CN110549854A - torque monitoring method and system - Google Patents
torque monitoring method and system Download PDFInfo
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- CN110549854A CN110549854A CN201810553560.8A CN201810553560A CN110549854A CN 110549854 A CN110549854 A CN 110549854A CN 201810553560 A CN201810553560 A CN 201810553560A CN 110549854 A CN110549854 A CN 110549854A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 57
- 230000002159 abnormal effect Effects 0.000 claims abstract description 38
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- 238000004364 calculation method Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
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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
- 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
-
- 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
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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
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a torque monitoring method and a system, wherein a vehicle control unit VCU and a motor control unit MCU simultaneously monitor torque, and the method comprises the following steps: when the VCU detects that the torque is abnormal, the VCU requests a battery management system to open a main relay so as to power off a power system of the whole vehicle; and when the MCU detects that the torque is abnormal, the motor is requested to output zero torque. The invention utilizes the VCU and the MCU to simultaneously monitor the torque, and immediately controls the whole vehicle to enter a safe state once the abnormal torque is detected, thereby eliminating the potential safety hazard of the vehicle caused by the conditions of analyzing the torque of the driving system, losing efficacy and the like in the executing process to the maximum extent and ensuring the safety of the vehicle.
Description
Technical Field
The invention relates to the field of safety of an electric control system of a new energy automobile, in particular to a torque monitoring method and system.
Background
Along with the development of automobile intellectualization, the design of the whole automobile safety aspect is more and more emphasized by vehicle system research personnel. The driving system is an important part in a whole vehicle system, and the damage on the whole vehicle level can be caused by the torque analysis of the driving system, the failure in the torque execution process and the like. In the prior art, only a vehicle control unit VCU in a vehicle system is responsible for monitoring the torque of a drive system, and once the VCU has a fault and is not detected, the torque monitoring of the drive system cannot be guaranteed. Therefore, the existing torque monitoring method has great potential safety hazard.
The existing torque monitoring system is monitored by a single-core CPU controller and a vehicle control unit VCU. The system is limited by the condition of hardware, and under the condition of not increasing the cost, the system can only reach the ASIL B grade in the ISO26262 functional safety standard, and the safety target of ASIL D is difficult to reach.
disclosure of Invention
In view of the above, the present invention provides a torque monitoring method and system, which can upgrade the ASIL level of a vehicle system to an ASIL D level without increasing the cost by monitoring the torque, thereby eliminating the potential safety hazard caused by analyzing the torque of the vehicle driving system and causing failure in the execution process to the maximum extent.
In a first aspect, the present application provides a torque monitoring method, where a vehicle control unit VCU and a motor control unit MCU simultaneously monitor torque, the method including:
When the VCU detects that the torque is abnormal, the VCU requests a battery management system to open a main relay so as to power off a power system of the whole vehicle;
And when the MCU detects that the torque is abnormal, the motor is requested to output zero torque.
in a possible embodiment, before the VCU detects an abnormal torque, the method further includes, before requesting the battery management system to open the main relay, to power down the power system of the vehicle:
The VCU monitors the requested torque;
and/or the presence of a gas in the gas,
The VCU monitors actual implement torque.
In one possible embodiment, the monitoring of the VCU requested torque includes:
The VCU acquires a gear shift lever position signal, a vehicle speed signal, a first path of accelerator pedal stroke signal and a second path of accelerator pedal stroke signal;
and the VCU calculates based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal so as to realize the monitoring of the required torque.
in one possible embodiment, the first accelerator pedal stroke signal or the second accelerator pedal stroke signal is from the MCU;
or the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal are acquired by the VCU.
in one possible embodiment, the VCU monitoring the actual execution torque includes:
The VCU acquires the bus current of the high-voltage battery and the power \ current of the reference accessory;
and the VCU monitors the actual execution torque based on the high-voltage battery bus current and the reference accessory power \ current.
in a possible implementation, before the MCU requests the motor to output zero torque when the MCU detects an abnormality in torque, the method further includes:
The MCU monitors the required torque;
And/or the presence of a gas in the gas,
The MCU monitors the actual execution torque.
In one possible embodiment, the MCU monitoring the required torque includes:
The method comprises the following steps that the MCU acquires a gear shift lever position signal, a vehicle speed signal, a first path of accelerator pedal stroke signal and a second path of accelerator pedal stroke signal;
And the MCU monitors the required torque sent by the VCU based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal.
In one possible embodiment, the first accelerator pedal travel signal and/or the second accelerator pedal travel signal is derived from the VCU.
In one possible embodiment, the MCU monitoring the actual execution torque includes:
the MCU acquires direct-current voltage and three-phase current signals of the motor;
And the MCU monitors the actual execution torque based on the direct-current voltage and the three-phase current signals of the motor.
in a second aspect, the present application further provides a torque monitoring system, which includes a vehicle control unit VCU and a motor control unit MCU; wherein the VCU and the MCU are simultaneously used for monitoring torque;
The VCU is used for requesting the battery management system to open the main relay to enable the power system of the whole vehicle to be powered off when the abnormal torque is detected;
And the MCU is used for requesting the motor to output zero torque when detecting that the torque is abnormal.
in the embodiment of the invention, the VCU and the MCU are used for simultaneously monitoring the torque, and once the abnormal torque is detected, the whole vehicle is immediately controlled to enter the safe state.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
FIG. 1 is a schematic diagram of a torque monitoring system according to an embodiment of the present disclosure;
FIG. 2 is a schematic flow chart illustrating a torque monitoring method according to an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a torque monitoring system according to an embodiment of the present application;
FIG. 4 is a schematic diagram of another torque monitoring system according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
the applicant finds that the driving system is an important part in a whole vehicle system, and if the conditions such as failure and the like occur in the process of analyzing and executing the torque of the driving system, the damage on the whole vehicle level can be caused. For example, if the torque of the drive system is unexpectedly increased, the vehicle may be undesirably accelerated, which may have a serious impact on the safety of the driver in driving the vehicle. Therefore, a torque safety monitoring system is required in an electric control system of a vehicle to monitor the analysis and execution process of the torque of a driving system, so as to avoid safety problems caused by failure in the analysis and execution process of the torque.
however, in the existing torque safety monitoring system, only the vehicle control unit VCU in the system is responsible for monitoring the torque of the driving system, and once the vehicle control unit VCU itself fails and is not detected, the torque safety monitoring system cannot guarantee the torque monitoring of the driving system. Therefore, the current method for monitoring the torque of the driving system still has a great safety hazard. In addition, in the conventional torque safety monitoring system, the entire vehicle control unit VCU is usually monitored by the single-core CPU controller, but is limited by the conditions of the hardware, and the torque safety monitoring system based on the single-core CPU controller generally can only reach the ASIL B level, which is difficult to reach the safety target of ASIL D, and the ASIL level is improved by replacing the more reliable CPU controller, which increases the cost.
it should be noted that, an ASIL Level (automatic Safety integrity Level, automobile Safety integrity Level) is a Level that, when a system is designed for functional Safety in the ISO26262 standard, hazard analysis and risk assessment are performed on the system at an early stage, a hazard of the system is identified, and a risk Level of the hazard is assessed. ASIL has 5 levels of QM, a, B, C, D being the highest level. The ASIL level determines the requirement on the security of the system, and the higher the ASIL level, the higher the security requirement on the system, and the higher the price paid for realizing the security, the higher the development cost.
In order to solve the technical problem, the torque monitoring method provided by the application monitors the torque through the vehicle control unit VCU and the motor control unit MCU simultaneously so as to eliminate potential safety hazards of a vehicle caused by conditions such as failure in analysis of the torque of a driving system and in an execution process, and ensure the safety of the vehicle. Specifically, a complete vehicle control unit VCU and a motor control unit MCU in the vehicle simultaneously monitor the torque of a driving system, when the complete vehicle control unit VCU detects that the torque is abnormal, a battery management system is requested to open a main relay so that a complete vehicle power system is powered off, and when the motor control unit MCU detects that the torque is abnormal, a motor is requested to output zero torque.
In the process, in the process that the complete vehicle control unit VCU and the motor control unit MCU respectively and independently monitor the torque of the driving system, even if the complete vehicle control unit VCU breaks down and is not detected, the motor control unit MCU can control the motor to output zero torque to enable the complete vehicle to enter a safe state when the motor control unit MCU detects that the torque is abnormal; similarly, even if the motor control unit MCU has a fault and is not detected, the complete vehicle control unit VCU may request the battery management unit system to turn on the main relay to power off the complete vehicle power system when detecting that the torque is abnormal, so that the complete vehicle enters a safe state. Therefore, according to the technical scheme, based on the existing framework of the vehicle system, the torque is detected simultaneously through the vehicle control unit VCU and the motor control unit MCU, so that the ASIL grade can be improved under the condition of not increasing the cost, the potential safety hazards of the vehicle caused by the conditions that the torque of the driving system is analyzed, the failure occurs in the executing process and the like can be eliminated to the maximum extent, and the technical problem is solved.
First, the system architecture of the present application will be described. Referring to fig. 1, fig. 1 is a schematic diagram illustrating an architecture of a torque monitoring system according to an embodiment of the present application, the torque monitoring system including:
the control system comprises a vehicle control unit VCU101 and a motor control unit MCU102, wherein the vehicle control unit VCU101 and the motor control unit MCU102 are simultaneously used for monitoring the torque of a driving system.
The vehicle control unit VCU101 is used for requesting the battery management system to open a main relay to power off a power system of the vehicle when detecting that the torque is abnormal;
And the motor control unit MCU102 is used for requesting the motor to output zero torque when detecting that the torque is abnormal.
it should be noted that, during the process of monitoring the torque, the vehicle control unit VCU101 and the motor control unit MCU102 may communicate with each other, for example, may transmit an accelerator pedal stroke signal to each other, or may communicate in a single direction, for example, the vehicle control unit VCU101 transmits the accelerator pedal stroke signal to the motor control unit MCU102 in a single direction.
various non-limiting embodiments of the torque monitoring method in the embodiments of the present application are described in detail below with reference to the accompanying drawings.
referring to fig. 2 and 3 together, fig. 2 is a schematic flow chart of a torque monitoring method in an embodiment of the present application, and fig. 3 is a schematic structural diagram of a torque monitoring system in an embodiment of the present application, where a vehicle control unit VCU and a motor control unit MCU may send signals to each other, for example, an accelerator pedal stroke signal may be sent to each other between the vehicle control unit VCU and the motor control unit MCU. The method specifically comprises the following steps:
s201: the vehicle control unit VCU obtains a gear shift lever position signal, a vehicle speed signal, a first path of accelerator pedal stroke signal and a second path of accelerator pedal stroke signal.
as an exemplary specific implementation manner, the vehicle control unit VCU may obtain a shift lever position signal from the shift lever control unit, where the shift lever position signal is a signal indicating a current position of the shift lever, and represents current gear information of the vehicle, and reflects a driver's requirement on a vehicle movement direction. For example, the shift lever is currently in D-range, indicating that the driver expects the vehicle to go forward.
in addition, the vehicle control unit VCU may obtain a vehicle speed signal from the chassis, which is indicative of the current vehicle speed, including speed magnitude and direction.
In addition, the vehicle control unit VCU may obtain a first path of accelerator pedal stroke signal from the accelerator pedal sensor, and obtain a second path of accelerator pedal stroke signal from the motor control unit, where the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal reflect a current accelerator pedal stroke.
It should be noted that the "first accelerator pedal stroke signal" and the "second accelerator pedal stroke signal" in this embodiment are only used to facilitate the description of the two accelerator pedal stroke signals in a distinguishing manner, and are not used to limit the embodiments of the present application. That is to say, the vehicle control unit VCU may also obtain the second path of accelerator pedal stroke signal from the accelerator pedal sensor, and obtain the first path of accelerator pedal stroke signal from the motor control unit MCU.
S202: and the vehicle control unit VCU calculates to realize the monitoring of the required torque based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal.
As an exemplary specific implementation manner, during calculation, the vehicle control unit VCU may perform two-way verification on the acquired first path of accelerator pedal travel signal and the second path of accelerator pedal travel signal to obtain an accelerator pedal travel signal, filter the accelerator pedal travel signal to obtain a filtered accelerator pedal travel signal, and perform table lookup according to the shift lever position signal, the vehicle speed signal, and the filtered accelerator pedal travel signal to obtain a torque required by the driver at this time. Meanwhile, the vehicle control unit VCU can perform table look-up according to the gear shift lever position signal, the vehicle speed signal and the accelerator pedal stroke signal before filtering to obtain a basic torque value, and a torque value with a certain magnitude is added on the basis of the basic torque value to obtain a torque limit value, wherein the torque limit value represents the maximum torque value allowed by the current vehicle. The vehicle control unit VCU monitors the torque, specifically, it may monitor whether the torque required by the driver exceeds a torque limit value allowed by the current vehicle, and when the torque required exceeds the torque limit value allowed by the current vehicle, it determines whether an integral of a portion exceeding the torque limit value is greater than a first threshold value, where the first threshold value is a preset torque value, and may be preset by a technician, or may be automatically calculated and determined by an algorithm program according to different vehicles.
It should be noted that, in this embodiment, after obtaining the torque required by the driver, the vehicle control unit VCU sends the torque required by the driver to the motor control unit MCU, so that the motor control unit MCU can obtain the torque required by the driver under the current driving condition of the vehicle.
the above process is a process in which the vehicle control unit VCU monitors a required torque of a driver, and in addition, the motor control point unit MCU of the vehicle also monitors the required torque sent by the vehicle control unit VCU, which is specifically as follows:
S203: the motor control unit MCU obtains gear level position signal, speed signal, first way accelerator pedal stroke signal and second way accelerator pedal stroke signal.
As an exemplary specific implementation manner, the motor control unit MCU may obtain a shift lever position signal from the shift lever control unit, a vehicle speed signal from the chassis, a second path of accelerator pedal stroke signal from the accelerator pedal sensor, and a first path of accelerator pedal stroke signal from the vehicle control unit VCU.
s204: and the motor control unit MCU monitors the required torque sent by the whole vehicle control unit VCU based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal.
As an exemplary specific implementation manner, the motor control unit MCU performs two-way calibration on the first path of the travel signal of the accelerator pedal and the second path of the travel signal of the accelerator pedal to obtain the travel signal of the accelerator pedal, performs table lookup according to the gear, the vehicle speed signal and the travel signal of the accelerator pedal to obtain a basic torque value, and obtains a torque limit value after increasing a certain torque value on the basis of the basic torque value, where the torque limit value represents a maximum torque value allowed by a current vehicle. The motor control unit MCU monitors the torque, specifically, it may monitor whether the driver's required torque sent by the VCU exceeds a torque limit value allowed by the current vehicle, and when the required torque exceeds the torque limit value, determine whether an integral of a portion exceeding the torque limit value is greater than a third threshold value, where the third threshold value is a preset torque value, and may be preset by a technician, or may be automatically calculated and determined by an algorithm program according to different vehicles.
in this embodiment, after the vehicle control unit VCU and the motor control unit MCU monitor the required torque, the actual execution torque may also be monitored, and the specific process is as follows:
S205: the vehicle control unit VCU obtains high-voltage battery bus current and reference accessory power/current, and monitors actual execution torque based on the high-voltage battery bus current and the reference accessory power/current.
as an exemplary implementation, the vehicle control unit VCU may obtain the high-voltage battery bus current from the battery management system and obtain the reference accessory power/current from the accessory controller, and calculate the actual execution torque based on the obtained high-voltage battery bus current and the reference accessory power/current. The vehicle control unit VCU monitors the actual execution torque, and may specifically monitor whether the calculated actual execution torque exceeds the torque limit value, and when the actual execution torque exceeds the torque limit value, determine whether an integral of a portion exceeding the torque limit value is greater than a second threshold value. The second threshold is a preset torque value, which can be preset by a technician or can be automatically calculated and determined by an algorithm program according to different vehicles.
s206: when the VCU detects that the torque is abnormal, the VCU controls the battery management system to open the main relay so as to power off the power system of the whole vehicle.
In practical application, when the vehicle control unit VCU monitors the required torque, if it is detected that the required torque of the driver exceeds the torque limit value and the integral of the portion exceeding the torque limit value is greater than the first threshold value, it is considered that the detected torque is abnormal. In order to ensure the safety of a driver in the process of driving a vehicle, the vehicle control unit VCU can send a power-off request to the battery management system to request the battery management system to turn on the main relay to power off the power system of the vehicle, and further cut off the current of the motor to stop the vehicle without being driven by the motor. If the fact that the required torque of the driver exceeds the torque limit value and the integral of the part exceeding the torque limit value is not larger than the first threshold value is detected, the torque is considered to be not abnormal, the required torque can be limited by using the basic torque value, and normal torque control can be carried out. If the torque required by the driver is detected not to exceed the torque limit value, the torque can be considered to be abnormal, and the torque does not need to be controlled.
in addition, if the vehicle control unit VCU monitors the actual execution torque, if it is detected that the actual execution torque exceeds the torque limit value and the integral of the portion exceeding the torque limit value is greater than the second threshold value, it may also be considered that the detected torque is abnormal, at this time, the vehicle control unit VCU may also send a power-off request to the battery management system to request the battery management system to turn on the main relay so as to power off the vehicle power system, and further cut off the current of the motor so that the vehicle cannot be driven by the motor and stops. If it is detected that the actual execution torque does not exceed the torque limit value, or the actual execution torque exceeds the torque limit value and the integral of the portion exceeding the torque limit value is not greater than the second threshold value, it can be considered that the torque is not abnormal.
s207: the motor control unit MCU acquires direct current voltage and motor three-phase current signals and monitors actual execution torque based on the signals.
firstly, the motor control unit MCU calculates to obtain an actual execution torque according to the obtained direct current voltage and the motor three-phase current signal, and secondly, the motor control unit MCU monitors the actual execution torque obtained by calculation, specifically, the MCU monitors whether the calculated actual execution torque exceeds a torque limit value, and when the actual execution torque exceeds the torque limit value, the MCU judges whether the integral of the part exceeding the torque limit value is larger than a fourth threshold value. The fourth threshold is a preset torque value, which can be preset by a technician, or can be automatically calculated and determined by an algorithm program according to different vehicles.
S208: when the motor control unit MCU detects that the torque is abnormal, the motor is controlled to output zero torque.
in practical application, when the motor control unit MCU monitors the required torque, if it is detected that the required torque of the driver exceeds the torque limit and the integral of the portion exceeding the torque limit is greater than the third threshold, it is determined that the detected torque is abnormal. In order to ensure the safety of a driver in the process of driving the vehicle, the motor control unit MCU controls the motor to stop outputting the torque, so that the vehicle can not be driven by the motor to stop. If the fact that the required torque of the driver exceeds the torque limit value and the integral of the part exceeding the torque limit value is not larger than the third threshold value is detected, the torque is considered to be not abnormal, the required torque can be limited by using the basic torque value, and normal torque control can be carried out. If the torque required by the driver is detected not to exceed the torque limit value, the torque can be considered to be abnormal, and the torque does not need to be controlled.
In addition, if the motor control unit MCU monitors the actual execution torque, if it is detected that the actual execution torque exceeds the torque limit and the integral of the portion exceeding the torque limit is greater than the fourth threshold, it may also be considered that the detected torque is abnormal, and at this time, the motor control unit MCU controls the motor to stop outputting the torque, so that the vehicle cannot be driven by the motor to stop. If it is detected that the actual execution torque does not exceed the torque limit value, or the actual execution torque exceeds the torque limit value and the integral of the portion exceeding the torque limit value is not greater than the fourth threshold value, it may be determined that the torque is not abnormal.
Furthermore, when the VCU and/or the MCU detect abnormal torque, the vehicle enters a safe state and can remind a driver through indicating modes such as instrument characters, icons and the like in the vehicle-mounted instrument, so that the driver can timely know the abnormal torque information.
In this embodiment, a vehicle control unit VCU and a motor control unit MCU in a vehicle simultaneously monitor the torque of a driving system, and when the vehicle control unit VCU detects that the torque is abnormal, request a battery management system to turn on a main relay to power off a vehicle power system, and when the motor control unit MCU detects that the torque is abnormal, request a motor to output zero torque. In the process, in the process that the complete vehicle control unit VCU and the motor control unit MCU respectively and independently monitor the torque of the driving system, even if the complete vehicle control unit VCU breaks down and is not detected, the motor control unit MCU can control the motor to output zero torque to enable the complete vehicle to enter a safe state when the motor control unit MCU detects that the torque is abnormal; similarly, even if the motor control unit MCU has a fault and is not detected, the complete vehicle control unit VCU may request the battery management unit system to turn on the main relay to power off the complete vehicle power system when detecting that the torque is abnormal, so that the complete vehicle enters a safe state. Therefore, based on the existing architecture of the vehicle system, the torque of the driving system is monitored by the complete vehicle control unit VCU of the ASIL B grade and the motor control unit MCU of the ASIL B grade at the same time, the ASIL grade of the vehicle system can be improved to the ASIL D grade under the condition of not increasing the cost, the potential safety hazard of the vehicle caused by the conditions of analyzing the torque of the driving system, failing in the execution process and the like is eliminated to the maximum extent, and the safety of a driver when the driver drives the vehicle is ensured.
In the above embodiment, the vehicle control unit VCU and the motor control unit MCU may mutually transmit an accelerator pedal stroke signal, that is, the vehicle control unit VCU transmits the acquired first path of accelerator pedal stroke signal to the motor control unit MCU, so that the motor control unit MCU may acquire the first path of accelerator pedal stroke signal from the vehicle control unit VCU; meanwhile, the motor control unit MCU sends the acquired second path of accelerator pedal stroke signal to the vehicle control unit VCU, so that the vehicle control unit VCU can acquire the second path of accelerator pedal stroke signal from the motor control unit MCU.
However, in other embodiments, the first accelerator pedal travel signal and the second accelerator pedal travel signal may be obtained simultaneously from the accelerator pedal sensor by the vehicle control unit VCU. As shown in fig. 4, the vehicle control unit VCU may obtain the first accelerator pedal stroke signal and the second accelerator pedal stroke signal from the two accelerator pedal sensors at the same time. In addition, the vehicle control unit VCU may further send the acquired first path of accelerator pedal stroke signal and the acquired second path of accelerator pedal stroke signal to the motor control unit MCU, so that the motor control unit MCU may also acquire the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal, so that while the vehicle control unit VCU monitors the torque, the motor control unit MCU may also monitor the torque by using the acquired first path of accelerator pedal stroke signal and the acquired second path of accelerator pedal stroke signal.
It should be noted that, in a typical vehicle arrangement, the vehicle control unit VCU receives two paths of accelerator pedal travel signals simultaneously, as shown in fig. 4. In the schematic diagram of the architecture of the torque monitoring system shown in fig. 4, a vehicle control unit VCU sends two paths of accelerator pedal travel signals to a motor control unit MCU, and monitors the torque of a drive system based on the architecture, so as to approximately increase the ASIL level of a vehicle system to an ASIL D level while reducing the changes to the existing vehicle layout as much as possible.
for the system embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment for relevant points. The above-described system embodiments are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The torque monitoring method and system provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by applying specific examples, and the description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A torque monitoring method is characterized in that a vehicle control unit VCU and a motor control unit MCU simultaneously monitor torque, and the method comprises the following steps:
when the VCU detects that the torque is abnormal, the VCU requests a battery management system to open a main relay so as to power off a power system of the whole vehicle;
and when the MCU detects that the torque is abnormal, the motor is requested to output zero torque.
2. the torque monitoring method according to claim 1, wherein when the VCU detects an abnormal torque, the method requests the battery management system to open the main relay, and further comprises, before the power system of the whole vehicle is powered down:
The VCU monitors the requested torque;
And/or the VCU monitors actual execution torque.
3. The torque monitoring method of claim 2, wherein the VCU monitoring the requested torque comprises:
the VCU acquires a gear shift lever position signal, a vehicle speed signal, a first path of accelerator pedal stroke signal and a second path of accelerator pedal stroke signal;
and the VCU calculates based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal so as to realize the monitoring of the required torque.
4. The torque monitoring method according to claim 3, wherein the first or second accelerator pedal travel signal is from the MCU;
Or the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal are acquired by the VCU.
5. The torque monitoring method of claim 2, wherein the VCU monitoring the actual execution torque comprises:
The VCU acquires the bus current of the high-voltage battery and the power \ current of the reference accessory;
and the VCU monitors the actual execution torque based on the high-voltage battery bus current and the reference accessory power \ current.
6. The torque monitoring method according to claim 1, wherein before the MCU detects an abnormality in torque and requests the motor to output zero torque, the method further comprises:
The MCU monitors the required torque;
And/or the presence of a gas in the gas,
The MCU monitors the actual execution torque.
7. The torque monitoring method according to claim 6, wherein the MCU monitors the required torque, including:
The method comprises the following steps that the MCU acquires a gear shift lever position signal, a vehicle speed signal, a first path of accelerator pedal stroke signal and a second path of accelerator pedal stroke signal;
and the MCU monitors the required torque sent by the VCU based on the gear shift lever position signal, the vehicle speed signal, the first path of accelerator pedal stroke signal and the second path of accelerator pedal stroke signal.
8. The torque monitoring method of claim 7, wherein the first accelerator pedal travel signal and/or the second accelerator pedal travel signal is from the VCU.
9. The torque monitoring method according to claim 6, wherein the MCU monitoring the actual execution torque comprises:
The MCU acquires direct-current voltage and three-phase current signals of the motor;
And the MCU monitors the actual execution torque based on the direct-current voltage and the three-phase current signals of the motor.
10. A torque monitoring system is characterized by comprising a vehicle control unit VCU and a motor control unit MCU; wherein the VCU and the MCU are simultaneously used for monitoring torque;
The VCU is used for requesting the battery management system to open the main relay to enable the power system of the whole vehicle to be powered off when the abnormal torque is detected;
and the MCU is used for requesting the motor to output zero torque when detecting that the torque is abnormal.
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| CN201810553560.8A CN110549854A (en) | 2018-05-31 | 2018-05-31 | torque monitoring method and system |
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| CN201810553560.8A CN110549854A (en) | 2018-05-31 | 2018-05-31 | torque monitoring method and system |
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Application publication date: 20191210 |