CN107985079A - A kind of vehicle torque control method for meeting functional safety requirement - Google Patents
A kind of vehicle torque control method for meeting functional safety requirement Download PDFInfo
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- CN107985079A CN107985079A CN201711245505.4A CN201711245505A CN107985079A CN 107985079 A CN107985079 A CN 107985079A CN 201711245505 A CN201711245505 A CN 201711245505A CN 107985079 A CN107985079 A CN 107985079A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- 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
Abstract
The invention discloses a kind of vehicle torque control method for meeting functional safety requirement, VCU includes moment of torsion processing module, torque safety monitoring module, controller monitoring module and output multilevel iudge module, the torque safety monitoring module includes safe torque computing module, faulted-phase judgment module and CAN line transport modules, including：Driver is filed a request torque signal by pedal operation to VCU；VCU collection gas pedals opening amount signal, gear signal, rotating speed of transmission shaft signal and brake pedal opening amount signal, initial torque and amendment moment of torsion are obtained by parsing above-mentioned signal, and then obtain torque control value and monitoring moment of torsion, and real-time judge is run with the presence or absence of open failure or short-circuit failure and security mechanism failure according to judging result final output actual torque value T2 or vehicle with minimum idling moment of torsion.The present invention is monitored by torque safety monitoring and torque controller, improves the security of vehicle moment of torsion control.
Description
Technical field
, will more particularly to functional safety design is met based on one kind the present invention relates to pure electric automobile security control field
The vehicle torque control method asked.
Background technology
As the integrated level of automotive electronics electric appliance and complexity are higher and higher in world wide, to automotive electronics electric operation
The security of proposition constantly rises.Signal interaction is more and more intensive between each module of electric automobile, in order to ensure signal acquisition, place
Reason and the correctness of transmission, using the vehicle torque control method for meeting functional safety design requirement, realization avoids VCU unexpected
Operator torque demands instruct the security target sent.Entire car controller is parsed according to accelerator pedal and brake pedal opening amount signal
The requested torque information of driver.In order to ensure torque information parsing it is safe and reliable, the signal of entire car controller (VCU) is adopted
Collection and security monitorings of the VCU to torque information are just particularly important.The security of vehicle moment of torsion control is improved, becoming one must
Will and it is difficult the problem of.
The content of the invention
For the prior art, safe and reliable in order to ensure torque information parsing, the signal of entire car controller (VCU) is adopted
Collection and security monitorings of the VCU to torque information, the present invention provide a kind of vehicle torque control method for meeting functional safety requirement.
In order to solve the above-mentioned technical problem, a kind of vehicle moment of torsion control side for meeting functional safety requirement proposed by the present invention
Method, VCU include moment of torsion processing module, torque safety monitoring module, controller monitoring module and output multilevel iudge module, institute
Stating torque safety monitoring module includes safe torque computing module, faulted-phase judgment module and CAN line transport modules, the vehicle
Torque control method comprises the following steps：
Step 1) driver is filed a request torque signal by pedal operation to VCU；
Step 2) VCU collection gas pedals opening amount signal, gear signal, rotating speed of transmission shaft signal and brake pedal aperture
Signal, initial torque T0 is obtained by parsing above-mentioned signal；
Step 3) VCU gathers the gear shifting signal of driver at this time, and is based on the initial torque T0 being calculated in step 2),
Obtain correcting torque T 00 by moment of torsion processing module, T00=λ × T0, λ are correction factor, when the current vehicle that VCU is collected
When information of shifting gears is carries out upshift operation, λ 90%, when the current vehicle gearshift information that VCU is collected is to carry out downshift operation
When, λ 110%；
Step 4) VCU is according to regenerative braking information acquisition the regenerative braking torque T2, torque control value T1=T00+ of collection
T2；
Gas pedal opening amount signal that step 5) safe torque computing module is collected according to VCU, rotating speed of transmission shaft signal
Parse to obtain monitoring torque T 0 ' with brake pedal opening amount signal；If T0 '=T0, B0 is to faulted-phase judgment module for output, if
T0 ' ≠ T0, output B1 to faulted-phase judgment module；
In signal acquisition process, safe torque computing module real-time judge whether there is open failure or short-circuit failure,
When there are open failure or short-circuit failure, output A1 values are to faulted-phase judgment module, when there is no open failure or short
Road failure exports A0 values to faulted-phase judgment module；
CRC check, frame format detection, response error detection, position detection and position in CAN lines transport module detection CAN lines
This five kinds of security mechanisms are filled, to fail, export if there are any of the above described one or more security mechanisms in CAN line transmitting procedures
Otherwise C1, exports C0 to faulted-phase judgment module to faulted-phase judgment module；
Step 6) torque safety monitoring module is passed according to above-mentioned collection breakdown judge, torque arithmetic breakdown judge and CAN lines
The value of the result output fault message Error 1 of defeated breakdown judge is as follows：
The working status of the processor of step 7) controller monitoring module real time monitoring VCU, including ROM verifications, standard RAM
Verification, RAM verifications, program flow verification and clock check；To fail, export if there are any of the above described one or more inspection mechanisms
Otherwise fault message Error2=1, exports fault message Error2=0 to output multilevel iudge to output multilevel iudge module
Module；
Step 8) exports multilevel iudge module according to torque control value T1, fault message Error 1 and fault message Error
2 value, final output actual torque value T2 or vehicle are run with minimum idling moment of torsion：
The limp-home mode is the minimum idling moment of torsion of a vehicle demarcated in advance, when enter limp-home mode it
Afterwards, the torque request for driver is to be used as VCU torque outputs using minimum idling moment of torsion.
Compared with prior art, the beneficial effects of the invention are as follows：
Design requirement of the invention based on functional safety, especially considers the torque safety monitoring of driver torque request,
Monitored by torque safety, torque controller monitors the peace for avoiding unexpected operator torque's order from sending for realizing ASIL D
Full target, improves the security of vehicle moment of torsion control.
Brief description of the drawings
Fig. 1 is the vehicle torque control method block diagram that the present invention meets functional safety requirement；
Fig. 2 is the vehicle moment of torsion control flow chart that the present invention meets functional safety requirement；
Fig. 3 is that vehicle moment of torsion judges flow in the vehicle moment of torsion control of the invention for meeting functional safety requirement.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, it is described specific
Embodiment is only explained the present invention, is not intended to limit the invention.
As depicted in figs. 1 and 2, a kind of vehicle torque control method for meeting functional safety requirement proposed by the present invention, VCU
Include moment of torsion processing module, torque safety monitoring module, controller monitoring module and output multilevel iudge module, the moment of torsion
Security monitoring module includes safe torque computing module, faulted-phase judgment module and CAN line transport modules.
The vehicle torque control method comprises the following steps：
Step 1) driver is filed a request torque signal by pedal operation to VCU；
Step 2) VCU collection gas pedals opening amount signal, gear signal, rotating speed of transmission shaft signal and brake pedal aperture
Signal, initial torque T0 is obtained by the signal of acquisition by parsing；It is by gathering gas pedal and brake pedal signal, by mould
Analog quantity is converted into percentage figures amount signal, is multiplied by the driving that current vehicle gear information and rotating speed of transmission shaft information are calculated
The maximum exportable moment of torsion of motor obtains initial torque T0；
Step 3) VCU gathers the gear shifting signal of driver at this time, and is based on the initial torque T0 being calculated in step 2),
Obtain correcting torque T 00 by moment of torsion processing module, VCU collection current vehicle gearshift information, considers normal gear shift operation, by step
The rapid initial torque T0 2) obtained is multiplied by current correction factor and amendment torque T 00 is calculated；T00=λ × T0, λ are to correct
Number, when the current vehicle gearshift information that VCU is collected is carries out upshift operation, λ 90%, when the current vehicle that VCU is collected
Gearshift information for carry out downshift operation when, λ 110%；
Step 4) VCU is calculated according to the regenerative braking information acquisition regenerative braking torque T2 of collection by step 3)
Correct torque T 00 and add regenerative braking torque T2, obtain torque control value T1 at this time, T1=T00+T2；
Step 5) is as shown in figure Fig. 1, Fig. 2 and Fig. 3, and in signal acquisition process, safe torque computing module real-time judge is
No there are open failure, either short-circuit failure is when there are open failure or short-circuit failure, output A1 values to faulted-phase judgment
Module, A0 values are exported to faulted-phase judgment module when there is no open failure or short-circuit failure；As shown in figure 3,
Gas pedal opening amount signal that the safe torque computing module of VCU is collected according to VCU, rotating speed of transmission shaft signal and
Brake pedal opening amount signal parses to obtain monitoring torque T 0 ' according to the computational methods identical with step 2)；If T0 '=T0, card
Bright torque arithmetic process does not have mistake, and B0 is to faulted-phase judgment module for output, if T0 ' ≠ T0, it was demonstrated that torque arithmetic process is deposited
In mistake, output B1 to faulted-phase judgment module；
CRC check, frame format detection, response error detection, position detection and position in CAN lines transport module detection CAN lines
This five kinds of security mechanisms are filled, to fail, export if there are any of the above described one or more security mechanisms in CAN line transmitting procedures
C1 is to faulted-phase judgment module, if this five kinds of mechanism all inerrancies, output C0 to faulted-phase judgment module；
Step 6) torque safety monitoring module is passed according to above-mentioned collection breakdown judge, torque arithmetic breakdown judge and CAN lines
The value of the result output fault message Error 1 of defeated breakdown judge is as follows：
The working status of the processor of step 7) controller monitoring module real time monitoring VCU, including ROM verifications, standard RAM
Verification, RAM verifications, program flow verification and clock check；If there are any of the above described one or more inspection mechanism failure zhe3 cards
It is bright to break down, then fault message Error2=1 is exported to output multilevel iudge module, if not having failure, exports failure
Information Error2=0 to output multilevel iudge module；
Step 8) exports multilevel iudge module according to torque control value T1, fault message Error 1 and fault message Error
2 value, final output actual torque value T2 or vehicle are run with minimum idling moment of torsion：
The limp-home mode is the minimum idling moment of torsion of a vehicle demarcated in advance, when enter limp-home mode it
Afterwards, vehicle will not respond the torque request of driver, and the torque request for driver is turned round using minimum idling moment of torsion as VCU
Square output valve.
To sum up, the design requirement of the invention based on functional safety, especially considers the torque safety of driver torque request
Monitoring, is monitored, torque controller monitoring realizes ASIL D avoids unexpected operator torque from ordering hair by torque safety
The security target gone out, improves the security of vehicle moment of torsion control.
Although above in conjunction with attached drawing, invention has been described, and the invention is not limited in above-mentioned specific implementation
Mode, above-mentioned embodiment is only schematical, rather than restricted, and those of ordinary skill in the art are at this
Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's
Within protection.
Claims (1)
1. a kind of vehicle torque control method for meeting functional safety requirement, it is characterised in that VCU includes moment of torsion processing mould
Block, torque safety monitoring module, controller monitoring module and output multilevel iudge module, the torque safety monitoring module include
Safe torque computing module, faulted-phase judgment module and CAN line transport modules, the vehicle torque control method include following step
Suddenly：
Step 1) driver is filed a request torque signal by pedal operation to VCU；
Step 2) VCU collection gas pedals opening amount signal, gear signal, rotating speed of transmission shaft signal and brake pedal aperture letter
Number, obtain initial torque T0 by parsing above-mentioned signal；
Step 3) VCU gathers the gear shifting signal of driver at this time, and based on the initial torque T0 being calculated in step 2), passes through
Moment of torsion processing module obtains correcting torque T 00, and T00=λ × T0, λ are correction factor, when the current vehicle gearshift that VCU is collected
When information is carries out upshift operation, λ 90%, when the current vehicle gearshift information that VCU is collected is carries out downshift operation, λ
For 110%；
Step 4) VCU is according to regenerative braking information acquisition the regenerative braking torque T2, torque control value T1=T00+T2 of collection；
Gas pedal opening amount signal, rotating speed of transmission shaft signal and the system that step 5) safe torque computing module is collected according to VCU
Dynamic pedal opening signal parses to obtain monitoring torque T 0 '；If T0 '=T0, output B0 to faulted-phase judgment module, if T0 ' ≠
T0, output B1 to faulted-phase judgment module；
In signal acquisition process, safe torque computing module real-time judge whether there is open failure or short-circuit failure, when depositing
In open failure or short-circuit failure, output A1 values to faulted-phase judgment module, to lose when there is no open failure or short circuit
Effect exports A0 values to faulted-phase judgment module；
CRC check, frame format detection, response error detection, position detection and position filling in CAN lines transport module detection CAN lines
This five kinds of security mechanisms, to fail, output C1 is arrived if there are any of the above described one or more security mechanisms in CAN line transmitting procedures
Faulted-phase judgment module, otherwise, output C0 to faulted-phase judgment module；
Step 6) torque safety monitoring module transmits event according to above-mentioned collection breakdown judge, torque arithmetic breakdown judge and CAN lines
The value for the result output fault message Error 1 that barrier judges is as follows：
The working status of the processor of step 7) controller monitoring module real time monitoring VCU, including ROM verifications, standard RAM schools
Test, RAM is verified, program flow verifies and clock check；To fail if there are any of the above described one or more inspection mechanisms, output event
Hinder information Error2=1 to output multilevel iudge module, otherwise, output fault message Error2=0 to output multilevel iudge mould
Block；
Step 8) exports multilevel iudge module according to torque control value T1, fault message Error 1 and fault message Error 2
Value, final output actual torque value T2 or vehicle are run with minimum idling moment of torsion：
The limp-home mode is the minimum idling moment of torsion of a vehicle demarcated in advance, after limp-home mode is entered,
Torque request for driver is to be used as VCU torque outputs using minimum idling moment of torsion.
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| CN201711245505.4A CN107985079B (en) | 2017-11-30 | 2017-11-30 | A kind of vehicle torque control method meeting functional safety requirement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711245505.4A CN107985079B (en) | 2017-11-30 | 2017-11-30 | A kind of vehicle torque control method meeting functional safety requirement |
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| CN107985079A true CN107985079A (en) | 2018-05-04 |
| CN107985079B CN107985079B (en) | 2019-10-25 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109130886A (en) * | 2018-09-11 | 2019-01-04 | 深圳市大地和电气股份有限公司 | A kind of System and method for reducing electric machine controller ASIL grade |
| CN110562047A (en) * | 2019-08-14 | 2019-12-13 | 南京理工大学 | Redundancy torque monitoring system based on master-slave hardware framework |
| CN111332132A (en) * | 2018-12-18 | 2020-06-26 | 北京宝沃汽车有限公司 | Vehicle driving torque monitoring method and device and vehicle |
| DE102019201140A1 (en) | 2019-01-30 | 2020-07-30 | Robert Bosch Gmbh | System and method for controlling a drive of a motor vehicle |
| CN111674265A (en) * | 2020-05-21 | 2020-09-18 | 中国汽车技术研究中心有限公司 | Braking energy monitoring device and method for electric automatic driving automobile |
| CN112224200A (en) * | 2019-06-28 | 2021-01-15 | 纬湃科技投资(中国)有限公司 | Controller of vehicle equipment control system and function safety control method |
| CN112590560A (en) * | 2020-11-25 | 2021-04-02 | 浙江合众新能源汽车有限公司 | Energy consumption reduction control method and device for electric automobile |
| CN113246732A (en) * | 2021-05-28 | 2021-08-13 | 联合汽车电子有限公司 | Control method, readable storage medium and controller |
| CN113251140A (en) * | 2021-07-16 | 2021-08-13 | 盛瑞传动股份有限公司 | Automatic transmission control method and device, vehicle and storage medium |
| CN113858973A (en) * | 2021-10-29 | 2021-12-31 | 上海拿森汽车电子有限公司 | Torque correction method, vehicle, and computer-readable storage medium |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109130886B (en) * | 2018-09-11 | 2023-06-06 | 深圳市大地和电气股份有限公司 | System and method for reducing ASIL (automatic service instruction level) level of motor controller |
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| CN111332132A (en) * | 2018-12-18 | 2020-06-26 | 北京宝沃汽车有限公司 | Vehicle driving torque monitoring method and device and vehicle |
| DE102019201140A1 (en) | 2019-01-30 | 2020-07-30 | Robert Bosch Gmbh | System and method for controlling a drive of a motor vehicle |
| CN112224200A (en) * | 2019-06-28 | 2021-01-15 | 纬湃科技投资(中国)有限公司 | Controller of vehicle equipment control system and function safety control method |
| CN110562047A (en) * | 2019-08-14 | 2019-12-13 | 南京理工大学 | Redundancy torque monitoring system based on master-slave hardware framework |
| CN111674265A (en) * | 2020-05-21 | 2020-09-18 | 中国汽车技术研究中心有限公司 | Braking energy monitoring device and method for electric automatic driving automobile |
| CN111674265B (en) * | 2020-05-21 | 2023-05-23 | 中国汽车技术研究中心有限公司 | Braking energy monitoring device and method for electric automatic driving automobile |
| CN112590560A (en) * | 2020-11-25 | 2021-04-02 | 浙江合众新能源汽车有限公司 | Energy consumption reduction control method and device for electric automobile |
| CN112590560B (en) * | 2020-11-25 | 2022-08-09 | 浙江合众新能源汽车有限公司 | Energy consumption reduction control method and device for electric automobile |
| CN113246732A (en) * | 2021-05-28 | 2021-08-13 | 联合汽车电子有限公司 | Control method, readable storage medium and controller |
| CN113251140A (en) * | 2021-07-16 | 2021-08-13 | 盛瑞传动股份有限公司 | Automatic transmission control method and device, vehicle and storage medium |
| CN113251140B (en) * | 2021-07-16 | 2021-11-05 | 盛瑞传动股份有限公司 | Automatic transmission control method and device, vehicle and storage medium |
| CN113858973A (en) * | 2021-10-29 | 2021-12-31 | 上海拿森汽车电子有限公司 | Torque correction method, vehicle, and computer-readable storage medium |
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Effective date of registration: 20230823 Address after: No. 97 Haihu Road, Wujin National High tech Industrial Development Zone, Changzhou City, Jiangsu Province, 213100 Patentee after: China Automotive Research Center (Changzhou) Co.,Ltd. Address before: Building 17, No. 68 Xianfeng East Road, Dongli District, Tianjin, 300000 Patentee before: CHINA AUTOMOTIVE TECHNOLOGY AND RESEARCH CENTER Co.,Ltd. |
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