CN111391866A - Method and system for monitoring function safety torque - Google Patents
Method and system for monitoring function safety torque Download PDFInfo
- Publication number
- CN111391866A CN111391866A CN202010275982.0A CN202010275982A CN111391866A CN 111391866 A CN111391866 A CN 111391866A CN 202010275982 A CN202010275982 A CN 202010275982A CN 111391866 A CN111391866 A CN 111391866A
- Authority
- CN
- China
- Prior art keywords
- torque
- vehicle
- actual
- value
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/105—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention provides a method and a system for monitoring functional safety torque, and relates to the field of vehicles. The method comprises the steps of firstly obtaining running parameters of a vehicle in real time, then circularly calculating the actual torque over-limit value of a motor, accumulating the actual torque over-limit value calculated each time to obtain an actual torque over-limit accumulated value, then comparing the actual torque over-limit accumulated value with a torque accumulated limit value, wherein the torque accumulated limit value is obtained through calculation according to the running parameters, and finally, when the actual torque over-limit accumulated value is larger than or equal to a% of the torque accumulated limit value and is smaller than the torque accumulated limit value, a torque monitoring result is a warning, and when the actual torque over-limit accumulated value is larger than or equal to the torque accumulated limit value, the torque monitoring result is abnormal. The invention can monitor the driving torque of the vehicle in real time, so that the vehicle can be correctly and effectively controlled under the condition of abnormal driving torque or braking torque of the vehicle, the driving safety of the vehicle is ensured, and accidents are avoided.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a method and a system for monitoring functional safety torque.
Background
At present, the automobile industry in China enters a brand new development stage, and enterprises need to enter the military international market for development. As the national and market requirements for safety and quality of automobiles continue to increase, the automobile industry in china is also forced to be normalized and internationalized. The functional safety standard ISO26262 is an extremely important product safety standard in the international automotive industry at present, in particular for intelligent driving systems and new energy automobile systems.
In the prior art, the new energy automobile system only realizes the processing under the abnormal condition of the system through fault diagnosis, system degradation and other modes, a torque monitoring concept is not clearly provided, a driving system cannot be rapidly identified, and the vehicle cannot be timely and effectively controlled in a safe state when the torque is abnormal.
Disclosure of Invention
The invention aims to provide a method for monitoring functional safety torque, which solves the problems that the driving torque or the braking torque of a vehicle cannot be monitored and the vehicle cannot be controlled in a safety state in time when the torque is abnormal in the prior art.
It is a further object of the first aspect of the present invention to improve the accuracy of calculating the allowable motor drive torque.
It is an object of a second aspect of the invention to provide a system for functionally safe torque monitoring.
According to an object of a first aspect of the invention, there is provided a method of functional safety torque monitoring, comprising:
acquiring running parameters of a vehicle in real time;
cyclically calculating an actual torque over-limit value of the motor according to the operating parameters of the vehicle;
accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value;
comparing the actual torque overrun accumulated value with a torque accumulated limit value matched with the operation parameter, wherein the torque accumulated limit value is calculated according to the operation parameter;
when the actual torque overrun accumulated value is larger than or equal to a% of the torque accumulated limit value and smaller than the torque accumulated limit value, a torque monitoring result is a warning, and when the actual torque overrun accumulated value is larger than or equal to the torque accumulated limit value, a torque monitoring result is abnormal;
wherein a% is less than 1; and is
The operation of cyclically calculating the actual torque over-limit of the electric machine includes:
calculating to obtain the estimated torque of the motor, the driving allowable torque of the limited functional safety layer and the allowable deviation torque according to the running parameters of the vehicle;
calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
calculating a deviation between the actual torque deviation value and the allowable deviation torque to obtain the actual torque over-limit value.
Optionally, the operation parameters of the vehicle include operating state information of a motor, an actual vehicle speed of the vehicle, and an opening degree of an accelerator pedal;
calculating the estimated torque and the allowable deviation torque of the motor according to the running parameters of the vehicle, and specifically comprising the following steps:
and under the condition that the motor works normally, determining the estimated torque according to the working state information of the motor, determining the torque requested by the driver at the functional safety level according to the opening degree of the accelerator pedal and the actual speed of the vehicle, and then determining the allowable deviation torque according to the torque requested by the driver at the functional safety level.
Optionally, calculating the limited driving allowable torque of the functional safety layer according to the operating parameters of the vehicle specifically includes:
calculating to obtain a function safety layer driving allowable torque according to the running parameters of the vehicle, wherein the running parameters of the vehicle further comprise the actual acceleration of the vehicle;
and taking the maximum value between the function safety layer driving allowable torque and the minimum torque limit value of a motor shaft in the chassis stabilizing system as the limited function safety layer driving allowable torque.
Optionally, calculating a functional safety layer driving allowable torque according to the operating parameters of the vehicle specifically includes:
adding the functional safety layer driver request torque and the creep torque of the vehicle to obtain a total vehicle wheel end request torque, wherein the creep torque of the vehicle is determined according to the actual vehicle speed of the vehicle;
taking the minimum value among the total requested torque of the wheel end of the vehicle, the first limited torque and the second limited torque as the total torque request of the wheel end of the vehicle after limitation, wherein the first limited torque is determined according to the actual vehicle speed of the vehicle, and the second limited torque is determined according to the actual acceleration of the vehicle;
and adding the limited total torque request of the wheel end of the vehicle and the adjusting torque value of the chassis stabilizing system to obtain the driving allowable torque of the functional safety layer.
Optionally, the operating state information of the motor includes an actual output torque value of the motor, and the actual output torque value of the motor includes an actual output torque value of a front motor and an actual output torque value of a rear motor;
determining the estimated torque according to the working state information of the motor, specifically comprising:
and determining the estimated torque of the front motor according to the actual output torque value of the front motor, and determining the estimated torque of the rear motor according to the actual output torque value of the rear motor.
Optionally, taking a maximum value between the functional safety layer driving allowable torque and a minimum torque limit value of a motor shaft in a chassis stabilizing system as the limited functional safety layer driving allowable torque, specifically including:
subtracting the estimated torque of the rear motor from the driving allowable torque of the functional safety layer to obtain driving allowable torque of the front motor, and subtracting the estimated torque of the front motor from the driving allowable torque of the functional safety layer to obtain driving allowable torque of the rear motor;
and taking the maximum value between the front motor driving allowable torque and the minimum torque limit value of the front motor shaft in the chassis stabilizing system as the limited functional safety layer front motor driving allowable torque, and taking the maximum value between the rear motor driving allowable torque and the minimum torque limit value of the rear motor shaft in the chassis stabilizing system as the limited functional safety layer rear motor driving allowable torque.
Optionally, calculating a deviation between the predicted torque and the limited driving allowable torque of the functional safety layer to obtain an actual torque deviation value specifically includes:
calculating the deviation between the estimated torque of the front motor and the driving allowable torque of the motor before the limited function safety layer to obtain the actual torque deviation value of the front motor, and calculating the deviation between the estimated torque of the rear motor and the driving allowable torque of the motor after the limited function safety layer to obtain the actual torque deviation value of the rear motor.
Optionally, when the torque monitoring result is warning, the limited function safety layer driving permission torque is used for controlling the vehicle to operate;
and cutting off the power output of the motor when the vehicle cannot respond to the limited function safety layer driving allowable torque and the torque monitoring result is abnormal.
Alternatively, a% is any value in the range of 25% to 35%.
According to the object of the second aspect of the present invention, there is also provided a system for functional safety torque monitoring, comprising a detection unit, a calculation unit and a control unit, wherein,
the detection unit is used for acquiring the running parameters of the vehicle in real time and sending the running parameters to the calculation unit;
the calculation unit is in signal connection with the detection unit and is used for circularly calculating the actual torque over-limit value of the motor according to the running parameters of the vehicle; accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value;
the control unit is connected with the calculation unit and is used for comparing a torque accumulated limit value matched with the operation parameter with an actual torque overrun accumulated value, so that a torque monitoring result is a warning when the actual torque overrun accumulated value is larger than or equal to a% of the torque accumulated limit value and smaller than the torque accumulated limit value, and the torque monitoring result is abnormal when the actual torque overrun accumulated value is larger than or equal to the torque accumulated limit value;
wherein a% is less than 1; and is
The calculation unit cyclically calculates an actual torque over-limit value of the motor by:
calculating to obtain the estimated torque of the motor, the driving allowable torque of the limited functional safety layer and the allowable deviation torque according to the running parameters of the vehicle;
calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
calculating a deviation between the actual torque deviation value and the allowable deviation torque to obtain the actual torque over-limit value.
The method comprises the steps of firstly obtaining running parameters of a vehicle in real time, then circularly calculating the actual torque over-limit value of a motor according to the running parameters of the vehicle, then accumulating the actual torque over-limit value calculated each time to obtain an actual torque over-limit accumulated value, then comparing the actual torque over-limit accumulated value with a torque accumulated limit value, and finally, when the actual torque over-limit accumulated value is larger than or equal to a% of the torque accumulated limit value and is smaller than the torque accumulated limit value, a torque monitoring result is a warning, and when the actual torque over-limit accumulated value is larger than or equal to the torque accumulated limit value, the torque monitoring result is abnormal. The invention can monitor the driving torque of the vehicle in real time, so that the vehicle can be correctly and effectively controlled under the condition of abnormal driving torque or braking torque of the vehicle, the driving safety of the vehicle is ensured, and accidents are avoided.
Furthermore, the minimum torque limit value of the motor shaft in the chassis stabilizing system is considered, the maximum value between the function safety layer driving allowable torque and the minimum torque limit value of the motor shaft in the chassis stabilizing system is taken as the limited function safety layer driving allowable torque, the accuracy of calculating the function safety layer driving allowable torque is improved, and the accuracy of judging whether the torque is normal is further improved.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
FIG. 1 is a schematic flow chart diagram of a method of functional safety torque monitoring according to one embodiment of the present invention;
FIG. 2 is a schematic flow chart diagram of a method of functional safety torque monitoring according to another embodiment of the present invention;
FIG. 3 is a schematic block diagram of a system for functional safety torque monitoring according to one embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
FIG. 1 is a schematic flow diagram of a method of functional safety torque monitoring according to one embodiment of the present invention. As shown in FIG. 1, in one particular embodiment, a method of functionally safe torque monitoring may generally include the steps of:
s10, acquiring the running parameters of the vehicle in real time;
s20, circularly calculating the actual torque over-limit value of the motor according to the running parameters of the vehicle;
s30, accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value;
s40, comparing the actual torque overrun accumulated value with a torque accumulated limit value matched with the operation parameter, wherein the torque accumulated limit value is calculated according to the operation parameter;
and S50, when the actual torque overrun accumulated value is larger than or equal to a% torque accumulated limit value and smaller than the torque accumulated limit value, the torque monitoring result is a warning, and when the actual torque overrun accumulated value is larger than or equal to the torque accumulated limit value, the torque monitoring result is abnormal, wherein a% is smaller than 1, and a% is any value in the range of 25-35%. In one embodiment, a% is 30%, and the value of a% can also be set according to actual requirements.
Specifically, the operation of cyclically calculating the actual torque overrun value of the motor includes:
s21, calculating the estimated torque of the motor, the limited function safety layer driving allowable torque and the allowable deviation torque according to the running parameters of the vehicle;
s22, calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
and S23, calculating the deviation between the actual torque deviation value and the allowable deviation torque to obtain an actual torque over-limit value.
The invention can monitor the driving torque of the vehicle in real time, and can ensure that the vehicle can be correctly and effectively controlled under the condition of abnormal driving torque or braking torque of the vehicle, thereby ensuring the driving safety of the vehicle and avoiding the occurrence of accidents.
According to the method, the actual torque over-limit value is accumulated, whether the torque is normal or not is judged according to the actual torque over-limit accumulated value, and compared with the method that whether the torque is normal or not is judged directly according to the actual torque deviation value, the accuracy of torque monitoring is improved.
Further, the operation parameters of the vehicle include the operating state information of the motor, the actual vehicle speed of the vehicle, the opening degree of an accelerator pedal, and the actual acceleration of the vehicle.
The method includes the following steps that the estimated torque and the allowable deviation torque of the motor are calculated according to the running parameters of the vehicle, and specifically includes:
and under the condition that the motor works normally, determining the estimated torque according to the working state information of the motor, wherein the normal working of the motor specifically means normal signal receiving and signal sending between the motor and the outside.
And determining the function safety layer driver request torque according to the opening degree of an accelerator pedal and the actual speed of the vehicle, and then determining the allowable deviation torque according to the function safety layer driver request torque. Here, the functional safety level driver request torque is acquired by looking up a relational map of the accelerator opening degree, the actual vehicle speed of the vehicle, and the functional safety level driver request torque.
FIG. 2 is a schematic flow chart diagram of a method of functional safety torque monitoring according to another embodiment of the present invention. In another embodiment, as shown in fig. 2, the method for calculating the limited driving allowable torque of the functional safety layer according to the operating parameters of the vehicle specifically comprises the following steps:
s211, adding the creep torque of the vehicle and the driver request torque of the functional safety layer to obtain a total request torque of the wheel end of the vehicle, wherein the creep torque of the vehicle is determined according to the actual vehicle speed of the vehicle, and specifically, the creep torque of the vehicle is obtained by searching a relation comparison table of the creep torque and the actual vehicle speed of the vehicle;
s212, taking the minimum value among the total requested torque of the wheel end of the vehicle, the first limited torque and the second limited torque as the total torque request of the wheel end of the vehicle after limitation, wherein the first limited torque is determined according to the actual vehicle speed of the vehicle, the second limited torque is determined according to the actual acceleration of the vehicle, specifically, the first limited torque is determined by looking up a relation comparison table of the actual vehicle speed of the vehicle and the first limited torque, and the second limited torque is determined by looking up a relation comparison table of the actual acceleration of the vehicle and the second limited torque;
s213, adding the limited total torque request of the wheel end of the vehicle and the regulated torque value of the chassis stabilizing system to obtain the driving allowable torque of the functional safety layer, wherein the regulated torque value of the chassis stabilizing system is automatically sent out by the whole vehicle system;
and S214, taking the maximum value between the function safety layer driving allowable torque and the minimum torque limit value of a motor shaft in the chassis stabilizing system as the limited function safety layer driving allowable torque.
Here, it is necessary to consider the actual conditions (e.g., vehicle speed, acceleration) of the vehicle, and if the actual conditions are safe, the limited driving permission torque of the functional safety layer may be appropriately increased, and conversely, the limited driving permission torque of the functional safety layer may be appropriately decreased.
The invention considers the minimum torque limit value of the motor shaft in the chassis stabilizing system, and takes the maximum value between the driving allowable torque of the functional safety layer and the minimum torque limit value of the motor shaft in the chassis stabilizing system as the limited driving allowable torque of the functional safety layer, thereby improving the accuracy of calculating the driving allowable torque of the functional safety layer and further improving the accuracy of judging whether the torque is normal or not.
In one embodiment, the operating state information of the motor includes an actual output torque value of the motor, which includes an actual output torque value of the front motor and an actual output torque value of the rear motor.
Determining the predicted torque of the motor according to the working state information of the motor, specifically:
and determining the estimated torque of the front motor according to the actual output torque value of the front motor, and determining the estimated torque of the rear motor according to the actual output torque value of the rear motor.
S214 specifically includes the following steps:
the method comprises the following steps: subtracting the driving allowable torque of the functional safety layer from the predicted torque of the rear motor to obtain the driving allowable torque of the front motor, and subtracting the driving allowable torque of the functional safety layer from the predicted torque of the front motor to obtain the driving allowable torque of the rear motor;
step two: and taking the maximum value between the front motor driving allowable torque and the minimum torque limit value of the front motor shaft in the chassis stabilizing system as the limited functional safety layer front motor driving allowable torque, and taking the maximum value between the rear motor driving allowable torque and the minimum torque limit value of the rear motor shaft in the chassis stabilizing system as the limited functional safety layer rear motor driving allowable torque.
S22 specifically includes:
and calculating the deviation between the estimated torque of the front motor and the driving allowable torque of the front motor of the limited functional safety layer to obtain the actual torque deviation value of the front motor, and calculating the deviation between the estimated torque of the rear motor and the driving allowable torque of the rear motor of the limited functional safety layer to obtain the actual torque deviation value of the rear motor.
When the vehicle is provided with two motors (namely the front motor and the rear motor), the invention can also monitor the torque of the front motor and the rear motor in real time, thereby ensuring the driving safety of the vehicle.
In a preferred embodiment, the limited functional safety layer drive permission torque is used to control the vehicle operation when the torque monitoring result is a warning. And cutting off the power output of the motor when the vehicle cannot respond to the limited function safety layer driving allowable torque and the torque monitoring result is abnormal.
When the torque monitoring result is warning, the safety torque is firstly utilized to control the vehicle to run, and the power output of the motor is cut off only under the condition that the vehicle cannot run by utilizing the safety torque, so that the running safety of the vehicle is ensured.
FIG. 3 is a schematic block diagram of a system for functional safety torque monitoring according to one embodiment of the present invention. As shown in fig. 3, in a specific embodiment, the system 100 for functional safety torque monitoring includes a detection unit 1, a calculation unit 2, a control unit 3, a chassis stabilization system 4 and a motor 5, wherein the detection unit 1 is used for acquiring the operating parameters of the vehicle in real time and sending the operating parameters to the calculation unit 2. The calculating unit 2 is in signal connection with the detecting unit 1 and is used for cyclically calculating the actual torque over-limit value of the electric machine 5 according to the operating parameters of the vehicle. And accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value. The control unit 3 is connected with the calculation unit 2 and used for comparing the torque accumulated limit value matched with the operation parameter with the actual torque over-limit accumulated value, and outputting a torque monitoring result as a warning when the actual torque over-limit accumulated value is larger than or equal to a% of the torque accumulated limit value and smaller than the torque accumulated limit value, and outputting a torque monitoring result as an abnormal when the actual torque over-limit accumulated value is larger than or equal to the torque accumulated limit value. Wherein the torque accumulation limiting value is calculated according to the operation parameters, and a% is less than 1.
The calculation unit 2 cyclically calculates the actual torque over-limit value of the electric machine 5 by:
calculating to obtain the estimated torque of the motor 5, the driving allowable torque of the limited functional safety layer and the allowable deviation torque according to the running parameters of the vehicle;
calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
and calculating the deviation between the actual torque deviation value and the allowable deviation torque to obtain an actual torque over-limit value.
The invention can calculate the actual torque of the motor 5 in real time to monitor the vehicle torque in real time, and can find the actual torque of the motor 5 abnormal in time so as to take effective measures to control, thereby ensuring the driving safety.
Specifically, the running parameters of the vehicle include operating state information of the motor 5, an actual vehicle speed of the vehicle, an actual acceleration of the vehicle, and an accelerator opening degree. The calculation unit 2 is configured to determine the estimated torque according to the operating state information of the motor 5 under the condition that the motor 5 is determined to be normally operated, determine the function safety level driver request torque according to the opening degree of an accelerator pedal and the actual vehicle speed of the vehicle, and then determine the allowable deviation torque according to the function safety level driver request torque. The calculation unit 2 stores a relation comparison table of the function safety layer driver request torque and the allowable deviation torque, and the larger the function safety layer driver request torque is, the larger the allowable deviation torque is. In addition, the calculating unit also stores a relation comparison table of the actual vehicle speed and the torque accumulation limiting value of the vehicle. The larger the actual vehicle speed of the vehicle, the larger the torque accumulation limit value.
Further, the calculation unit 2 is configured to add both the functional safety level driver requested torque and the creep torque of the vehicle to obtain a total vehicle wheel end requested torque, wherein the creep torque of the vehicle is determined according to the actual vehicle speed of the vehicle. And then taking the minimum value among the total requested torque at the wheel end of the vehicle, the first limited torque and the second limited torque as the total torque request at the wheel end of the vehicle after limitation, wherein the first limited torque is determined according to the actual vehicle speed of the vehicle, and the second limited torque is determined according to the actual acceleration of the vehicle. The limited total vehicle wheel end torque request and the regulated torque value of the chassis stability system 4 are then added to obtain the functional safety layer drive allowable torque. And finally, taking the maximum value between the function safety layer driving allowable torque and the minimum torque limit value of the motor shaft in the chassis stabilizing system 4 as the limited function safety layer driving allowable torque. Specifically, the calculation unit 2 further stores a relationship comparison table of an accelerator opening, an actual vehicle speed of the vehicle and a function safety level driver request torque, a relationship comparison table of a creep torque and an actual vehicle speed of the vehicle, a relationship comparison table of an actual vehicle speed of the vehicle and a first limit torque, and a relationship comparison table of an actual acceleration of the vehicle and a second limit torque. Also stored in the calculation unit 2 is a minimum torque limit for the motor shaft in the chassis stabilizing system 4.
In one embodiment, the operating state information of the motor 5 includes an actual output torque value of the motor, and the actual output torque value of the motor 5 includes an actual output torque value of the front motor and an actual output torque value of the rear motor. The front motor and the rear motor respectively drive a front shaft and a rear shaft of the vehicle, and a power battery of the vehicle provides high-voltage electric energy for the front motor and the rear motor.
The calculation unit 2 is configured to determine an estimated torque of the front motor from an actual output torque value of the front motor, and determine an estimated torque of the rear motor from an actual output torque value of the rear motor.
Further, the calculation unit 2 is further configured to subtract the functional safety layer drive allowable torque from the predicted torque of the rear motor to obtain a front motor drive allowable torque, and subtract the functional safety layer drive allowable torque from the predicted torque of the front motor to obtain a rear motor drive allowable torque.
Further, the calculation unit 2 is further configured to take a maximum value between the front motor drive allowable torque and a minimum torque limit value of the front motor shaft in the chassis stabilizing system 4 as a post-limited functional safety level front motor drive allowable torque, and take a maximum value between the rear motor drive allowable torque and a minimum torque limit value of the rear motor shaft in the chassis stabilizing system 4 as a post-limited functional safety level rear motor drive allowable torque. Specifically, the minimum torque limit of the front motor shaft in the chassis stabilizing system 4 and the minimum torque limit of the rear motor shaft in the chassis stabilizing system 4 are stored in the calculation unit 2.
Further, the calculation unit 2 is configured to calculate a deviation between the predicted torque of the front motor and the limited function safety level front motor driving allowable torque to obtain an actual torque deviation value of the front motor, and calculate a deviation between the predicted torque of the rear motor and the limited function safety level rear motor driving allowable torque to obtain an actual torque deviation value of the rear motor.
The control unit 3 is also configured to control the vehicle operation using the restricted functional safety layer drive permission torque when the torque monitoring result is a warning. And cutting off the power output of the motor when the vehicle cannot respond to the limited function safety layer driving allowable torque and the torque monitoring result is abnormal.
The invention can monitor the driving torque of the vehicle in real time, and can ensure that the vehicle can be correctly and effectively controlled under the condition of abnormal driving torque or braking torque of the vehicle, thereby ensuring the driving safety of the vehicle and avoiding the occurrence of accidents.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A method of functional safety torque monitoring, comprising:
acquiring running parameters of a vehicle in real time;
cyclically calculating an actual torque over-limit value of the motor according to the operating parameters of the vehicle;
accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value;
comparing the actual torque overrun accumulated value with a torque accumulated limit value matched with the operation parameter, wherein the torque accumulated limit value is calculated according to the operation parameter;
when the actual torque overrun accumulated value is larger than or equal to a% of the torque accumulated limit value and smaller than the torque accumulated limit value, a torque monitoring result is a warning, and when the actual torque overrun accumulated value is larger than or equal to the torque accumulated limit value, a torque monitoring result is abnormal;
wherein a% is less than 1; and is
The operation of cyclically calculating the actual torque over-limit of the electric machine includes:
calculating to obtain the estimated torque of the motor, the driving allowable torque of the limited functional safety layer and the allowable deviation torque according to the running parameters of the vehicle;
calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
calculating a deviation between the actual torque deviation value and the allowable deviation torque to obtain the actual torque over-limit value.
2. The method of claim 1,
the running parameters of the vehicle comprise the working state information of the motor, the actual speed of the vehicle and the opening degree of an accelerator pedal;
calculating the estimated torque and the allowable deviation torque of the motor according to the running parameters of the vehicle, and specifically comprising the following steps:
and under the condition that the motor works normally, determining the estimated torque according to the working state information of the motor, determining the torque requested by the driver at the functional safety level according to the opening degree of the accelerator pedal and the actual speed of the vehicle, and then determining the allowable deviation torque according to the torque requested by the driver at the functional safety level.
3. The method according to claim 2, wherein calculating the limited driving allowable torque of the functional safety layer according to the running parameters of the vehicle specifically comprises:
calculating to obtain a function safety layer driving allowable torque according to the running parameters of the vehicle, wherein the running parameters of the vehicle further comprise the actual acceleration of the vehicle;
and taking the maximum value between the function safety layer driving allowable torque and the minimum torque limit value of a motor shaft in the chassis stabilizing system as the limited function safety layer driving allowable torque.
4. The method according to claim 3, wherein calculating a functional safety barrier drive allowable torque from the vehicle operating parameters comprises:
adding the functional safety layer driver request torque and the creep torque of the vehicle to obtain a total vehicle wheel end request torque, wherein the creep torque of the vehicle is determined according to the actual vehicle speed of the vehicle;
taking the minimum value among the total requested torque of the wheel end of the vehicle, the first limited torque and the second limited torque as the total torque request of the wheel end of the vehicle after limitation, wherein the first limited torque is determined according to the actual vehicle speed of the vehicle, and the second limited torque is determined according to the actual acceleration of the vehicle;
and adding the limited total torque request of the wheel end of the vehicle and the adjusting torque value of the chassis stabilizing system to obtain the driving allowable torque of the functional safety layer.
5. The method of claim 3,
the working state information of the motor comprises an actual output torque value of the motor, and the actual output torque value of the motor comprises an actual output torque value of a front motor and an actual output torque value of a rear motor;
determining the estimated torque according to the working state information of the motor, specifically comprising:
and determining the estimated torque of the front motor according to the actual output torque value of the front motor, and determining the estimated torque of the rear motor according to the actual output torque value of the rear motor.
6. The method according to claim 5, wherein taking the maximum value between the functional safety layer driving allowable torque and a minimum torque limit value of a motor shaft in a chassis stabilization system as the limited functional safety layer driving allowable torque comprises:
subtracting the estimated torque of the rear motor from the driving allowable torque of the functional safety layer to obtain driving allowable torque of the front motor, and subtracting the estimated torque of the front motor from the driving allowable torque of the functional safety layer to obtain driving allowable torque of the rear motor;
and taking the maximum value between the front motor driving allowable torque and the minimum torque limit value of the front motor shaft in the chassis stabilizing system as the limited functional safety layer front motor driving allowable torque, and taking the maximum value between the rear motor driving allowable torque and the minimum torque limit value of the rear motor shaft in the chassis stabilizing system as the limited functional safety layer rear motor driving allowable torque.
7. The method of claim 5, wherein calculating a deviation between the predicted torque and the limited PSD allowable torque to obtain an actual torque deviation value comprises:
calculating the deviation between the estimated torque of the front motor and the driving allowable torque of the motor before the limited function safety layer to obtain the actual torque deviation value of the front motor, and calculating the deviation between the estimated torque of the rear motor and the driving allowable torque of the motor after the limited function safety layer to obtain the actual torque deviation value of the rear motor.
8. The method of claim 1,
when the torque monitoring result is warning, using the limited function safety layer driving allowable torque to control the vehicle to operate;
and cutting off the power output of the motor when the vehicle cannot respond to the limited function safety layer driving allowable torque and the torque monitoring result is abnormal.
9. The method of claim 1,
a% is any value ranging from 25% to 35%.
10. A system for functionally safe torque monitoring, comprising a detection unit, a calculation unit and a control unit, wherein,
the detection unit is used for acquiring the running parameters of the vehicle in real time and sending the running parameters to the calculation unit;
the calculation unit is in signal connection with the detection unit and is used for circularly calculating the actual torque over-limit value of the motor according to the running parameters of the vehicle; accumulating the actual torque over-limit values calculated each time to obtain an actual torque over-limit accumulated value;
the control unit is connected with the calculation unit and is used for comparing a torque accumulated limit value matched with the operation parameter with an actual torque overrun accumulated value, so that when the actual torque overrun accumulated value is larger than or equal to a% of the torque accumulated limit value and smaller than the torque accumulated limit value, a torque monitoring result is output as a warning, and when the actual torque overrun accumulated value is larger than or equal to the torque accumulated limit value, the torque monitoring result is output as an abnormality;
wherein a% is less than 1; and is
The calculation unit cyclically calculates an actual torque over-limit value of the motor by:
calculating to obtain the estimated torque of the motor, the driving allowable torque of the limited functional safety layer and the allowable deviation torque according to the running parameters of the vehicle;
calculating the deviation between the estimated torque and the limited function safety layer driving allowable torque to obtain an actual torque deviation value;
calculating a deviation between the actual torque deviation value and the allowable deviation torque to obtain the actual torque over-limit value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010275982.0A CN111391866B (en) | 2020-04-09 | 2020-04-09 | Method and system for monitoring function safety torque |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010275982.0A CN111391866B (en) | 2020-04-09 | 2020-04-09 | Method and system for monitoring function safety torque |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111391866A true CN111391866A (en) | 2020-07-10 |
| CN111391866B CN111391866B (en) | 2021-01-15 |
Family
ID=71425132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010275982.0A Active CN111391866B (en) | 2020-04-09 | 2020-04-09 | Method and system for monitoring function safety torque |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111391866B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401126A (en) * | 2021-07-14 | 2021-09-17 | 中国第一汽车股份有限公司 | Vehicle driving torque monitoring system and method and vehicle |
| CN115723575A (en) * | 2022-11-30 | 2023-03-03 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and storage medium |
| CN116476856A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Method for detecting power output state of vehicle and storage medium |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010039642A1 (en) * | 2010-08-23 | 2012-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Method for adjusting drag torque of drive train of motor vehicle for overrun operation, involves setting route-variable drag torque at distance range of route for overrun operation |
| CN104176047A (en) * | 2013-05-27 | 2014-12-03 | 上海汽车集团股份有限公司 | Torque monitoring method and device for hybrid electric vehicle |
| CN104842818A (en) * | 2014-08-13 | 2015-08-19 | 北汽福田汽车股份有限公司 | Torque monitoring method and system thereof for electric automobiles |
| JP2018067997A (en) * | 2016-10-18 | 2018-04-26 | 三菱自動車工業株式会社 | Electric-vehicular travel control apparatus |
| DE102017204132A1 (en) * | 2017-03-13 | 2018-09-13 | Robert Bosch Gmbh | Target torque monitoring in the vehicle |
| CN110138304A (en) * | 2019-04-24 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of electric drive system stabilization control method, device and vehicle |
| CN110386033A (en) * | 2018-04-19 | 2019-10-29 | 上海汽车集团股份有限公司 | A kind of the traveling monitoring method and device of fuel-cell vehicle |
| CN110450638A (en) * | 2019-08-12 | 2019-11-15 | 上海汽车集团股份有限公司 | A kind of electric automobile during traveling monitoring method and device |
-
2020
- 2020-04-09 CN CN202010275982.0A patent/CN111391866B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102010039642A1 (en) * | 2010-08-23 | 2012-02-23 | Bayerische Motoren Werke Aktiengesellschaft | Method for adjusting drag torque of drive train of motor vehicle for overrun operation, involves setting route-variable drag torque at distance range of route for overrun operation |
| CN104176047A (en) * | 2013-05-27 | 2014-12-03 | 上海汽车集团股份有限公司 | Torque monitoring method and device for hybrid electric vehicle |
| CN104842818A (en) * | 2014-08-13 | 2015-08-19 | 北汽福田汽车股份有限公司 | Torque monitoring method and system thereof for electric automobiles |
| JP2018067997A (en) * | 2016-10-18 | 2018-04-26 | 三菱自動車工業株式会社 | Electric-vehicular travel control apparatus |
| DE102017204132A1 (en) * | 2017-03-13 | 2018-09-13 | Robert Bosch Gmbh | Target torque monitoring in the vehicle |
| CN110386033A (en) * | 2018-04-19 | 2019-10-29 | 上海汽车集团股份有限公司 | A kind of the traveling monitoring method and device of fuel-cell vehicle |
| CN110138304A (en) * | 2019-04-24 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of electric drive system stabilization control method, device and vehicle |
| CN110450638A (en) * | 2019-08-12 | 2019-11-15 | 上海汽车集团股份有限公司 | A kind of electric automobile during traveling monitoring method and device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401126A (en) * | 2021-07-14 | 2021-09-17 | 中国第一汽车股份有限公司 | Vehicle driving torque monitoring system and method and vehicle |
| CN115723575A (en) * | 2022-11-30 | 2023-03-03 | 成都赛力斯科技有限公司 | Torque control method, device, equipment and storage medium |
| CN115723575B (en) * | 2022-11-30 | 2024-04-09 | 重庆赛力斯凤凰智创科技有限公司 | Torque control method, device, equipment and storage medium |
| CN116476856A (en) * | 2023-06-25 | 2023-07-25 | 中国第一汽车股份有限公司 | Method for detecting power output state of vehicle and storage medium |
| CN116476856B (en) * | 2023-06-25 | 2023-09-01 | 中国第一汽车股份有限公司 | Method for detecting power output state of vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111391866B (en) | 2021-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111391866B (en) | Method and system for monitoring function safety torque | |
| CN107020957B (en) | Fault processing method and system of pure electric vehicle and pure electric vehicle | |
| US8956266B2 (en) | Vehicle driving force control device | |
| CN109849933B (en) | Method and device for determining driver demand torque, vehicle and readable storage medium | |
| CN109895787B (en) | Control method and control device for vehicle driving | |
| CN106240372B (en) | Control device for electric vehicle | |
| EP2444275B1 (en) | Motor torque control device | |
| CN105857075B (en) | Fatigue drive of car security protection system and method | |
| US20120290186A1 (en) | Multiplex control system, transport device having multiplex control system, and control method thereof | |
| KR20150115667A (en) | Method and device for avoiding an unintended acceleration of a motor vehicle | |
| CN105620459A (en) | Electric vehicle brake pedal diagnosing method and device | |
| CN111959487A (en) | Vehicle torque safety monitoring method and device, vehicle and storage medium | |
| CN113954806A (en) | Automobile brake control method and device and automobile | |
| CN114475263B (en) | Control method, whole vehicle controller, control system, electric vehicle and storage medium | |
| CN111645665B (en) | Driving torque control method and system for vehicle and automobile | |
| KR101229457B1 (en) | Transmission control unit for prohibiting unreasonable acceleration and deceleration of a vehicle and method thereof | |
| CN110040083B (en) | Clutch oil state detection method and device, cloud server and vehicle | |
| CN112537206A (en) | New energy automobile torque monitoring method and system | |
| CN113997791A (en) | Anti-slip control method and device for electric vehicle, vehicle and storage medium | |
| CN112810610A (en) | Curve driving control method, device and equipment and automobile | |
| CN115257667B (en) | Auxiliary braking hierarchical control method and system for heavy trucks in new energy | |
| CN114347803B (en) | New energy vehicle torque safety monitoring and processing method | |
| CN111966095B (en) | ACC Stop smooth parking control system and method | |
| CN113492690B (en) | Motor torque control method, device, equipment and automobile | |
| CN114604220B (en) | Automobile safety braking method, automobile braking system and automobile |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |