor, the state of the brake pedal, the vehicle speed, etc.) Whether the request to block is reasonable.

S13: Perform shift control on the vehicle according to the detection result and the judgment result.

In this embodiment, by judging whether the shift request is reasonable and detecting whether the shift mechanism is faulty, the driver's demand can be correctly identified, and traffic accidents caused by unreasonable driving operations or malfunction of the shift mechanism can be avoided.

Optionally, the shift request is at least two voltage values sent by the electronic shifter through hard wires, and the logic level values corresponding to the at least two voltage values constitute the logic level value of the target gear.

As shown in Figure 2, the driver can operate the electronic shifter to shift gears, and the electronic shifter can transmit the driver's shift request to the vehicle controller in the form of four-way voltage. The vehicle control method provided by the embodiment of the present invention can be specifically executed by the vehicle controller, that is, the vehicle controller can receive at least two voltage values sent by the electronic shifter through hard wires, which are used to know the driving The target gear requested by the operator.

As shown in FIG. 2 , in an embodiment of the present invention, the electronic shifter and the vehicle controller are connected by four-way hard wires, and the electronic shifter can change the driver’s shift request to four-way voltage (that is, the hard wire). Line voltage 1, hard line voltage 2, hard line voltage 3 and hard line voltage 4) are transmitted to the vehicle controller. Among them, when the voltage value of the voltage is within the range of (0V~1V), the logic level value of the voltage value is 0; when the voltage value of the voltage is within the range of (4V~5V), the logic level value of the voltage value is The value is 1.

It can be understood that the number of voltage values received by the vehicle controller is determined by the number of hard wires connected between the electronic shifter and the vehicle controller. For example, if there are two hard wires, two voltage values can be received. , when the hard line is three-way, three voltage values can be received. In the embodiment of the present invention, an electronic shifting mechanism with four-way hard line voltage output mode is used as an example for description.

Wherein, the detecting whether the shift mechanism of the vehicle fails according to the shift request includes:

determining whether the voltage value satisfies a first preset condition;

In the case that the voltage value satisfies the first preset condition, it is determined that the shift mechanism is not malfunctioning.

Wherein, the first preset condition includes at least the following two items:

each of the voltage values is greater than or equal to a first voltage threshold and less than or equal to a second voltage threshold, or each of the voltage values is greater than or equal to a third voltage threshold and less than or equal to a fourth voltage threshold;

The logic level value corresponding to the target gear is equal to the logic level value corresponding to the preset gear; wherein, the preset gear includes D gear, E gear, N gear and R gear; different preset gears correspond to different logic level values;

The order of the voltage thresholds from small to large is: a first voltage threshold, a second voltage threshold, a third voltage threshold, and a fourth voltage threshold.

It should be noted that, the first voltage threshold, the second voltage threshold, the third voltage threshold and the fourth voltage threshold may all be specifically calibrated according to actual conditions. For example, the first voltage threshold may be set to 0V, the second voltage threshold may be set to 1V, the third voltage threshold may be set to 4V, and the fourth voltage threshold may be set to 5V.

Different logic level values can be set for different preset gears. Specifically, the logic level values of different preset gears are shown in the following table (ie, the gear analysis truth table):

Voltage 1 Voltage 2 Voltage 3 Voltage 4 Reverse gear (R gear) 1 1 0 0 Neutral (N gear) 1 0 0 1 Forward gear (D gear) 0 1 0 1 Forward economy gear (E gear) 0 1 1 0

The logic 0 indicates that the voltage is in the range of (0V to 1V), and the logic 1 indicates that the voltage is in the range of (4V to 5V). For example, the logic level value of the R gear is 1100, and the logic level value of the N gear is 1001.

That is to say, when the shift mechanism does not fail, the electronic shift mechanism outputs four voltages (ie, voltage values) within the range of (4V to 5V) for the high level and (0V to 1V for the low level). ), and the logic level value corresponding to the four-way voltage must be the logic level value of any preset gear in the gear analysis truth table, otherwise, it is considered that the shifting mechanism "may have a fault", Further confirmation is required. For example, if the received four voltage values are: 4.5V, 0.5V, 0.8V and 4.7V, the logic level value of the target gear is 1001, which is the same as the preset gear N in the gear analysis truth table. If the logic level values of the gears are consistent, it is considered that the voltage value satisfies the first preset condition, it is determined that the shift mechanism is not faulty, and the driver's request to switch the gear to the N gear is parsed.

Optionally, the vehicle control method further includes:

In the case that the voltage value does not meet the first preset condition, control the vehicle to prohibit shifting, and record the current first moment;

After a preset time at the first moment, if the voltage value does not satisfy a first preset condition, it is determined that the shift mechanism is faulty.

In this embodiment, in order to avoid the frequent jumping of the gear position and to ensure that the shifting mechanism is really malfunctioning rather than caused by the interference of the collected voltage (for example, the 4-way voltage), a "preset time" is set, The preset time can be calibrated according to specific conditions, for example, can be set to 3s. Specifically, when the voltage value does not meet the first preset condition, it is considered that "a fault may have occurred", and further confirmation is required: if the fault (that is, the situation where the voltage value does not meet the first preset condition) does not exceed 3s, it will be eliminated , then it can be determined that the "instantaneous fault" caused by the interference in this situation is caused. It should be noted that during the occurrence of the instantaneous fault, the gear request can be processed as the value at the moment before the shift mechanism is kept free of faults, That is to say, during this period, the vehicle is controlled to prohibit shifting, and after the "transient fault" disappears, it will continue to respond to the driver's shift request (if the shift request is reasonable); If the setting condition) lasts for more than 3s, it is confirmed that the shift mechanism is faulty.

Optionally, the operating state includes at least one of the following: a rotation direction of the motor; a brake pedal opening; a vehicle speed;

Wherein, determining whether the shift request is reasonable according to the current operating state of the vehicle includes:

In the case that the operating state and the shift request satisfy the second preset condition, it is determined that the shift request is reasonable, that is, it is determined that the driver's shift operation is a valid shift operation, otherwise it is identified as an unreasonable shift operation operate.

Wherein, the second preset condition includes any one of the following:

(1) The vehicle speed is less than or equal to the first preset speed (for example, the vehicle speed <= 1km/h), the brake pedal opening is greater than zero, and the shift request is any of the following situations: a request from the N gear Switch to any gear position among D gear, E gear and R gear; request to switch between D gear and R gear; request to switch between E gear and R gear; wherein, the first preset speed is greater than zero .

This embodiment of the invention can effectively calculate the opening degree of the brake pedal to ensure that the driver's demand for braking torque can be correctly identified.

It should be noted that, the first preset speed may be specifically calibrated according to the actual situation. For example, it can be set to 1km/h.

(2) The vehicle speed is greater than the first preset speed and less than the second preset speed (for example, 1km/h<vehicle speed<7km/h), and the shift request is any of the following situations: a request to switch from N gear to Any gear position among D gear, E gear and R gear; request to switch between D gear and R gear; request to switch between E gear and R gear; wherein, the second preset speed is greater than the first a preset speed.

It should be noted that the second preset speed may be specifically calibrated according to the actual situation. For example, it can be set to 7km/h.

(3) The vehicle speed is greater than or equal to the second preset speed (for example, vehicle speed>=7km/h), the rotation direction of the motor is forward, and the shift request is: a request to switch from N gear or R gear to D file;

(4) The vehicle speed is greater than or equal to the second preset speed, the rotation direction of the motor is reversed, and the shift request is: a request to switch from any of the N, D or E gears to R file;

(5) The shift request is: a request to switch from any gear position among D gear, E gear and R gear to N gear;

(6) The shift request is: a request for switching between the D gear and the E gear.

In this embodiment, whether the current driver's operation is a valid request or a misoperation can be identified according to the working conditions of the entire vehicle, so that the gear request can be processed according to the identification and judgment result, so as to avoid vehicle damage caused by unreasonable driving operations. Or traffic accidents, it can be applied to the judgment and treatment of shifting misoperation of the electronic shift mechanism of pure electric vehicles.

That is to say, after the vehicle controller receives the four-way hard-line voltage, it can analyze the driver's shift request according to the gear analysis truth table. The operating conditions (such as the current rotation direction of the motor, the state of the brake pedal, and the vehicle speed) are used to determine whether the driver's shift operation is an unreasonable shift operation, that is, to determine whether the shift request is reasonable.

In an optional embodiment of the present invention, the shift control of the vehicle is divided into two parts: handling of unreasonable shift operations and handling of shift mechanism failures. The specific conditions are as follows:

Optionally, performing shift control on the vehicle according to the detection result and the judgment result includes:

Controlling the vehicle to shift to a target gear when it is determined that the shift mechanism is not faulty and the shift request is reasonable;

Controlling the vehicle to prohibit shifting of gears when it is determined that the shifting mechanism is faulty and the vehicle speed is greater than or equal to a second preset speed;

In a case where it is determined that the shift mechanism is malfunctioning and the vehicle speed is less than the second preset speed, the vehicle is controlled to shift to the N gear.

In this embodiment, if the shift mechanism is not faulty and the shift request is reasonable, the driver's intention can be executed according to the shift request to switch the gear of the vehicle to the target gear; if it is determined that the shift mechanism is faulty, Then it is necessary to decide which control strategy to adopt according to the current vehicle speed: if the vehicle speed is greater than or equal to the second preset speed (for example, the vehicle speed >= 7km/h), the shift request can be processed to keep the shift mechanism without faults. The requested gear position at a moment, that is, the vehicle is controlled to prohibit shifting, so that the vehicle in the high-speed driving state can be prevented from suddenly losing power and causing an accident; when the vehicle speed is less than the second preset speed (for example, vehicle speed <7km/h) , the shift request can be processed as the N gear, that is, the vehicle is controlled to switch to the N gear.

In this way, by processing the gear request in combination with the vehicle speed, a traffic accident caused by a sudden loss of power of the vehicle due to a malfunction of the shifting mechanism can be avoided.

It should be noted that the second preset speed may be specifically calibrated according to the actual situation. For example, it can be set to 7km/h.

In addition, after it is determined that the gear shift mechanism is faulty, the user can also be reminded by displaying prompt information on the screen on the vehicle. Three short beeps and so on.

Optionally, when it is determined that the shift mechanism is not faulty and the shift request is unreasonable, the performing shift control on the vehicle according to the detection result and the judgment result, including: :

When the vehicle speed is less than the second preset speed, the vehicle is controlled to switch to the target gear; otherwise, the vehicle is controlled to switch to the N gear.

Specifically, in an optional embodiment of the present invention, the gear position processing flow when it is determined to be a misoperation (that is, it is determined to be an unreasonable shift operation) is as follows:

When the vehicle speed is less than or equal to the first preset speed (for example, the vehicle speed <= 1km/h), and the brake pedal opening is zero, that is, when the gear shift is unreasonable, the brake is not applied when the vehicle speed is <= 1km/h. If it is caused by the pedal, it can be executed according to the requested gear as the N gear, that is, the vehicle is controlled to switch to the N gear. In addition, the user can also be prompted by displaying prompt information to the user through the screen on the vehicle. For example, the LED gear display shows and flashes in red font, the system fault light is on, the alarm beeps three times, and so on. file” message.

When the vehicle speed is greater than or equal to the second preset speed (eg vehicle speed>=7km/h), and the gear request requests a driving gear in the opposite direction to the rotation direction of the motor, the vehicle is controlled to switch to the N gear. In addition, the user can also be prompted by displaying prompt information to the user through the screen on the vehicle. For example, the LED gear display shows and flashes in red font, the system fault light is on, the alarm sound is short three times, etc., for example, the instrument displays the prompt information of "the wrong direction of switching gear".

When the vehicle speed is reduced below the second preset speed (ie, the vehicle speed is <7km/h), the fault information about the unreasonable shifting is cleared, and the shifting is performed according to the gear actually requested by the shifting request.

Optionally, when it is determined that the shift mechanism is faulty, the vehicle control method further includes:

When the vehicle is powered off, storing fault information;

In the case that the vehicle is powered on again, detecting whether the shifting mechanism is faulty;

In the case that the shift mechanism is not faulty, the fault information is cleared; otherwise, the vehicle is controlled to prohibit high-voltage power-on.

In this embodiment, after it is confirmed that the shift mechanism fails, if the failure cannot be eliminated within this power-on cycle, the vehicle controller will no longer respond to the driver's shift request. When the vehicle controller is powered off, the fault information can be stored (for example, stored in EEPROM), and when the vehicle is powered on again, it can be diagnosed again whether the gear shift mechanism is faulty: if the fault no longer exists, it can be Clear the fault information in the EEPROM, and normally respond to the driver's shift request (if the shift request is reasonable); if the fault still exists, the high-voltage power-on of the vehicle can be prevented to avoid accidents after the vehicle is on the road.

As shown in FIG. 3 , in an optional embodiment of the present invention, the judgment and processing flow of an unreasonable shift operation is as follows:

S31: Receive the shift request, that is, the four-way voltage (voltage value) sent by the electronic shifter through the hard wire;

S32: Parse the shift request;

S33: judging whether the shift request is reasonable, that is, judging whether the driver's shift operation is an unreasonable shift operation; if it is an unreasonable shift operation, execute S34; otherwise, execute S35;

S34: deal with unreasonable shifting operations;

S35: Responding to a gear request (in the case where the shift mechanism is not faulty).

As shown in FIG. 4 , in an optional embodiment of the present invention, the detection and processing flow of a shift mechanism failure is as follows:

S41: Receive a shift request, that is, the four-way voltage (voltage value) sent by the electronic shifter through a hard wire;

S42: Parse the shift request, and detect whether the shift mechanism fails;

S43: If no fault occurs, execute S44; if it is preliminarily determined that a fault may have occurred, execute S45;

S44: Respond to the gear request (if the gear request is reasonable);

S45: further determine whether the duration of the fault state exceeds 3s; if it is eliminated within 3s, execute S46; otherwise, execute S47;

S46: The fault (that is, the situation where the voltage value does not meet the first preset condition) is eliminated within 3s, and it can be determined that the "transient fault" is caused by interference in this case. During the occurrence of the transient fault, the The gear request is processed as the value at the moment before the gearshift mechanism is maintained without failure, that is to say, the vehicle is controlled to prohibit shifting during this period;

S47: The fault (that is, the voltage value does not meet the first preset condition) lasts for more than 3s, then it is confirmed that the shift mechanism is faulty, and it is determined whether the vehicle speed is greater than or equal to the second preset speed (for example, vehicle speed>=7km /h)? Yes, execute S49; otherwise, execute S48;

S48: When the vehicle speed is less than the second preset speed, the shift request is processed as the N gear, that is, the vehicle is controlled to switch to the N gear; in addition, the following settings can be made: the position of the gear fault flag is set to 1; the system fault light mark The position is set to 1; the position of the third-level alarm sound mark is set to 1;

S49: When the vehicle speed is greater than or equal to the second preset speed (eg, vehicle speed>=7km/h), the gear request can be processed as the value at the moment before the shift mechanism is maintained without failure, that is, the vehicle is controlled to prohibit shifting.

In the embodiment of the present invention, it is possible to effectively judge whether the shift request is reasonable, and timely diagnose whether the shift mechanism is faulty, so as to ensure that the entire vehicle can correctly identify the driver's demand for the braking torque and avoid unreasonable driving operations. or a traffic accident caused by a malfunction of the shift mechanism.

As shown in FIG. 5 , an embodiment of the present invention further provides a vehicle control device, including:

a receiving module 51, configured to receive a shift request;

The analysis module 52 is configured to detect whether the shift mechanism of the vehicle is faulty according to the shift request, and obtain the detection result; and, according to the current operating state of the vehicle, determine whether the shift request is reasonable, and obtain the judgment result;

The control module 53 is configured to perform shift control on the vehicle according to the detection result and the judgment result.

Optionally, the shift request is at least two voltage values sent by the electronic shifter through hard wires, and the logic level values corresponding to the at least two voltage values constitute the logic level value of the target gear;

Wherein, the analysis module 52 includes:

a first analysis unit, configured to determine whether the voltage value satisfies a first preset condition;

a first determining unit, configured to determine that the shifting mechanism is not faulty when the voltage value satisfies a first preset condition;

Wherein, the first preset condition includes at least the following two items:

each of the voltage values is greater than or equal to a first voltage threshold and less than or equal to a second voltage threshold, or each of the voltage values is greater than or equal to a third voltage threshold and less than or equal to a fourth voltage threshold;

The logic level value corresponding to the target gear is equal to the logic level value corresponding to the preset gear; wherein, the preset gear includes D gear, E gear, N gear and R gear; different preset gears correspond to different logic level values;

The order of the voltage thresholds from small to large is: a first voltage threshold, a second voltage threshold, a third voltage threshold, and a fourth voltage threshold.

Optionally, the analysis module 52 also includes:

a first processing unit, configured to control the vehicle to prohibit shifting when the voltage value does not meet the first preset condition, and record the current first moment;

A second determining unit, configured to determine that the shift mechanism is faulty when the voltage value does not satisfy a first preset condition after a preset time at the first moment.

Optionally, the operating state includes at least one of the following: a rotation direction of the motor; a brake pedal opening; a vehicle speed;

Wherein, the analysis module 52 also includes:

a third determination unit, configured to determine that the shift request is reasonable when the operating state and the shift request satisfy a second preset condition;

Wherein, the second preset condition includes any one of the following:

The vehicle speed is less than or equal to a first preset speed, the brake pedal opening is greater than zero, and the shift request is any one of the following conditions: a request to switch from N gear to D gear, E gear, and R gear any gear; requesting a switch between D gear and R gear; requesting a switch between E gear and R gear; wherein, the first preset speed is greater than zero;

The vehicle speed is greater than the first preset speed and less than the second preset speed, and the shift request is any one of the following conditions: a request to shift from N gear to any gear position among D gear, E gear, and R gear; Request the switch between D gear and R gear; request the switch between E gear and R gear; wherein, the second preset speed is greater than the first preset speed;

The vehicle speed is greater than or equal to the second preset speed, the rotation direction of the motor is forward, and the shift request is: a request to switch from N gear or R gear to D gear or E gear;

The vehicle speed is greater than or equal to the second preset speed, the rotation direction of the motor is reversed, and the shift request is: a request to switch from any one of the N, D, or E gears to the R gear;

The shift request is: a request to switch from any gear position among D gear, E gear and R gear to N gear;

The shift request is: a request to switch between the D range and the E range.

Optionally, the control module 53 includes:

a first control unit, configured to control the vehicle to switch to a target gear when it is determined that the gear shift mechanism is not faulty and the gear shift request is reasonable;

a second control unit, configured to control the vehicle to prohibit shifting when it is determined that the shifting mechanism is faulty and the vehicle speed is greater than or equal to a second preset speed;

A third control unit, configured to control the vehicle to switch to the N gear when it is determined that the shift mechanism is faulty and the vehicle speed is lower than the second preset speed.

Optionally, when it is determined that the shift mechanism is not faulty and the shift request is unreasonable, the control module 53 further includes:

The fourth control unit is configured to control the vehicle to switch to the target gear when the vehicle speed is lower than the second preset speed; otherwise, control the vehicle to switch to the N gear.

Optionally, the vehicle control device further includes:

a storage module for storing fault information when the vehicle is powered off;

a detection module, configured to detect whether the shift mechanism fails when the vehicle is powered on again;

The processing module is used for clearing the fault information under the condition that the gear shift mechanism is not faulty; otherwise, controlling the vehicle to prohibit high-voltage power-on.

In the embodiment of the present invention, it is possible to effectively judge whether the shift request is reasonable, and timely diagnose whether the shift mechanism is faulty, so as to ensure that the entire vehicle can correctly identify the driver's demand for the braking torque and avoid unreasonable driving operations. or a traffic accident caused by a malfunction of the shift mechanism.

An embodiment of the present invention also provides a control device, including a memory, a processor, and a computer program stored on the memory and running on the processor; the processor implements the above-mentioned program when executing the program vehicle control method.

An embodiment of the present invention further provides an automobile, including the above-mentioned vehicle control device.

The above are the preferred embodiments of the present invention, and it should be pointed out that for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications are also included in the present invention. within the scope of protection of the invention.

Claims (10)

1. A vehicle control method characterized by comprising:

Receiving a shift request;

detecting whether a gear shifting mechanism of the vehicle breaks down or not according to the gear shifting request to obtain a detection result; and the number of the first and second groups,

judging whether the gear shifting request is reasonable or not according to the current running state of the vehicle to obtain a judgment result;

and carrying out gear shifting control on the vehicle according to the detection result and the judgment result.

2. The vehicle control method according to claim 1, wherein the shift request is at least two voltage values that the electronic shifter transmits through a hard wire, and the logic level values corresponding to the at least two voltage values constitute a logic level value of a target gear;

wherein the detecting whether a gearshift of a vehicle is malfunctioning based on the shift request comprises:

judging whether the voltage value meets a first preset condition or not;

determining that the gear shifting mechanism does not have a fault under the condition that the voltage value meets a first preset condition;

wherein the first preset condition at least comprises the following two items:

each of the voltage values is greater than or equal to a first voltage threshold and less than or equal to a second voltage threshold, or each of the voltage values is greater than or equal to a third voltage threshold and less than or equal to a fourth voltage threshold;

The logic level value corresponding to the target gear is equal to the logic level value corresponding to the preset gear; the preset gears comprise a D gear, an E gear, an N gear and an R gear; different preset gears correspond to different logic level values;

the voltage threshold values are sequentially from small to large: a first voltage threshold, a second voltage threshold, a third voltage threshold, and a fourth voltage threshold.

3. The vehicle control method according to claim 2, characterized by further comprising:

under the condition that the voltage value does not meet a first preset condition, controlling the vehicle to prohibit gear shifting, and recording the current first moment;

and determining that the gear shifting mechanism is in failure if the voltage value does not meet a first preset condition after a preset time at the first moment.

4. The vehicle control method according to claim 1, characterized in that the running state includes at least one of: the direction of rotation of the motor; brake pedal opening; the vehicle speed;

wherein, according to the current running state of the vehicle, judging whether the gear shifting request is reasonable comprises:

determining that the gear shifting request is reasonable under the condition that the running state and the gear shifting request meet a second preset condition;

Wherein the second preset condition comprises any one of the following:

the vehicle speed is less than or equal to a first preset speed, the brake pedal opening is greater than zero, and the gear shifting request is any one of the following conditions: requesting a shift from the N range to any one of the D range, the E range, and the R range; requesting a shift between D range and R range; requesting a shift between E range and R range; wherein the first preset speed is greater than zero;

the vehicle speed is greater than a first preset speed and less than a second preset speed, and the gear shifting request is any one of the following conditions: requesting a shift from the N range to any one of the D range, the E range, and the R range; requesting a shift between D range and R range; requesting a shift between E range and R range; wherein the second preset speed is greater than the first preset speed;

the vehicle speed is greater than or equal to a second preset speed, the rotation direction of the motor is a forward direction, and the gear shifting request is as follows: requesting to switch from the N gear or the R gear to the D gear or the E gear;

the speed of the vehicle is greater than or equal to a second preset speed, the rotation direction of the motor is reverse, and the gear shifting request is as follows: requesting a shift from any one of the N-gear, the D-gear or the E-gear to the R-gear;

the gear shift request is as follows: requesting a shift from any one of D range, E range, and R range to N range;

The gear shift request is as follows: a shift between D range and E range is requested.

5. The vehicle control method according to claim 1, wherein said performing shift control of the vehicle based on the detection result and the determination result includes:

controlling the vehicle to shift to a target gear if it is determined that the gearshift mechanism is not malfunctioning and the shift request is reasonable;

under the condition that the gear shifting mechanism is determined to be in failure and the vehicle speed is greater than or equal to a second preset speed, controlling the vehicle to prohibit gear shifting;

and controlling the vehicle to be switched to the N gear under the condition that the gear shifting mechanism is determined to be out of order and the vehicle speed is less than a second preset speed.

6. The vehicle control method according to claim 1, wherein in a case where it is determined that the gearshift mechanism is not malfunctioning and the shift request is not reasonable, said performing shift control of the vehicle based on the detection result and the determination result includes:

controlling the vehicle to be switched to a target gear under the condition that the vehicle speed is less than a second preset speed; otherwise, controlling the vehicle to be switched to the N gear.

7. The vehicle control method according to claim 1, characterized in that in the case where it is determined that the shift mechanism is malfunctioning, the vehicle control method further comprises:

Storing fault information when the vehicle is powered down;

detecting whether the gear shifting mechanism is in failure or not under the condition that the vehicle is electrified again;

clearing the fault information if the gear shifting mechanism is not in fault; otherwise, controlling the vehicle to prohibit high-voltage power-on.

8. A vehicle control apparatus characterized by comprising:

a receiving module for receiving a shift request;

the analysis module is used for detecting whether a gear shifting mechanism of the vehicle breaks down or not according to the gear shifting request to obtain a detection result; judging whether the gear shifting request is reasonable or not according to the current running state of the vehicle to obtain a judgment result;

and the control module is used for carrying out gear shifting control on the vehicle according to the detection result and the judgment result.

9. A control apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor; characterized in that the processor implements the vehicle control method according to any one of claims 1 to 7 when executing the program.

10. An automobile characterized by comprising the vehicle control device according to claim 8.

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