CN117048527A - Method and device for monitoring vehicle safety torque and electronic equipment - Google Patents
Method and device for monitoring vehicle safety torque and electronic equipment Download PDFInfo
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- CN117048527A CN117048527A CN202311075838.2A CN202311075838A CN117048527A CN 117048527 A CN117048527 A CN 117048527A CN 202311075838 A CN202311075838 A CN 202311075838A CN 117048527 A CN117048527 A CN 117048527A
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- 238000012795 verification Methods 0.000 claims abstract description 57
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- 238000012806 monitoring device Methods 0.000 claims description 9
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application provides a method and a device for monitoring vehicle safety torque and electronic equipment, which are applied to a whole vehicle controller, wherein the method for monitoring the vehicle safety torque comprises the following steps: acquiring a first driving parameter of a vehicle and a first output torque of the vehicle; determining a vehicle verification torque according to the first vehicle driving parameter; and safety control is carried out on the vehicle according to the first output torque of the vehicle and the verification torque of the vehicle. According to the method, the device and the electronic equipment for monitoring the vehicle safety torque, when the operation of the VCU main core/main functional area is abnormal, the VCU functional safety core/safety area is used for taking over the corresponding VCU torque calculation function, the abnormal state is timely and effectively processed, the technical blank problem of monitoring the output result of the vehicle torque is solved, and the safety in the running process of the vehicle is ensured.
Description
Technical Field
The present application relates to the field of safe driving, and in particular, to a method and an apparatus for monitoring a safe torque of a vehicle, and an electronic device.
Background
The functional implementation of the vehicle control unit (VCU, vehicle control unit) mainly involves hardware, underlying software, application layer software, and the like. When the VCU operates, the application layer software program operates in the VCU main core/main functional area, if the VCU main core/main functional area operates abnormally or codes abnormally, unexpected acceleration/deceleration of the whole vehicle may occur at this time, and serious consequences such as potential safety hazards to the running state of the whole vehicle and personal injury to drivers and passengers may be caused.
At present, although part of VCU software of a small part of vehicle types has a function of safety monitoring, only safety monitoring aiming at certain specific information is realized, and safety monitoring is not carried out on calculation of the whole vehicle torque.
Disclosure of Invention
The application provides a method and a device for monitoring vehicle safety torque and electronic equipment, which are used for solving the technical blank problem of monitoring the output result of vehicle torque.
According to a first aspect of the present application, there is provided a method for monitoring a vehicle safety torque, applied to a vehicle controller, the method comprising: acquiring a first driving parameter of a vehicle and a first output torque of the vehicle; determining a vehicle verification torque according to the first vehicle driving parameter; and safety control is carried out on the vehicle according to the first output torque of the vehicle and the verification torque of the vehicle.
In some embodiments, the determining the vehicle verification torque according to the first vehicle driving parameter includes: determining a second output torque of the vehicle according to the first driving parameter of the vehicle; a vehicle verification torque is determined based on the vehicle second output torque.
In some embodiments, the determining a vehicle verification torque based on the vehicle second output torque includes: determining a maximum torque limit value of the vehicle according to the vehicle configuration parameters; and determining a vehicle verification torque by the maximum torque limit value and the second output torque of the vehicle.
In some embodiments, the vehicle configuration parameters include a vehicle mass m, an acceptable maximum acceleration a of unintended movement of the vehicle, a tire radius r, a vehicle powertrain transmission ratio i from the motor output end to the wheel end;the maximum torque limit F of the vehicle 0 The calculation mode of (a) is as follows:
in some embodiments, the safety control of the vehicle according to the vehicle first output torque and the vehicle verification torque includes: judging whether the first output torque of the vehicle is larger than the verification torque of the vehicle; determining a third output torque of the vehicle according to the vehicle verification torque under the condition that the first output torque of the vehicle is larger than or equal to the vehicle verification torque for a preset time, wherein the third output torque of the vehicle is smaller than the vehicle verification torque; and safety control is carried out on the vehicle based on the third output torque of the vehicle.
In some embodiments, the vehicle third output torque is zero.
In some embodiments, the safety control of the vehicle according to the first output torque of the vehicle and the vehicle verification torque further includes: and under the condition that the first output torque of the vehicle is smaller than the verification torque of the vehicle, safety control is carried out on the vehicle according to the first output torque of the vehicle.
According to a second aspect of the present application, there is provided a vehicle safety torque monitoring device, applied to a vehicle controller, comprising: the acquisition module is used for acquiring first driving parameters of the vehicle; the first functional module is used for determining a first output torque of the vehicle according to the first running parameter of the vehicle; the second functional module is used for determining vehicle verification torque according to the first running parameters of the vehicle; and a safety control module for performing safety control on the vehicle according to the first output torque of the vehicle and the vehicle verification torque.
According to a third aspect of the present application, a vehicle control unit includes a main control device for controlling a vehicle safety torque and the above-mentioned monitoring device for controlling the vehicle safety torque; the main control device comprises a second acquisition module and a main function module, wherein the second acquisition module is used for acquiring a second running parameter of the vehicle, and the main function module is used for determining a first output torque of the vehicle according to the second running parameter of the vehicle and sending the first output torque of the vehicle to the monitoring device of the safety torque of the vehicle.
According to a fourth aspect of the present application, there is provided an electronic device comprising: the vehicle safety torque monitoring system comprises a processor, a memory and a program or an instruction stored in the memory and capable of running on the processor, wherein the program or the instruction realizes the steps of the vehicle safety torque monitoring method when being executed by the processor.
In summary, the method and the device for monitoring the vehicle safety torque provided by the application have at least the following beneficial effects:
the method, the device and the electronic equipment for monitoring the vehicle safety torque are realized based on communication between the VCU main core/main functional area and the VCU safety core/safety area, the VCU safety core/safety area can acquire the first output torque T1 of the vehicle obtained by the VCU main core/main functional area, meanwhile, the VCU safety core/safety area can calculate and determine the vehicle verification torque T2 according to the first driving parameters of the vehicle, and further safety control is carried out on the vehicle based on the relation between the first output torque T1 of the vehicle and the vehicle verification torque T2, so that program operation and key information of the VCU main core/main functional area are monitored through a monitoring algorithm of the VCU safety core/safety area. When the operation of the VCU main core/main functional area is abnormal, the VCU functional safety core/safety area is used for taking over the corresponding VCU torque calculation function, and timely and effectively processing abnormal states, so that the technical blank problem of monitoring the calculation result of the whole vehicle torque of the VCU main core/main functional area is solved, and the safety in the vehicle running process is further ensured.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the application and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for monitoring vehicle safety torque according to an embodiment of the present application;
FIG. 2 is a diagram showing the effect of the output torque of a method for monitoring the vehicle safety torque in a normal torque state of a VCU main core/main function area according to an embodiment of the present application;
FIG. 3 is a diagram showing the effect of the output torque of a method for monitoring the vehicle safety torque in the abnormal torque state of the VCU main core/main function area according to the embodiment of the present application;
FIG. 4 is a block diagram of a vehicle safety torque monitoring device according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
To further clarify the above and other features and advantages of the present application, a further description of the application will be rendered by reference to the appended drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not limiting, as to those skilled in the art.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the specific details need not be employed to practice the present application. In other instances, well-known steps or operations have not been described in detail in order to avoid obscuring the application.
The method for monitoring the vehicle safety torque provided by the embodiment of the application is applied to a Vehicle Control Unit (VCU), can be executed by the device for monitoring the vehicle safety torque provided by the embodiment of the application, and can be configured in electronic equipment.
Specifically, the whole vehicle controller provided by the embodiment of the application comprises a main control device (namely a VCU main core/main functional area) of the vehicle safety torque and a monitoring device (namely a VCU safety core/safety area) of the vehicle safety torque. It should be noted that, if the VCU main core/main functional area operates abnormally or has abnormal codes, unexpected potential safety hazards will be generated for the related functions of the whole vehicle, so the present application opens up a new core area based on the VCU to operate as a VCU security core/security area for monitoring the operation state of the VCU main core/main functional area, and the VCU security core/security area and the VCU main core/main functional area operate independently of each other.
Referring to fig. 1, the present application provides a method for monitoring vehicle safety torque, applied to a VCU safety core/safety zone, comprising steps 101-103.
Step 101, acquiring a first driving parameter of a vehicle and a first output torque of the vehicle.
The first vehicle travel parameter generated based on a difference in pedal opening change or manual input setting may be the first vehicle travel parameter obtained by the present application.
In addition, the first driving parameters of the vehicle may further include: parameters such as current running speed of the vehicle, acceleration of the vehicle, motor power and the like.
Specifically, the VCU main core/main functional area includes a second acquisition module and a main functional module, the second acquisition module is configured to acquire a second running parameter of the vehicle, and the main functional module is configured to determine a first output torque of the vehicle according to the second running parameter of the vehicle and send the first output torque of the vehicle to the VCU safety core/safety area.
The calculation of the first output torque is also related to road parameters (such as a slope angle, friction force and the like) and partial vehicle configuration parameters (whole vehicle quality, a vehicle resistance coefficient, a wheel radius, a whole vehicle power system transmission ratio from a motor output end to a wheel end and the like). Thus, the primary function module in the VCU primary core/primary function region may calculate the vehicle first output torque based on the vehicle second travel parameter, the road parameter, and a portion of the vehicle configuration parameter.
Step 102, determining the vehicle verification torque according to the first driving parameters of the vehicle.
In some embodiments, the VCU security core/security zone operates corresponding program code to monitor the program operation and key information of the main core/main function zone, that is, by determining a vehicle verification torque according to a first vehicle driving parameter, and determining whether the first output torque of the vehicle sent by the VCU main core/main function zone is abnormal according to the vehicle verification torque, so as to monitor the program operation and key information of the VCU main core/main function zone.
And 103, performing safety control on the vehicle according to the first output torque of the vehicle and the vehicle verification torque. Specifically, the VCU security kernel/zone may provide security control of the vehicle based on a relationship between the first output torque of the vehicle and the vehicle verification torque.
The monitoring method of the vehicle safety torque is realized based on communication between the VCU main core/main functional area and the VCU safety core/safety area, the VCU safety core/safety area can acquire the first output torque T1 of the vehicle obtained by the VCU main core/main functional area, meanwhile, the VCU safety core/safety area can calculate and determine the vehicle verification torque T2 according to the first driving parameters of the vehicle, and further safety control is carried out on the vehicle based on the relation between the first output torque T1 of the vehicle and the vehicle verification torque T2, so that program operation and key information of the VCU main core/main functional area are monitored through a monitoring algorithm of the VCU safety core/safety area. When the operation of the VCU main core/main functional area is abnormal, the VCU functional safety core/safety area is used for taking over the corresponding VCU torque calculation function, and timely and effectively processing abnormal states, so that the technical blank problem of monitoring the calculation result of the whole vehicle torque of the VCU main core/main functional area is solved, and the safety in the vehicle running process is further ensured.
One embodiment of a method for monitoring vehicle safety torque according to the present application is as follows, and includes steps 201-204.
Step 201, a first vehicle travel parameter and a first vehicle output torque are obtained.
Step 202, determining a second output torque of the vehicle according to the first driving parameters of the vehicle.
In some embodiments, the present application will develop a new core/zone based on the VCU as a VCU safe core/safe zone operation, which calculates a second output torque based on the first vehicle driving parameters for matching comparison with the first vehicle output torque T1 to further monitor the first vehicle output torque T1.
Step 203, determining a vehicle verification torque based on the vehicle second output torque.
In some embodiments, determining the vehicle verification torque based on the vehicle second output torque includes: determining a maximum torque limit value of the vehicle according to the vehicle configuration parameters; the maximum torque limit and the vehicle second output torque determine a vehicle verification torque.
In some embodiments, the vehicle configuration parameters include the mass m of the whole vehicle, the maximum acceleration a of the acceptable unintended movement of the whole vehicle, the tire radius r, the whole vehicle power system transmission ratio i from the motor output end to the wheel end; maximum torque limit F of vehicle 0 The calculation mode of (a) is as follows:specifically, referring to fig. 2, in the case where the calculation of the whole vehicle operation is normal, that is, the first output torque T1 of the vehicle<T2+F 0 At this time, the whole vehicle outputs torque t=t1; referring to FIG. 3, in the event of a vehicle operation calculation anomaly, i.e., T1>T2+F 0 After the state is continued for a certain time Deltat, the output torque T of the whole vehicle gradually decreases to 0Nm (International units of torque) in the form of a square meter.
And 204, performing safety control on the vehicle according to the first output torque of the vehicle and the vehicle verification torque.
According to the monitoring method of the vehicle safety torque, the interval range when the vehicle output torque is normal is obtained based on the vehicle verification torque and the vehicle maximum torque limit value, whether the vehicle first output torque is normal or abnormal is judged according to the relation between the vehicle first output torque and the interval range when the vehicle output torque is normal, so that the vehicle state is monitored in real time or processed in time, the effect of monitoring the output torque of the VCU main core/main functional area by the VCU safety core/safety area is achieved, the accuracy of VCU operation and torque calculation is guaranteed, and the safety of whole vehicle running is further guaranteed.
A further embodiment of a method for monitoring vehicle safety torque according to the present application is as follows, the method comprising steps 301-304.
Step 301, acquiring a first vehicle driving parameter and a first vehicle output torque.
Step 302, determining a vehicle verification torque according to a first driving parameter of the vehicle;
step 303 determines if the first output torque of the vehicle is greater than the vehicle verification torque.
And step 304, determining a third output torque of the vehicle according to the vehicle verification torque when the first output torque of the vehicle is greater than or equal to the vehicle verification torque for a preset time, wherein the third output torque of the vehicle is smaller than the vehicle verification torque.
In some embodiments, the third output torque of the vehicle is zero.
Step 305, safety control is performed on the vehicle based on the third output torque of the vehicle.
According to the method for monitoring the vehicle safety torque, classification processing is carried out based on the relation between the first output torque of the vehicle and the vehicle verification torque, when the first output torque of the vehicle is greater than or equal to the vehicle verification torque and lasts for a preset time, the calculation of the VCU main core/main functional area is considered to be abnormal (namely, the first output torque T1 of the vehicle is abnormal), and at the moment, the VCU safety core/safety area can carry out safety control on the vehicle according to the third output torque of the vehicle calculated by the VCU safety core/safety area; under the condition that the first output torque of the vehicle is smaller than the verification torque of the vehicle, the VCU safety core/safety zone can directly control the safety of the vehicle according to the first output torque of the vehicle, so that the safety control of the vehicle is realized based on the real-time monitoring of the VCU main core/main functional zone by the VCU safety core/safety zone.
It will be appreciated that during monitoring of the VCU security kernel/zone, torque may be properly output in accordance with the relationship between the first output torque of the vehicle and the vehicle verification torque to control the vehicle.
Referring to fig. 4, the present application provides a monitoring device for vehicle safety torque, which is applied to a vehicle controller, and includes: an acquisition module 410 for acquiring a first vehicle driving parameter and a first vehicle output torque; a safety function module 420 for determining a vehicle verification torque based on a first vehicle travel parameter; and a safety control module 430 for safety controlling the vehicle according to the first output torque of the vehicle and the vehicle verification torque.
The monitoring device for the vehicle safety torque opens up a new core/area as the VCU safety core/safety area to run, analyzes the request of the torque output processing request under the conditions of abnormal operation or code abnormality and the like of the VCU main core/main function area, solves the problem of difficult monitoring of the safety state of the vehicle VCU on the output torque, further ensures the safety of the running state of the VCU main core/main function area, improves the reliability of the VCU calculation operation and the torque related information, and improves the safety of the vehicle running.
It is to be understood that the specific features, operations and details described herein before with respect to the method of the application may also be similarly applied to the apparatus and system of the application, or vice versa. In addition, each step of the method of the present application described above may be performed by a corresponding component or unit of the apparatus or system of the present application.
It is to be understood that the various modules/units of the apparatus of the application may be implemented in whole or in part by software, hardware, firmware, or a combination thereof. Each module/unit may be embedded in a processor of the electronic device in hardware or firmware or may be independent of the processor, or may be stored in a memory of the electronic device in software for the processor to call to perform the operations of each module/unit. Each module/unit may be implemented as a separate component or module, or two or more modules/units may be implemented as a single component or module.
As shown in fig. 5, the present application provides an electronic device 500 comprising a processor 510 and a memory 520 storing computer program instructions. Wherein the processor 510, when executing the computer program instructions, implements the steps of the method for monitoring vehicle safety torque described above. The electronic device 500 may be broadly a server, a terminal, or any other electronic device having the necessary computing and/or processing capabilities.
In one embodiment, the electronic device 500 may include a processor, memory, network interface, communication interface, etc. connected by a system bus. The processor of the electronic device 500 may be used to provide the necessary computing, processing, and/or control capabilities. The memory of the electronic device 500 may include non-volatile storage media and internal memory. The non-volatile storage medium may store an operating system, computer programs, and the like. The internal memory may provide an environment for the operation of the operating system and computer programs in the non-volatile storage media. The network interface and communication interface of the electronic device 500 may be used to connect and communicate with external devices via a network. Which when executed by a processor performs the steps of the method of the application.
The application provides a computer readable storage medium, wherein computer program instructions are stored on the computer readable storage medium, and the computer program instructions realize the method for monitoring the vehicle safety torque when being executed by a processor.
Those skilled in the art will appreciate that the method steps of the present application may be implemented by a computer program, which may be stored on a non-transitory computer readable storage medium, to instruct related hardware such as the electronic device 500 or the processor, which when executed causes the steps of the present application to be performed. Any reference herein to memory, storage, or other medium may include non-volatile or volatile memory, as the case may be. Examples of nonvolatile memory include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage, hard disk, solid state disk, and the like. Examples of volatile memory include Random Access Memory (RAM), external cache memory, and the like.
The technical features described above may be arbitrarily combined. Although not all possible combinations of features are described, any combination of features should be considered to be covered by the description provided that such combinations are not inconsistent.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.
Claims (10)
1. A method for monitoring a vehicle safety torque, the method comprising:
acquiring a first driving parameter of a vehicle and a first output torque of the vehicle;
determining a vehicle verification torque according to the first vehicle driving parameter;
and safety control is carried out on the vehicle according to the first output torque of the vehicle and the verification torque of the vehicle.
2. The method of monitoring vehicle safety torque according to claim 1, wherein the determining vehicle verification torque according to the first vehicle driving parameter includes:
determining a second output torque of the vehicle according to the first driving parameter of the vehicle;
a vehicle verification torque is determined based on the vehicle second output torque.
3. The method of monitoring vehicle safety torque according to claim 2, wherein the determining a vehicle verification torque based on the vehicle second output torque includes:
determining a maximum torque limit value of the vehicle according to the vehicle configuration parameters;
and determining a vehicle verification torque by the maximum torque limit value and the second output torque of the vehicle.
4. A method for monitoring a vehicle safety torque as set forth in claim 3, wherein,
the vehicle configuration parameters comprise the mass m of the whole vehicle, the maximum acceleration a of the acceptable unexpected movement of the whole vehicle, the tire radius r and the transmission ratio i of the whole vehicle power system from the motor output end to the wheel end;
the maximum torque limit F of the vehicle 0 The calculation mode of (a) is as follows:
5. the method for monitoring the vehicle safety torque according to claim 1, wherein the safety control of the vehicle based on the vehicle first output torque and the vehicle verification torque includes:
judging whether the first output torque of the vehicle is larger than the verification torque of the vehicle;
determining a third output torque of the vehicle according to the vehicle verification torque under the condition that the first output torque of the vehicle is larger than or equal to the vehicle verification torque for a preset time, wherein the third output torque of the vehicle is smaller than the vehicle verification torque;
and safety control is carried out on the vehicle based on the third output torque of the vehicle.
6. The method of monitoring vehicle safety torque according to claim 5, wherein the third output torque of the vehicle is zero.
7. The method of monitoring vehicle safety torque according to claim 5, wherein the safety control of the vehicle based on the vehicle first output torque and the vehicle verification torque further comprises:
and under the condition that the first output torque of the vehicle is smaller than the verification torque of the vehicle, safety control is carried out on the vehicle according to the first output torque of the vehicle.
8. A vehicle safety torque monitoring device, characterized by comprising:
the first acquisition module is used for acquiring a first driving parameter of the vehicle and a first output torque of the vehicle;
the safety function module is used for determining vehicle verification torque according to the first running parameters of the vehicle; and
and the safety control module is used for carrying out safety control on the vehicle according to the first output torque of the vehicle and the vehicle verification torque.
9. A vehicle control unit comprising a main control device for controlling a vehicle safety torque and the vehicle safety torque monitor device according to claim 8;
the main control device comprises a second acquisition module and a main function module, wherein the second acquisition module is used for acquiring a second running parameter of the vehicle, and the main function module is used for determining a first output torque of the vehicle according to the second running parameter of the vehicle and sending the first output torque of the vehicle to the monitoring device of the safety torque of the vehicle.
10. An electronic device, comprising: a processor, a memory and a program or instructions stored on the memory and executable on the processor, which when executed by the processor, implement the steps of the vehicle safety torque monitoring method according to any one of claims 1-8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311075838.2A CN117048527A (en) | 2023-08-24 | 2023-08-24 | Method and device for monitoring vehicle safety torque and electronic equipment |
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| CN202311075838.2A CN117048527A (en) | 2023-08-24 | 2023-08-24 | Method and device for monitoring vehicle safety torque and electronic equipment |
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| CN202311075838.2A Pending CN117048527A (en) | 2023-08-24 | 2023-08-24 | Method and device for monitoring vehicle safety torque and electronic equipment |
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