CN115723575A - Torque control method, device, equipment and storage medium - Google Patents
Torque control method, device, equipment and storage medium Download PDFInfo
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Abstract
The application relates to a torque control method, a torque control device, torque control equipment and a torque control storage medium. The torque control method comprises the following steps: monitoring and comparing the numerical values of the functional layer required torque and the safety layer required torque, and determining a torque difference value of the functional layer required torque and the safety layer required torque under the condition of inconsistency; determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state; and determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state. By adopting the torque control method provided by the application, the problem of lower safety in the prior art can be solved.
Description
Technical Field
The present application relates to the field of automatic control technologies of automobiles, and in particular, to a torque control method, apparatus, device, and storage medium.
Background
In a new energy automobile, a vehicle control unit is a core control component and is a regulation and control center of each subsystem of the new energy automobile. On one hand, the vehicle control unit can calculate the required torque required by the running of the vehicle according to the opening degree of an accelerator pedal, a gear, the opening degree of a brake pedal and the like, so that the running of each power component is coordinated according to the required torque to ensure the normal running of the vehicle. On the other hand, the vehicle control unit can also monitor the torque abnormity and take corresponding measures in time.
At present, after a vehicle control unit monitors that torque is abnormal, the vehicle control unit directly takes zero torque as target torque and sends the target torque to an actuator for execution, so that the vehicle cannot run due to power interruption. However, this method has a great potential safety hazard, for example, when the vehicle is running at a high speed, if the power of the vehicle is directly cut off and the vehicle does not react in time, a traffic accident that is dangerous to life may be caused, so the existing torque control technology has a problem of low safety.
Disclosure of Invention
Based on this, the present application provides a torque control method, apparatus, device and storage medium, which improve the problem of low safety in the prior art.
In a first aspect, the present application provides a torque control method comprising: monitoring and comparing the numerical values of the functional layer required torque and the safety layer required torque, and determining a torque difference value of the functional layer required torque and the safety layer required torque under the condition of inconsistency; determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state; and determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state includes: determining a torque interval to which the torque difference value belongs under the condition that the driving state is dynamic; determining a corresponding safety state according to the torque interval to which the torque difference value belongs; and executing the security policy corresponding to the security state.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the torque interval includes: a first interval, a second interval and a third interval; each torque difference value in the first interval is larger than a first threshold value and smaller than or equal to a second threshold value; each torque difference value in the second interval is larger than a second threshold value and is smaller than or equal to a third threshold value; each torque difference value in the third interval is greater than a third threshold value; wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
With reference to the second implementable manner of the first aspect, in a third implementable manner of the first aspect, the first safety strategy corresponding to the first safety state includes controlling the vehicle speed of the vehicle to be less than or equal to the current vehicle speed, giving an alarm through a meter, and performing limp-home running according to the vehicle speed less than or equal to a preset vehicle speed after power-off restart; the second safety strategy corresponding to the second safety state comprises that the speed of the automobile is controlled to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the automobile is powered off and restarted; and the third safety strategy corresponding to the third safety state comprises that an alarm is prompted through the instrument, and the power is lost after the preset time.
With reference to the first aspect, in a fourth implementable manner of the first aspect, the determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state includes: under the condition that the driving state is static, judging whether the torque difference value is larger than a first threshold value or not; if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safe state; and under the condition that the automobile is in a fourth safety state, executing a fourth safety strategy to give an alarm through the instrument and lose power.
With reference to the first aspect, in a fifth possible implementation manner of the first aspect, in a case where the functional layer request torque and the safety layer request torque do not have the same value, the method further includes: carrying out root mean square calculation on the vehicle speeds of the previous preset number of cycles to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated; under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current speed for running until a safety strategy is executed.
With reference to the first aspect, in a sixth possible implementation manner of the first aspect, after the step of determining the corresponding safety state according to the torque difference and the driving state, the method further includes: determining a fault code corresponding to the safety state, wherein the bit number of the bit of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state; and sending the fault code corresponding to the safety state to the whole vehicle bus, so that the fault analysis equipment checks the fault according to the fault code after acquiring the fault code through the whole vehicle bus.
In a second aspect, the present application provides a torque control device comprising: the monitoring unit is used for monitoring the numerical value of the functional layer required torque and the safety layer required torque; the comparison unit is used for comparing the numerical value of the functional layer required torque and the safety layer required torque; a determination unit for determining a torque difference value between the functional layer required torque and the safety layer required torque; the determining unit is further used for determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state; the determining unit is also used for determining a corresponding safety state according to the torque difference value and the driving state; and the execution unit is used for executing the security policy corresponding to the security state.
With reference to the second aspect, in a first possible implementation manner of the second aspect, the determining unit is configured to determine a torque interval to which the torque difference value belongs when the driving state is dynamic, and determine a corresponding safe state according to the torque interval to which the torque difference value belongs; the execution unit is specifically configured to execute a security policy corresponding to the security state.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, the torque interval includes: a first interval, a second interval and a third interval; each torque difference value in the first interval is larger than a first threshold value and smaller than or equal to a second threshold value; each torque difference value in the second interval is larger than a second threshold value and is smaller than or equal to a third threshold value; each torque difference value in the third interval is greater than a third threshold value; wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner of the second aspect, the first safety strategy corresponding to the first safety state includes controlling the vehicle speed of the vehicle to be less than or equal to the current vehicle speed, performing a warning prompt through a meter, and performing limp home at the vehicle speed less than or equal to a preset vehicle speed after power-off restart; the second safety strategy corresponding to the second safety state comprises that the speed of the automobile is controlled to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the automobile is powered off and restarted; and the third safety strategy corresponding to the third safety state comprises that an alarm is prompted through the instrument, and the power is lost after the preset time.
With reference to the second aspect, in a fourth possible implementation manner of the second aspect, the determining unit is specifically configured to, when the driving state is static, determine whether the torque difference is greater than a first threshold, and if the torque difference is greater than the first threshold, determine that the vehicle is in a fourth safe state; the execution unit is specifically used for executing a fourth safety strategy under the condition that the automobile is in a fourth safety state, so that the instrument gives an alarm and the power is lost.
With reference to the second aspect, in a fifth implementable manner of the second aspect, the execution unit is further configured to: carrying out root mean square calculation on the vehicle speeds of the previous preset number of cycles to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated; under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value; and under the condition that the opening degree difference value is larger than the opening degree threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current automobile speed to run until a safety strategy is executed.
With reference to the second aspect, in a sixth implementable manner of the second aspect, the execution unit is further configured to: determining a fault code corresponding to the safety state, wherein the bit number of the bit of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state; and sending the fault code corresponding to the safety state to the whole vehicle bus, so that the fault analysis equipment checks the fault according to the fault code after acquiring the fault code through the whole vehicle bus.
In a third aspect, the present application also provides a torque control apparatus comprising a processor and a memory, the processor and the memory being connected by a bus; a processor for executing a plurality of instructions; a memory for storing a plurality of instructions adapted to be loaded by the processor and to perform a torque control method as described in the first aspect or any one of the embodiments of the first aspect.
In a fourth aspect, the present application further provides a computer-readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform a torque control method according to the first aspect or any one of the embodiments of the first aspect.
In summary, the present application provides a torque control method, a torque control apparatus, a torque control device, and a torque control storage medium, wherein when determining that a torque is abnormal according to a value of a functional layer required torque and a safety layer required torque, the torque control apparatus/the torque control device does not directly cut off power of an automobile, but identifies a corresponding safety state according to a driving state of the automobile and a torque difference between the two required torques, and then executes a safety policy corresponding to the safety state. Therefore, when the torque is abnormal, the torque control method identifies the safety state of the automobile and takes targeted safety measures in different safety states, so that the problem of low safety in the prior art can be solved by adopting the method and the equipment provided by the application.
Drawings
FIG. 1 is a schematic flow chart diagram of a torque control method in one embodiment provided herein;
FIG. 2 is a schematic flow chart diagram of a torque control method in another embodiment provided herein;
FIG. 3 is a schematic block diagram of a torque control apparatus provided herein;
fig. 4 is a structural block diagram of a torque control apparatus provided in the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.
Since the embodiments of the present application relate to relatively many terms of art, the following description will first describe terms and concepts related to the embodiments of the present application in order to facilitate understanding.
It should be noted that the torque control devices/apparatuses referred to in the following of the present application may include, but are not limited to, a Vehicle Control Unit (VCU), a dedicated torque control device/apparatus, a terminal device, a computer, a processor, etc., and may be a device integrated with the Vehicle or a detachable independent device on the Vehicle. The torque control device/apparatus may perform data interaction with other apparatuses on the vehicle, for example, obtain a current vehicle speed of the vehicle, which is not described herein again. The processor may include, but is not limited to, an Electronic Control Unit (ECU), a Central Processing Unit (CPU), a general purpose processor, a coprocessor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, transistor logic, hardware components, or any combination thereof.
It should be further noted that the drawings provided in this embodiment are only for schematically illustrating the basic concept of the present application, and the components related to the present application are only shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, the type, quantity and proportion of each component in actual implementation can be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the content of the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims and the appended claims, and therefore, they do not have the essential meaning in the art, and any structural modification, changes in proportions, or adjustments in size, should not affect the performance or performance of the disclosure, but fall within the scope of the disclosure. Meanwhile, the directions or positional relationships referred to in the specification as "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential", and the like are directions or positional relationships based on the directions or positional relationships shown in the drawings, and are merely for convenience of description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operated in a specific direction, and that changes or adjustments of the relative relationships thereof are considered to be the scope in which the present application can be implemented without substantial technical changes. And are therefore not to be construed as limiting the present application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
At present, after a vehicle control unit monitors that torque is abnormal, the vehicle control unit directly takes zero torque as target torque and sends the target torque to an actuator for execution, so that the vehicle cannot run due to power interruption. However, the method does not consider to distinguish the driving states of the automobile, adopts power interruption in a cutting mode, and possibly causes traffic accidents, so that the existing torque control technology has the problem of low safety.
Therefore, the torque control method identifies the safety state of the automobile when the torque is abnormal, and takes targeted safety measures under different safety states, so that the safety of torque control is improved. Specifically, the torque control device monitors and compares the numerical values of the functional layer required torque and the safety layer required torque, and determines a torque difference value of the functional layer required torque and the safety layer required torque under the condition of inconsistency; determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state; and determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state.
Based on the above description, the torque device of the present application compares the torque difference between the two required torques, if the torque difference is not zero, it is indicated that the torque is abnormal, at this time, the driving state of the vehicle is determined according to the current vehicle speed, since the magnitude of the torque difference reflects the severity of the torque abnormality, and the driving state of the vehicle reflects whether the vehicle is in a moving state or an almost stationary state, the driving condition (i.e., a safe state) of the vehicle can be determined according to the torque difference and the driving state, and then the torque device executes a torque strategy corresponding to the safe state, instead of directly losing power, so that the safety of torque control is improved.
In one embodiment, in order to understand the torque control method of the present application, the present application will be described with reference to the flowchart shown in fig. 1 and taking a torque control device as an execution subject, specifically:
101: and monitoring and comparing the numerical values of the functional layer required torque and the safety layer required torque, and determining the torque difference value of the functional layer required torque and the safety layer required torque under the condition of inconsistency.
The functional layer required torque and the safety layer required torque are required torques calculated by torque link function safety monitoring software of a torque device (such as a VCU) through two algorithms, the required torques may be torques calculated by the torque device according to a driver request (an accelerator pedal opening, a gear position and a brake pedal opening), or may be torques calculated according to an automatic Control System request, and the automatic Control System may be, for example, an automatic Driving System (autopilot System), a Longitudinal Control module (VLC), an automatic Parking Assist System (APA), or the like, which is not limited by the present application. Since the two required torques are calculated according to the two algorithms, respectively, it is possible to determine whether the torques are abnormal by comparing whether they coincide. Under the condition of consistency, the torque is normal, and the two required torques are continuously monitored; in the case of inconsistency, a torque anomaly is declared, at which time the torque difference is calculated. The magnitude of the torque difference reflects the severity of the torque abnormality on one hand, and reflects how long the vehicle collides with the front vehicle or the rear vehicle on the other hand, and the larger the torque difference is, the shorter the time the vehicle collides with the front vehicle or the rear vehicle.
102: and determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and dynamic state.
The torque control device compares the current speed of the automobile with a speed threshold (for example, 3 km/h), and if the current speed of the automobile is greater than or equal to the speed threshold, the running state of the automobile is dynamic; and if the current speed of the automobile is less than the speed threshold value, the running state of the automobile is static.
103: and determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state.
Wherein the torque control device determines a safety state based on the torque difference and the driving state, and executes a corresponding safety strategy. It should be noted that the safety policy in the case where the driving state is dynamic is more strict than the static safety policy, and the safety policy in the case of a high torque difference is more strict than the safety policy in the case of a low torque difference. For example, in the case that the driving state of the automobile is static and the torque difference is greater than 230 nm, the corresponding torque strategy is: and the instrument gives an alarm to prompt and lose power. For another example, when the driving state of the vehicle is dynamic and the torque difference is greater than 530 nm, the corresponding torque policy is: and alarming is carried out through the instrument, and the power is lost after the preset time. It can be seen that since the vehicle is almost stationary at rest, direct power switching does not have much impact, and the direct loss of power at this time can prevent the situation from deteriorating. In dynamic state, because the automobile is in rapid motion, if power is directly lost, danger is caused, and therefore, an alarm prompt is given first, the driver is given full response time, and power is lost after some countermeasures are taken.
In one practical aspect, the determining a corresponding safety state according to the torque difference and the driving state, and executing a safety strategy corresponding to the safety state includes: determining a torque interval to which the torque difference value belongs under the condition that the driving state of the automobile is dynamic; determining a corresponding safety state according to the torque interval to which the torque difference value belongs; and executing the security policy corresponding to the security state.
In this embodiment, when determining the corresponding safety state according to the torque difference and the driving state, the torque control device determines whether the driving state of the vehicle is static or dynamic, and if so, determines the torque interval to which the torque difference belongs, and each torque interval corresponds to one safety state.
In one practical aspect, the torque interval includes: a first interval, a second interval and a third interval; each torque difference value in the first interval is larger than a first threshold value and smaller than or equal to a second threshold value; each torque difference value in the second interval is larger than a second threshold value and is smaller than or equal to a third threshold value; each torque difference value in the third interval is greater than a third threshold value; wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
In the present embodiment, the torque may be divided into three intervals, and the first threshold, the second threshold, and the third threshold may be 230 nm, 330 nm, and 530 nm, that is, the first interval is 230,330, the second interval is 330,530, and the third interval is 530, + ∞. The first interval corresponds to a first security state, the first security state corresponds to a first security policy, the second interval corresponds to a second security state, the second security state corresponds to a second security policy, the third interval corresponds to a third security state, and the third security state corresponds to a third security policy.
It should be noted that the first threshold, the second threshold, and the third threshold are obtained according to statistics, calibration experience, and simulation. Specifically, assuming that the distance between the vehicle and the front vehicle is 1 time of the speed per hour, the fault tolerance of a preset magnitude is setThe method comprises the following steps of calculating a collision between a vehicle and a front vehicle or a rear vehicle when the vehicle is accelerated by a kinematic analysis at an interval of time between errors (FTTI) and calculating a corresponding torque difference value through acceleration, vehicle mass, transmission ratio and the like. Specifically, the mathematical expression of the kinematic analysis is (S + V1 × T) = V2 × T +0.5 × a × T 2 (formula one), F = m × a (formula two), and T = F × R/I (formula three), where S is a vehicle distance between the vehicle and the front vehicle or the rear vehicle, V1 is a current vehicle speed of the front vehicle or the rear vehicle, V2 is a current vehicle speed of the vehicle, T is FTTI, a is an acceleration, m is a vehicle mass, F is a torque difference value, R is a tire radius, and I is a transmission ratio. The available torque difference can be calculated from equation one, equation two and equation three. Therefore, the first threshold, the second threshold and the third threshold are used for measuring the severity of the torque abnormality of the automobile on one hand, and reflect that the automobile may collide with a front automobile or a rear automobile after different FTTIs on the other hand, the FTTI corresponding to the first threshold is larger than the FTTI corresponding to the second threshold, and the FTTI corresponding to the second threshold is larger than the FTTI corresponding to the third threshold.
In an implementable mode, the first safety strategy corresponding to the first safety state comprises the steps of controlling the speed of the automobile to be less than or equal to the current speed, giving an alarm through an instrument, and performing limp-home running according to the speed of the automobile less than or equal to the preset speed after power-off restarting; the second safety strategy corresponding to the second safety state comprises that the speed of the automobile is controlled to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the automobile is powered off and restarted; and the third safety strategy corresponding to the third safety state comprises that an alarm is prompted through an instrument, and power is lost after preset time.
In this embodiment, different safety states correspond to different safety policies when the driving state of the vehicle is dynamic. Specifically, the method comprises the following steps: in a first safety state, the torque control device controls the speed of the automobile to be less than or equal to the current speed by controlling a motor and the like, carries out alarm prompt by an instrument to prompt a driver that the torque is abnormal and take a countermeasure, and limps home or goes to a repair station at a preset speed of less than or equal to 40km/h and the like after next power-off restart; in a second safety state, the torque control equipment controls the speed of the automobile to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the next power-off restart; in a third safety state, the torque control device alerts through the meter and loses power after a preset time. It can be seen that the greater the torque difference, the more stringent the safety measures are taken, and therefore the safety of the torque control can be further improved by applying the present embodiment.
In one practical mode, determining a corresponding safety state according to the torque difference value and the driving state, and executing a safety strategy corresponding to the safety state comprises the following steps: under the condition that the driving state of the automobile is static, judging whether the torque difference value is larger than a first threshold value or not; if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safe state; and under the condition that the automobile is in a fourth safety state, executing a fourth safety strategy to give an alarm prompt through the instrument and lose power.
In this embodiment, when the driving state of the vehicle is static, the torque control device determines whether the torque difference is greater than a first threshold (for example, 230 nm), and if so, determines that the vehicle is in a fourth safety state, and executes a fourth safety strategy to give an alarm through a meter and lose power.
In one possible implementation, in a case where the functional layer request torque and the safety layer request torque do not have the same magnitude, the method further includes: carrying out root mean square calculation on the vehicle speeds of the previous preset number of cycles to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated; under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current speed for running until a safety strategy is executed.
In this embodiment, in order to prevent unintended acceleration and deceleration and further improve the safety of torque control, the torque control device calculates the vehicle speed of a predetermined number (for example, 50) of cycles before the current time as a root mean square to obtain an average vehicle speed representing the magnitude of the historical vehicle speed and confirms the average vehicle speed by debounce before executing the safety strategy, thereby reducing the speed error. And then, performing difference operation on the average vehicle speed and the current vehicle speed to judge whether the vehicle has acceleration or deceleration, wherein if the absolute value of the difference between the average vehicle speed and the current vehicle speed is greater than a preset vehicle speed (for example, 0), the acceleration or deceleration is indicated to exist, and otherwise, the acceleration or deceleration is not performed. If acceleration and deceleration exist, divergence analysis is carried out on the opening degree value of the accelerator pedal and debounce confirmation is carried out to determine the opening degree difference value of the accelerator pedal, namely the difference value between the current opening degree value of the accelerator pedal and the opening degree value of the previous period, otherwise, the difference value is not needed. Finally, the intention of the driver is recognized through the size relation between the opening degree difference value and the opening degree threshold value, if the opening degree difference value is larger than the opening degree threshold value, the fact that abnormal acceleration or deceleration exists in the automobile is determined, and the fact that acceleration and deceleration which are not the driving intention exist is indicated, for example, the driver steps on an accelerator suddenly and the like, the current speed is maintained at the moment, and a safety strategy is executed; and if the opening difference value is smaller than or equal to the opening threshold value, determining that the automobile has no abnormal acceleration or deceleration, and indicating that the automobile has no acceleration or deceleration of the driving intention, wherein the current speed is not required to be maintained. Therefore, the embodiment can determine whether to maintain the current speed by identifying whether acceleration and deceleration which is not the intention of the driver exists, and can further improve the safety of the automobile in the case of abnormal torque.
In an implementable manner, after the step of determining the corresponding safety state from the torque difference and the driving state, the method further comprises: determining a fault code corresponding to the safety state, wherein the bit number of the bit of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state; and sending the fault code corresponding to the safety state to the whole vehicle bus, so that the fault analysis equipment checks the fault according to the fault code after acquiring the fault code through the whole vehicle bus.
In this implementation manner, after the safety state of the vehicle is determined, not only the corresponding safety strategy may be executed, but also the safety state may be encoded to generate a fault code and send the fault code to the entire vehicle CAN, so that the fault analysis device may troubleshoot the fault according to the fault code after acquiring the fault code through the entire vehicle bus. Specifically, it is assumed that the safety state includes the foregoing four cases, and the fault code includes four bits, and each bit is used to indicate a safety state. For example, the fault code 1000 represents a first safety state, the fault code 0100 represents a second safety state, the fault code 0010 represents a third safety state, and the fault code 0001 represents a fourth safety state.
In another embodiment, the present application further provides a more specific implementation. Next, the present application will describe a specific implementation process of the torque control method proposed in the present embodiment, with the torque control device as an execution subject. Specifically, the method comprises the following steps:
201: the numerical value of the functional layer required torque and the safety layer required torque are monitored and compared
The torque control device monitors the numerical value of the functional layer required torque and the safety layer required torque, and compares the numerical value of the two required torques. If the two required torques are consistent in value, the torque is normal, and step 201 is continuously executed to continuously monitor the two required torques; if the two values of the required torque are not equal, it indicates a torque abnormality, and step 202 is executed.
202: in the event of a discrepancy, a torque difference between the functional layer request torque and the safety layer request torque is determined.
And under the condition that the two required torques are inconsistent, the torque control device calculates a torque difference value between the required torque of the functional layer and the required torque of the safety layer, wherein the magnitude of the torque difference value reflects the severity of the abnormal torque on one hand and reflects how long the front vehicle or the rear vehicle collides, and the larger the torque difference value is, the shorter the time the collision occurs.
203: and determining the running state according to the current speed of the automobile.
The driving state can be divided into two types according to the current speed of the automobile: static and dynamic. If the current vehicle speed is more than or equal to 3km/h, the driving state is dynamic; and if the current vehicle speed is less than 3km/h, the driving state is static.
204: the car is in motion.
205: and determining a torque interval to which the torque difference belongs.
And if the torque control equipment determines that the automobile is in a dynamic state, the torque control equipment further determines a torque interval to which a torque difference value of the two required torques belongs. Wherein the first torque interval is 230,330, the second interval is 330,530, and the third interval is 530, + ∞.
206: the torque difference belongs to the first interval.
207: it is determined that the vehicle is in a first safety state and a first safety policy is enforced.
When the vehicle is in a dynamic state, if the torque difference value belongs to a first interval 230,330, the vehicle is in a first safety state, a first safety strategy is executed, namely the vehicle speed of the vehicle is controlled to be less than or equal to the current vehicle speed, an alarm is given through a meter, and limp home or a repair station is carried out according to the vehicle speed of less than or equal to 40km/h after the vehicle is powered off and restarted.
208: the torque difference belongs to the second interval.
209: determining that the vehicle is in a second safety state, and executing a second safety strategy.
When the vehicle is in a dynamic state, if the torque difference value belongs to the second interval 330,530, the vehicle is in a second safety state, a second safety strategy is executed, namely the vehicle speed of the vehicle is controlled to be less than or equal to the current vehicle speed, an alarm is given through an instrument, and power is lost after the vehicle is powered off and restarted.
210: the torque difference belongs to the third interval.
211: determining that the vehicle is in a third safety state, and executing a third safety strategy.
In the dynamic state, if the torque difference belongs to a third interval 530, + ∞, the automobile is in a third safety state, and a third safety strategy is executed, namely, an alarm is given through an instrument, and the power is lost after a preset time.
212: the car is in a static state.
213: determine if the torque difference is greater than a first threshold?
If the torque control device determines that the automobile is in a static state, the torque control device further determines whether a torque difference value between the two required torques is greater than a first threshold, if so, step 214 is executed, otherwise, the step is not executed.
214: determining that the vehicle is in a fourth safety state, and executing a fourth safety strategy.
And in a static state, if the torque difference value is greater than 230 nm, the automobile is in a fourth safety state, and a fourth safety strategy is executed, namely, an instrument is used for giving an alarm and prompting, and power is lost.
In summary, the embodiment of the present application provides a more specific implementation process, the safety states of the vehicle are divided into four types, and each safety state corresponds to one safety policy, so that the problem of low safety in the prior art can be solved by using the method and the device provided by the present application.
In another embodiment, the present application further provides a torque control device, see fig. 3. In the embodiment of the present application, the device may be divided into the functional units according to the method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit. It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. As shown in fig. 3, the torque control apparatus includes a monitoring unit 310, a comparing unit 320, a determining unit 330, and an executing unit 340, specifically: a monitoring unit 310, configured to monitor the magnitudes of the functional layer required torque and the safety layer required torque; a comparing unit 320 for comparing the functional layer required torque and the safety layer required torque; a determination unit 330 for determining a torque difference value of the functional layer demand torque and the safety layer demand torque; the determining unit 330 is further configured to determine a driving state according to the current vehicle speed, where the driving state includes a static state and a dynamic state; the determining unit 330 is further configured to determine a corresponding safety state according to the torque difference and the driving state; and the executing unit 340 is configured to execute the security policy corresponding to the security state.
In an implementation manner, the determining unit 330 is configured to determine a torque interval to which the torque difference value belongs when the driving state of the vehicle is dynamic, and determine the corresponding safety state according to the torque interval to which the torque difference value belongs; the execution unit 340 is specifically configured to execute a security policy corresponding to the security state.
In one embodiment, the torque interval includes: a first interval, a second interval and a third interval; each torque difference value in the first interval is larger than a first threshold value and smaller than or equal to a second threshold value; each torque difference value in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference value in the third interval is greater than a third threshold value; wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
In an implementation manner, the first safety strategy corresponding to the first safety state comprises controlling the vehicle speed of the vehicle to be less than or equal to the current vehicle speed, giving an alarm through a meter, and performing limp-home running according to the vehicle speed less than or equal to the preset vehicle speed after power-off restarting; the second safety strategy corresponding to the second safety state comprises that the speed of the automobile is controlled to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the automobile is powered off and restarted; and the third safety strategy corresponding to the third safety state comprises that an alarm is prompted through the instrument, and the power is lost after the preset time.
In an implementation manner, the determining unit 330 is specifically configured to, when the driving state of the vehicle is static, determine whether the torque difference is greater than a first threshold, and if the torque difference is greater than the first threshold, determine that the vehicle is in a fourth safe state; the execution unit 340 is specifically configured to execute a fourth safety strategy when the vehicle is in a fourth safety state, so as to perform an alarm prompt through the meter and lose power.
In an implementation manner, the execution unit 340 is further configured to: carrying out root mean square calculation on the vehicle speeds of the previous preset number of cycles to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated; under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current speed for running until a safety strategy is executed.
In an implementation manner, the execution unit 340 is further configured to: determining a fault code corresponding to the safety state, wherein the bit number of the bit of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state; and sending the fault code corresponding to the safety state to the whole vehicle bus, so that the fault analysis equipment checks the fault according to the fault code after acquiring the fault code through the whole vehicle bus.
In another embodiment, the present application further provides a torque control apparatus, see fig. 4. The torque control apparatus in the present embodiment as shown in the drawings may include: a processor 410 and a memory 420. The processor 410 and the memory 420 are connected by a bus 430. A processor 410 for executing a plurality of instructions; memory 420 for storing a plurality of instructions adapted to be loaded by processor 410 and to perform the torque control method as in the previous embodiments.
The processor 410 may be an Electronic Control Unit (ECU), a Central Processing Unit (CPU), a general purpose processor, a coprocessor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor 410 may also be a combination that performs a computational function, such as a combination comprising one or more microprocessors, a combination of 5SP and a microprocessor, or the like. In this embodiment, the processor 410 may adopt a single chip, and various control functions may be implemented by programming the single chip, for example, in this embodiment, functions such as executing a security policy are implemented, and the processor has the advantages of strong computing capability and fast processing speed. Specifically, the method comprises the following steps: the processor 410 is configured to execute the function of the monitoring unit 310, and is configured to monitor the magnitudes of the functional layer required torque and the security layer required torque; and is further configured to perform the function of the comparison unit 320, for comparing the values of the functional layer required torque and the security layer required torque; is further configured to perform the function of the determination unit 330 for determining a torque difference of the functional layer required torque and the safety layer required torque; and is further configured to perform the function of the determining unit 330, and is further configured to determine a driving state according to the current vehicle speed, wherein the driving state includes static state and dynamic state; the safety control system is also used for determining a corresponding safety state according to the torque difference value and the driving state; and is further configured to perform the function of the execution unit 340, which is configured to execute the security policy corresponding to the security status.
In one implementation, the processor 410 is configured to: determining a torque interval to which the torque difference value belongs under the condition that the driving state of the automobile is dynamic; determining a corresponding safety state according to the torque interval to which the torque difference value belongs; and the security policy corresponding to the security state is executed.
In one embodiment, the torque interval includes: a first interval, a second interval and a third interval; each torque difference value in the first interval is larger than a first threshold value and smaller than or equal to a second threshold value; each torque difference value in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference value in the third interval is greater than a third threshold value; wherein the first threshold is smaller than the second threshold, and the second threshold is smaller than the third threshold; the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
In one possible implementation manner, the first safety strategy corresponding to the first safety state includes that the vehicle speed of the automobile is controlled to be less than or equal to the current vehicle speed, an alarm is given through an instrument, and limp driving is performed according to the vehicle speed less than or equal to the preset vehicle speed after power-off restarting; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be less than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-off and restarting; and the third safety strategy corresponding to the third safety state comprises that an alarm is prompted through the instrument, and the power is lost after the preset time.
In one implementation, the processor 410 is configured to: under the condition that the running state of the automobile is static, judging whether the torque difference value is larger than a first threshold value or not, and if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safety state; and under the condition that the automobile is in a fourth safety state, executing a fourth safety strategy to give an alarm prompt through the instrument and lose power.
In one implementation, the processor 410 is further configured to: carrying out root mean square calculation on the vehicle speeds of the previous preset number of cycles to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated; under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current speed for running until a safety strategy is executed.
In one implementation, the processor 410 is further configured to: determining a fault code corresponding to the safety state, wherein the bit number of the bit of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state; and sending the fault code corresponding to the safety state to the whole vehicle bus, so that the fault analysis equipment checks the fault according to the fault code after acquiring the fault code through the whole vehicle bus.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A torque control method, comprising:
monitoring and comparing numerical values of the functional layer required torque and the safety layer required torque, and determining a torque difference value of the functional layer required torque and the safety layer required torque under the condition of inconsistency;
determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state;
and determining a corresponding safety state according to the torque difference value and the driving state, and executing a safety strategy corresponding to the safety state.
2. The method of claim 1, wherein determining a corresponding safety state based on the torque difference and a driving condition and implementing a safety strategy corresponding to the safety state comprises:
determining a torque interval to which the torque difference value belongs under the condition that the driving state is dynamic;
determining a corresponding safety state according to the torque interval to which the torque difference value belongs;
and executing the security policy corresponding to the security state.
3. The method of claim 2, wherein the torque interval comprises:
a first interval, a second interval and a third interval;
wherein each torque difference value in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference value in the second interval is greater than the second threshold value and less than or equal to a third threshold value; each torque difference value in a third interval is greater than the third threshold value;
wherein the first threshold is less than the second threshold, which is less than a third threshold;
the first interval corresponds to a first safety state, the second interval corresponds to a second safety state, and the third interval corresponds to a third safety state.
4. The method according to claim 3, characterized in that the first safety strategy corresponding to the first safety state comprises controlling the vehicle speed of the vehicle to be less than or equal to the current vehicle speed, carrying out alarm prompt through a meter, and carrying out limp home after power-off restart according to the vehicle speed less than or equal to the preset vehicle speed;
the second safety strategy corresponding to the second safety state comprises that the speed of the automobile is controlled to be less than or equal to the current speed, an alarm is given through an instrument, and power is lost after the automobile is powered off and restarted;
and the third safety strategy corresponding to the third safety state comprises that an alarm prompt is given through an instrument, and the power is lost after preset time.
5. The method of claim 1, wherein determining a corresponding safety state based on the torque difference and a driving condition and implementing a safety strategy corresponding to the safety state comprises:
under the condition that the driving state is static, judging whether the torque difference value is larger than a first threshold value or not;
if the torque difference value is larger than a first threshold value, determining that the automobile is in a fourth safety state;
and under the condition that the automobile is in the fourth safety state, executing a fourth safety strategy to give an alarm prompt through an instrument and lose power.
6. The method of claim 1, wherein in the event that the functional layer request torque does not match the safety layer request torque in magnitude, the method further comprises:
carrying out root mean square calculation on the vehicle speeds of the preset number of periods to obtain an average vehicle speed, and carrying out difference operation on the average vehicle speed and the current vehicle speed to determine whether the vehicle is accelerated or decelerated;
under the condition that the automobile is accelerated or decelerated, the opening degree value of an accelerator pedal is monitored, and divergence analysis is carried out on the opening degree value to obtain an opening degree difference value;
and under the condition that the opening degree difference value is larger than an opening degree threshold value, determining that the automobile has abnormal acceleration or deceleration, and keeping the current automobile speed running until a safety strategy is executed.
7. The method of claim 1, wherein after the step of determining a corresponding safe state based on the torque difference and a driving condition, the method further comprises:
determining a fault code corresponding to the safety state, wherein the number of bits of the fault code is equal to the number of the safety state, and each bit in the fault code is used for representing one safety state;
and sending the fault code corresponding to the safety state to a whole vehicle bus, so that after the fault analysis equipment acquires the fault code through the whole vehicle bus, the fault is checked according to the fault code.
8. A torque control device, comprising:
the monitoring unit is used for monitoring the numerical values of the functional layer required torque and the safety layer required torque;
the comparison unit is used for comparing the numerical value of the functional layer required torque with the numerical value of the safety layer required torque;
a determination unit configured to determine a torque difference value between the functional layer demand torque and a safety layer demand torque; the vehicle driving state control system is further used for determining a driving state according to the current vehicle speed, wherein the driving state comprises a static state and a dynamic state; the safety control device is also used for determining a corresponding safety state according to the torque difference value and the driving state;
and the execution unit is used for executing the security policy corresponding to the security state.
9. A torque control apparatus, comprising a processor and a memory, the processor and memory being connected by a bus; the processor to execute a plurality of instructions; the storage medium storing the plurality of instructions adapted to be loaded by the processor and to perform the torque control method of any of claims 1-7.
10. A computer readable storage medium having stored thereon a plurality of instructions adapted to be loaded by a processor and to perform the torque control method according to any one of claims 1-7.
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