CN115723575B - Torque control method, device, equipment and storage medium - Google Patents
Torque control method, device, equipment and storage medium Download PDFInfo
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- CN115723575B CN115723575B CN202211527305.9A CN202211527305A CN115723575B CN 115723575 B CN115723575 B CN 115723575B CN 202211527305 A CN202211527305 A CN 202211527305A CN 115723575 B CN115723575 B CN 115723575B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The application relates to a torque control method, a torque control device, torque control equipment and a 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 inconsistent values; determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and 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. The torque control method provided by the application can improve the problem of lower safety in the prior art.
Description
Technical Field
The present disclosure relates to the field of automatic control technologies for automobiles, and in particular, to a torque control method, apparatus, device, and storage medium.
Background
In the new energy automobile, the whole automobile controller is a core control component and is a regulation and control center of each subsystem of the new energy automobile. On the one hand, the vehicle controller can calculate the required torque required by the running of the vehicle according to the opening degree of an accelerator pedal, the gear, the opening degree of a brake pedal and the like, so that the running of each power part is coordinated according to the required torque, and the normal running of the vehicle is ensured. On the other hand, the whole vehicle controller can monitor the torque abnormality and take countermeasures in time.
At present, after the torque abnormality is monitored, the whole vehicle controller 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 has great potential safety hazards, for example, if the power of the automobile is directly cut off when the automobile is running at a high speed and the automobile does not react in time, life-threatening traffic accidents are likely to occur, so that the existing torque control technology has the problem of lower safety.
Disclosure of Invention
Based on the above, the application provides a torque control method, a torque control device, torque control equipment and a storage medium, which are used for solving the problem of lower safety in the prior art.
In a first aspect, the present application provides a torque control method, including: 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 inconsistent values; determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and 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.
With reference to the first aspect, in a first implementation manner of the first aspect, determining a corresponding safety state according to the torque difference value and the driving state, and executing a safety policy corresponding to the safety state includes: determining a torque section to which the torque difference value belongs under the condition that the driving state is dynamic; determining a corresponding safety state according to a 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 section, a second section, and a third section; wherein each torque difference in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference in the third interval is greater than a third threshold; wherein the first threshold is less than the second threshold, and the second threshold is less 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 first aspect, in a third possible implementation manner of the first aspect, the first security policy corresponding to the first security state includes controlling a vehicle speed of the vehicle to be less than or equal to a current vehicle speed, performing an alarm prompt through an instrument, and performing limp-home at a vehicle speed less than or equal to a preset vehicle speed after restarting after power-down; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; the third safety strategy corresponding to the third safety state comprises the steps of alarming through the instrument and losing power after the preset time.
With reference to the first aspect, in a fourth implementation manner of the first aspect, determining a corresponding safety state according to the torque difference value and the driving state, and executing a safety policy corresponding to the safety state includes: judging whether the torque difference is larger than a first threshold value under the condition that the running state is static; if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safety state; and executing a fourth safety strategy under the condition that the automobile is in a fourth safety state so as to give an alarm prompt 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 that the value of the functional layer required torque is inconsistent with the value of the safety layer required torque, the method further includes: carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates; under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference is carried out on the opening value to obtain an opening difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
With reference to the first aspect, in a sixth implementation manner of the first aspect, after the step of determining the corresponding safety state according to the torque difference value and the driving state, the method further includes: 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 the whole bus, so that the fault analysis equipment can conduct fault investigation according to the fault code after obtaining the fault code through the whole bus.
In a second aspect, the present application provides a torque control apparatus 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; the determining unit is used 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 running state according to the current vehicle speed, wherein the running state comprises static state and 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 implementation manner of the second aspect, the determining unit is configured to determine, when a driving state is dynamic, a torque interval to which a torque difference value belongs, and determine a corresponding safety 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 section, a second section, and a third section; wherein each torque difference in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference in the third interval is greater than a third threshold; wherein the first threshold is less than the second threshold, and the second threshold is less 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 security policy corresponding to the first security state includes controlling a vehicle speed of the vehicle to be less than or equal to a current vehicle speed, performing an alarm prompt through an instrument, and performing limp-home at a vehicle speed less than or equal to a preset vehicle speed after restarting after power-down; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; the third safety strategy corresponding to the third safety state comprises the steps of alarming through the instrument and losing power after the preset time.
With reference to the second aspect, in a fourth implementation manner of the second aspect, the determining unit is specifically configured to determine whether the torque difference is greater than a first threshold when the driving state is static, and determine that the vehicle is in a fourth safe state if the torque difference is greater than the first threshold; the execution unit is specifically configured to execute a fourth safety strategy when the automobile is in a fourth safety state, so as to perform an alarm prompt through the instrument and lose power.
With reference to the second aspect, in a fifth implementation manner of the second aspect, the execution unit is further configured to: carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates; under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference is carried out on the opening value to obtain an opening difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
With reference to the second aspect, in a sixth implementation manner of the second aspect, the execution unit is further configured to: 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 the whole bus, so that the fault analysis equipment can conduct fault investigation according to the fault code after obtaining the fault code through the whole bus.
In a third aspect, the present application also provides a torque control apparatus, the 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 the torque control method as in the first aspect or any of the embodiments of the first aspect.
In a fourth aspect, the present application also provides a computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and to perform the torque control method as in the first aspect or any of the embodiments of the first aspect.
In summary, the present application provides a torque control method, apparatus, device, and storage medium, where when determining that torque is abnormal according to the values of the torque required by the functional layer and the torque required by the safety layer, the torque control apparatus/device does not directly cut off power of the automobile, but identifies a corresponding safety state according to the running state of the automobile and the torque difference between the two required torques, and then executes a safety strategy corresponding to the safety state. Therefore, the torque control method identifies the safety state of the automobile when the torque is abnormal, and adopts targeted safety measures under different safety states, so that the problem of lower safety in the prior art can be solved by adopting the method and the device provided by the application.
Drawings
FIG. 1 is a flow chart of a torque control method according to one embodiment of the present application;
FIG. 2 is a flow chart of a torque control method according to another embodiment of the present application;
FIG. 3 is a schematic block diagram of a torque control apparatus provided herein;
fig. 4 is a block diagram of a torque control apparatus provided herein.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Since embodiments of the present application relate to relatively many terms of art, for ease of understanding, the following description will first discuss related terms and concepts that embodiments of the present application may relate to.
It should be noted that, the torque control device/apparatus referred to in the present application may include, but is not limited to, a vehicle controller (Vehicle control unit, VCU), a dedicated torque control device/apparatus, a terminal device, a computer, a processor, etc., and may be one device integrated in an automobile or may be a detachable independent device on an automobile. The torque control device/apparatus may perform data interaction with other devices on the automobile, for example, obtain a current speed of the automobile, which is not described herein. The processor may include, but is not limited to, an electronic control unit (Electronic Control Unit, ECU), a central processing unit (central processing unit, CPU), a general purpose processor, a co-processor, a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (field programmable gate array, FPGA) or other programmable logic device, transistor logic device, hardware components, or any combination thereof.
It should be further noted that the illustrations provided in the present embodiment merely schematically illustrate the basic concepts of the present application, and only the components related to the present application are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex. The structures, proportions, sizes, etc. shown in the drawings attached hereto are for illustration purposes only and should not be construed as limiting the scope of the invention, since any structural modifications, changes in proportions, or adjustments of sizes, which may be made by those skilled in the art, should not be construed as limiting the scope of the invention, which is otherwise, limited to the specific embodiments disclosed herein, without affecting the efficiency and objects attained by the subject invention. Meanwhile, references in the specification to the orientation or positional relationship as "upper", "lower", "left", "right", "middle", "longitudinal", "transverse", "horizontal", "inner", "outer", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, are also for convenience of description only, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and be changed or adjusted in relative relationship without substantial modification of the technical content, but are also regarded as the scope of the application that can be implemented. And therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
At present, after the torque abnormality is monitored, the whole vehicle controller 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 the distinction of the running state of the automobile, adopts power interruption in a cut-off mode, and is likely to cause traffic accidents, so that the existing torque control technology has the problem of lower safety.
In contrast, the torque control method is provided, and the safety state of the automobile is identified when the torque is abnormal, and targeted safety measures are adopted 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 between the functional layer required torque and the safety layer required torque under the condition of inconsistent values; determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and 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.
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, the torque abnormality is described, at this time, the driving state of the automobile is determined according to the current vehicle speed, and since the magnitude of the torque difference reflects the severity of the torque abnormality, the driving state of the automobile reflects whether the automobile is in a motion state or a nearly stationary state, and therefore, the driving situation (i.e., a safe state) of the automobile 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, thereby improving the safety of torque control.
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 flow chart shown in fig. 1, and the torque control device is used as an execution body, specifically to describe a specific implementation procedure of the present application:
101: and 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 inconsistent.
The torque link function safety monitoring software of the torque device (for example, VCU) calculates the required torque according to two algorithms, where the required torque may be a torque calculated by the torque device according to a driver request (such as an accelerator pedal opening, a gear, and a brake pedal opening), or may be a torque calculated according to an automatic control system request, for example, an automatic driving system (ADS, automated Driving System), a longitudinal control module (VLC, vehicle Longitudinal Control), an automatic parking assist system (APA, auto Parking Assist), and the like, which is not limited in this application. Since the above two required torques are calculated according to the two algorithms, respectively, it can be determined whether the torque is abnormal by comparing whether they are identical. Under the condition of consistency, the torque is normal, and monitoring is continuously carried out on the two required torques; in the case of inconsistency, a torque anomaly is described, at which time a torque difference is calculated. The magnitude of the torque difference reflects the severity of the torque abnormality on the one hand, and on the other hand, how long the torque difference collides with the front vehicle or the rear vehicle, and the larger the torque difference is, the shorter the collision can be.
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 equipment 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; if the current speed of the automobile is smaller 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 value and the driving state, and executing a safety strategy corresponding to the safety state.
The torque control device determines a safety state according to the torque difference value and the driving state, and executes a corresponding safety strategy. The safety strategy when the running state is dynamic is strictly higher than the static one, and the safety strategy when the torque difference is high is strictly higher than the safety strategy when the torque difference is low. For example, in the case where the driving state of the automobile is static and the torque difference is greater than 230 nm, the corresponding torque strategy is: and alarming and prompting through an instrument, and losing power. For another example, in the case where the driving state of the automobile is dynamic and the torque difference is greater than 530 nm, the corresponding torque strategy is: and alarming and prompting through the instrument, and losing power after the preset time. It can be seen that since the car is almost stationary in a stationary state, the direct power switching will not be too much affected, and the direct loss of power can prevent the situation from deteriorating. In the dynamic state, because the automobile is in a faster movement, if the automobile directly loses power, dangers are generated, so that warning prompts are given firstly, the time is fully reflected for a driver, and after some countermeasures are taken, the power is lost.
In one embodiment, determining the corresponding safety state according to the torque difference and the driving state, and executing the safety policy corresponding to the safety state includes: determining a torque section to which the torque difference value belongs under the condition that the running state of the automobile is dynamic; determining a corresponding safety state according to a 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 the driving state is dynamic, determines the torque section to which the torque difference belongs, where each torque section corresponds to one safety state.
In one embodiment, the torque interval includes: a first section, a second section, and a third section; wherein each torque difference in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference in the third interval is greater than a third threshold; wherein the first threshold is less than the second threshold, and the second threshold is less 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 this embodiment, the torque may be divided into three intervals, the first, second and third thresholds may be 230 nm, 330 nm and 530 nm, namely, the first interval is 230,330, the second interval is 330,530, the third interval is 530, ++ infinity a. The invention relates to a method for producing a fibre-reinforced plastic composite. 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.
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, a Fault Tolerance Time Interval (FTTI) of a preset size is set, and how much the vehicle collides with the front vehicle or the rear vehicle during acceleration is calculated through kinematic analysis, so that a corresponding torque difference is calculated through the acceleration, the mass of the vehicle, the transmission ratio and the like. Specifically, the mathematical expression of the foregoing kinematic analysis is (s+v1×t) =v2×t+0.5×a×t 2 (equation one), f=m×a (equation two), t=f×r/I (equation three), where S is the vehicle and the preceding vehicle orThe distance between the driver and the rear vehicle, V1 is the current speed of the front vehicle or the rear vehicle, V2 is the current speed of the driver, T is FTTI, a is acceleration, m is the mass of the driver, F is a torque difference, R is a tire radius, and I is a transmission ratio. The available torque difference may 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 abnormal torque of the automobile, and on the other hand, the situation that the automobile possibly collides with a front automobile or a rear automobile after different FTTI is reflected, 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 one implementation manner, the first safety strategy corresponding to the first safety state comprises controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and carrying out limp-home according to the speed smaller than or equal to the preset speed after power-down restarting; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; the third safety strategy corresponding to the third safety state comprises the steps of alarming through the instrument and losing power after the preset time.
In the present embodiment, when the running state of the vehicle is dynamic, different safety states correspond to different safety strategies. Specific: in a first safety state, the torque control device controls the speed of the automobile to be smaller than or equal to the current speed by controlling a motor and the like, carries out alarm prompt by an instrument so as to prompt a driver of abnormal torque and take corresponding measures, and lameness is carried out to return to home or to a repair station according to a preset speed of smaller than or equal to 40km/h after the next power-on restart; in a second safety state, the torque control equipment controls the speed of the automobile to be smaller than or equal to the current speed, and the alarming prompt is carried out through the instrument, and the power is lost after the next power-on restart; in a third safety state, the torque control device gives an alarm through the instrument and loses power after a preset time. It can be seen that the greater the torque difference, the more stringent the safety measures it takes, and thus the safety of torque control can be further improved by applying the present embodiment.
In one embodiment, 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: judging whether the torque difference is larger than a first threshold value or not under the condition that the running state of the automobile is static; if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safety state; and executing a fourth safety strategy under the condition that the automobile is in a fourth safety state so as 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 alert through an instrument and lose power.
In one embodiment, in the case that the values of the functional layer required torque and the safety layer required torque are not identical, the method further includes: carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates; under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference is carried out on the opening value to obtain an opening difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
In this embodiment, in order to prevent the unintended acceleration and deceleration of the driver, so as to further improve the safety of the torque control, the torque control apparatus performs the root mean square calculation on the vehicle speed of a preset number (for example, 50) of cycles before the current moment to obtain an average vehicle speed, and confirms the average vehicle speed by debounce, where the average vehicle speed represents the magnitude of the historical vehicle speed, so that the speed error can be reduced. And then, carrying out difference operation on the average vehicle speed and the current vehicle speed to judge whether acceleration and deceleration exist in the vehicle, if the absolute value of the difference between the average vehicle speed and the current vehicle speed is larger than the preset vehicle speed (for example, 0), indicating that acceleration and deceleration exist, otherwise, no acceleration and deceleration exist. If acceleration and deceleration exist, carrying out scattered difference analysis on the opening value of the accelerator pedal and carrying out debounce confirmation to determine the opening difference value of the accelerator pedal, namely the difference value between the current opening value of the accelerator pedal and the opening value of the previous period, otherwise, the difference value is not needed. Finally, the intention of the driver is identified through the magnitude relation between the opening difference value and the opening threshold value, if the opening difference value is larger than the opening threshold value, abnormal acceleration or deceleration of the automobile is determined, the existence of non-driving intention acceleration or deceleration is indicated, for example, the driver steps on an accelerator suddenly, and the current speed is maintained until a safety strategy is implemented; if the opening difference value is smaller than or equal to the opening threshold value, determining that the automobile accelerates or decelerates abnormally, and indicating that no acceleration or deceleration is not intended for non-driving, wherein the current speed is not required to be maintained. Therefore, the present embodiment can further improve the safety of the vehicle in the event of abnormal torque by determining whether or not the current speed is maintained by identifying whether or not there is unintended acceleration or deceleration by the driver.
In one embodiment, 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 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 the whole bus, so that the fault analysis equipment can conduct fault investigation according to the fault code after obtaining the fault code through the whole bus.
In this embodiment, after determining the safety state of the automobile, not only the corresponding safety policy may be executed, but also the safety state may be encoded to generate a fault code and sent to the whole automobile CAN, so that the fault analysis device checks the fault according to the fault code after obtaining the fault code through the whole automobile bus. Specifically, assuming that the security state includes the aforementioned four cases, the fault code includes four bits, each bit being used to represent one security state. For example, fault code 1000 represents a first safety state, fault code 0100 represents a second safety state, fault code 0010 represents a third safety state, and fault code 0001 represents a fourth safety state.
In another embodiment, the present application also provides a more specific implementation. Next, the present application will explain the specific implementation procedure of the torque control method according to the present embodiment, using the torque control device as the execution subject. Specific:
201: monitoring and comparing the values of the functional layer required torque and the safety layer required torque
The torque control equipment monitors the numerical values of the functional layer required torque and the safety layer required torque and compares the numerical values of the two required torques. If the values of the two required torques are consistent, the torque is normal, and the step 201 is continuously executed to monitor the two required torques; if the values of the two required torques are not identical, a torque abnormality is indicated, and step 202 is performed.
202: in the event of an inconsistency, a torque difference between the functional layer demand torque and the safety layer demand torque is determined.
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 torque abnormality on one hand, and reflects how long the torque difference value collides with a front vehicle or a rear vehicle on the other hand, and the larger the torque difference value, the collision can occur in a shorter time.
203: and determining the driving state according to the current speed of the automobile.
The driving states can be classified into two types according to the current speed of the automobile: static and dynamic. If the current speed is more than or equal to 3km/h, the running state is dynamic; if the current speed is less than 3km/h, the running state is static.
204: the car is in motion.
205: and determining a torque interval to which the torque difference value belongs.
If the torque control device determines that the automobile is in a dynamic state, the torque control device further determines a torque section 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, the third interval is 530, ++ infinity a. The invention relates to a method for producing a fibre-reinforced plastic composite.
206: the torque difference value belongs to the first interval.
207: determining that the automobile is in a first safety state, and executing a first safety strategy.
When the torque difference value belongs to the first interval 230,330 during dynamic state, the automobile is in the first safety state, and the first safety strategy is executed, namely, the speed of the automobile is controlled to be smaller than or equal to the current speed, alarming prompt is carried out through an instrument, and after the automobile is restarted after power-down, limp home or station repair is carried out according to the speed of the automobile which is smaller than or equal to 40 km/h.
208: the torque difference value belongs to the second interval.
209: and determining that the automobile 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 a second interval 330,530, the vehicle is in a second safety state, and a second safety strategy is executed, namely, the vehicle speed of the vehicle is controlled to be smaller than or equal to the current vehicle speed, an alarm is given through an instrument, and power is lost after the vehicle is restarted after power is turned off.
210: the torque difference value belongs to the third interval.
211: and determining that the automobile is in a third safety state, and executing a third safety strategy.
Wherein, in the dynamic state, if the torque difference value belongs to the third interval 530, + -infinity, the automobile is in the third safety state, and executing a third safety strategy, namely carrying out alarm prompt through the instrument and losing power after the 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 vehicle is in a static state, it further determines whether the torque difference between the two required torques is greater than a first threshold, and if so, executes step 214, otherwise, does not execute.
214: and determining that the automobile is in a fourth safety state, and executing a fourth safety strategy.
And when the torque difference value is greater than 230 nm in a static state, indicating that the automobile is in a fourth safety state, and executing a fourth safety strategy, namely carrying out alarm prompt through an instrument and losing power.
In summary, the embodiment of the application provides a more specific implementation process, the safety states of the automobile are divided into four types, and each safety state corresponds to one safety strategy, so that the problem of lower safety in the prior art can be solved by adopting the method and the device provided by the application.
In another embodiment, the present application further provides a torque control apparatus, see FIG. 3. The embodiment of the application may divide the functional units of the device according to the above method example, for example, each functional unit may be divided corresponding to each function, or two or more functions may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units. It should be noted that, in the embodiment of the present application, the division of the units is schematic, which is merely a logic function division, and other division manners may be implemented in actual practice. As shown in fig. 3, the torque control device 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 values of the functional layer required torque and the safety layer required torque; a comparing unit 320, configured to compare the value of the functional layer required torque and the safety layer required torque; a determining unit 330, configured to determine a torque difference between the functional layer required torque and the safety layer required torque; a determining unit 330, configured to determine a driving state according to the current vehicle speed, where the driving state includes static state and dynamic state; the determining unit 330 is further configured to determine a corresponding safety state according to the torque difference value and the driving state; the execution unit 340 is configured to execute a security policy corresponding to the security state.
In one embodiment, the determining unit 330 is configured to determine, when the driving state of the vehicle is dynamic, a torque interval to which the torque difference value belongs, and determine a corresponding safety state according to the torque interval to which the torque difference value belongs; the executing unit 340 is specifically configured to execute a security policy corresponding to the security state.
In one embodiment, the torque interval includes: a first section, a second section, and a third section; wherein each torque difference in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference in the third interval is greater than a third threshold; wherein the first threshold is less than the second threshold, and the second threshold is less 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 embodiment, the first safety strategy corresponding to the first safety state includes controlling the speed of the automobile to be less than or equal to the current speed, performing alarm prompt through an instrument, and performing limp-home operation according to the speed less than or equal to the preset speed after power-down restarting; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; the third safety strategy corresponding to the third safety state comprises the steps of alarming through the instrument and losing power after the preset time.
In one embodiment, the determining unit 330 is specifically configured to determine whether the torque difference is greater than a first threshold when the driving state of the vehicle is static, and determine that the vehicle is in a fourth safety state if the torque difference is greater than the first threshold; 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 one embodiment, the execution unit 340 is further configured to: carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates; under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference is carried out on the opening value to obtain an opening difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
In one embodiment, the execution unit 340 is further configured to: 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 the whole bus, so that the fault analysis equipment can conduct fault investigation according to the fault code after obtaining the fault code through the whole bus.
In another embodiment, the present application also 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; a memory 420 for storing a plurality of instructions adapted to be loaded by the processor 410 and to perform the torque control method as in the above-described embodiments.
The processor 410 may be, among other things, an electronic adjustment unit (Electronic Control Unit, ECU), a central processing unit (central processing unit, CPU), a general purpose processor, a co-processor, a digital signal processor (digital signal processor, DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (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 implements computing functionality, such as a combination comprising one or more microprocessors, a combination of 5SP and microprocessors, and the like. In this embodiment, the processor 410 may use a single-chip microcomputer, and various control functions can be realized by programming the single-chip microcomputer, for example, in this embodiment, the functions of executing a security policy and the like are executed, and the processor has the advantages of strong computing capability and rapid processing. Specific: the processor 410 is configured to perform the function of the monitoring unit 310, and is configured to monitor the magnitude of the functional layer required torque and the safety layer required torque; and is further configured to perform a function of the comparing unit 320, for comparing the value of the functional layer required torque with the safety layer required torque; and further for performing the function of the determining unit 330 for determining a torque difference between the functional layer required torque and the safety layer required torque; further for performing the function of the determining unit 330 and for determining a driving state according to the current vehicle speed, wherein the driving state comprises static and dynamic; the safety state is also used for determining the corresponding safety state according to the torque difference value and the running state; and is further configured to perform a function of the execution unit 340, and is configured to execute a security policy corresponding to the security state.
In one embodiment, the processor 410 is configured to: determining a torque section to which the torque difference value belongs under the condition that the running state of the automobile is dynamic; determining a corresponding safety state according to a torque interval to which the torque difference value belongs; for executing the security policy corresponding to the security state.
In one embodiment, the torque interval includes: a first section, a second section, and a third section; wherein each torque difference in the first interval is greater than a first threshold value and less than or equal to a second threshold value; each torque difference in the second interval is greater than a second threshold value and less than or equal to a third threshold value; each torque difference in the third interval is greater than a third threshold; wherein the first threshold is less than the second threshold, and the second threshold is less 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 embodiment, the first safety strategy corresponding to the first safety state includes controlling the speed of the automobile to be less than or equal to the current speed, performing alarm prompt through an instrument, and performing limp-home operation according to the speed less than or equal to the preset speed after power-down restarting; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; the third safety strategy corresponding to the third safety state comprises the steps of alarming through the instrument and losing power after the preset time.
In one embodiment, the processor 410 is configured to: judging whether the torque difference value is larger than a first threshold value under the condition that the running state of the automobile is static, and if so, determining that the automobile is in a fourth safety state; and executing a fourth safety strategy under the condition that the automobile is in a fourth safety state so as to give an alarm prompt through the instrument and lose power.
In one embodiment, the processor 410 is further configured to: carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates; under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference is carried out on the opening value to obtain an opening difference value; and under the condition that the opening difference value is larger than the opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
In one embodiment, the processor 410 is further configured to: 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 the whole bus, so that the fault analysis equipment can conduct fault investigation according to the fault code after obtaining the fault code through the whole bus.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples represent only a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (7)
1. A torque control method, comprising:
monitoring and comparing the numerical values of the required torque of the functional layer and the required torque of the safety layer, and determining a torque difference value of the required torque of the functional layer and the required torque of the safety layer under the condition of inconsistent;
determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and dynamic state;
Determining a torque section to which the torque difference value belongs when the driving state is dynamic; determining a corresponding safety state according to a torque interval to which the torque difference value belongs; executing the security policy corresponding to the security state;
the torque interval comprises a first interval, a second interval and a third interval, wherein 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 the second threshold value and smaller than or equal to a third threshold value; each torque difference in a third interval is greater 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;
the first safety strategy corresponding to the first safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and carrying out limp-home according to the speed smaller than or equal to the preset speed after power-down restarting; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; and a third safety strategy corresponding to the third safety state comprises the steps of carrying out alarm prompt through an instrument and losing power after preset time.
2. The method of claim 1, wherein determining a corresponding safety state from the torque difference and the driving state, and executing a safety strategy corresponding to the safety state comprises:
judging whether the torque difference is larger than a first threshold value or not under the condition that the running state is static;
if the torque difference value is larger than the first threshold value, determining that the automobile is in a fourth safety state;
and executing a fourth safety strategy under the condition that the automobile is in the fourth safety state so as to give an alarm prompt through the instrument and lose power.
3. The method of claim 1, wherein in the event that the magnitude of the functional layer demand torque is inconsistent with the magnitude of the safety layer demand torque, the method further comprises:
carrying out root mean square calculation on the vehicle speed of the period of the preset number to obtain an average vehicle speed, and carrying out difference value calculation on the average vehicle speed and the current vehicle speed to determine whether the vehicle accelerates or decelerates;
under the condition that the automobile accelerates or decelerates, the opening value of an accelerator pedal is monitored, and scattered difference analysis is carried out on the opening value to obtain an opening difference value;
and under the condition that the opening difference value is larger than an opening threshold value, determining that abnormal acceleration or deceleration exists in the automobile, and keeping the current automobile speed to run until a safety strategy is executed.
4. The method of claim 1, wherein after the step of determining a 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 fault code is equal to the seed 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 bus, so that the fault analysis equipment can conduct troubleshooting according to the fault code after obtaining the fault code through the whole bus.
5. A torque control apparatus, 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;
the determining unit is used for determining a torque difference value between the functional layer required torque and the safety layer required torque; the method is also used for determining a driving state according to the current vehicle speed, wherein the driving state comprises static state and dynamic state; the method is also used for 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 a torque interval to which the torque difference value belongs; the torque interval comprises a first interval, a second interval and a third interval, wherein 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 the second threshold value and smaller than or equal to a third threshold value; each torque difference in a third interval is greater 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;
The execution unit is used for executing the safety strategy corresponding to the safety state, wherein the first safety strategy corresponding to the first safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and carrying out limp-home according to the speed smaller than or equal to the preset speed after the automobile is powered down and restarted; the second safety strategy corresponding to the second safety state comprises the steps of controlling the speed of the automobile to be smaller than or equal to the current speed, carrying out alarm prompt through an instrument, and losing power after power-down restarting; and a third safety strategy corresponding to the third safety state comprises the steps of carrying out alarm prompt through an instrument and losing power after preset time.
6. A torque control device, comprising a processor and a memory, the processor and the memory being connected by a bus; the processor is used for executing a plurality of instructions; the memory for storing the plurality of instructions adapted to be loaded by the processor and to perform the torque control method of any one of claims 1-4.
7. A computer readable storage medium having stored therein a plurality of instructions adapted to be loaded by a processor and to perform the torque control method according to any one of claims 1-4.
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