CN110356399A - A kind of method and apparatus of dynamical system torque monitoring - Google Patents
A kind of method and apparatus of dynamical system torque monitoring Download PDFInfo
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- CN110356399A CN110356399A CN201810306745.9A CN201810306745A CN110356399A CN 110356399 A CN110356399 A CN 110356399A CN 201810306745 A CN201810306745 A CN 201810306745A CN 110356399 A CN110356399 A CN 110356399A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 32
- 238000005183 dynamical system Methods 0.000 title claims abstract description 18
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method and apparatus of dynamical system torque monitoring, this method comprises: according to some vehicle running state associated parameter datas, it is calculated separately by the first algorithm and the second algorithm and obtains demand torque and threshold torque, judge the size of demand torque and threshold torque, one is therefrom selected to be determined as target torque according to judging result, target torque is not more than threshold torque；Target torque is sent to actuator, to control actuator.It can be seen that, after obtaining demand torque, prejudge whether demand torque is more than threshold torque, and then the target torque determined is not more than threshold torque, to be transmitted directly to actuator when being effectively prevented demand torque more than threshold torque, the case where actual torque for causing actuator to export is more than the unexpected acceleration of threshold torque bring vehicle, and to terminate the mode for the interruption power output that the situation is taken, the risk of vehicle driving is significantly reduced, driving experience is improved.
Description
Technical field
The present invention relates to automotive system functional safety control technology field more particularly to a kind of dynamical system torque monitorings
Method and apparatus.
Background technique
In the control system of automobile, the information such as vehicle-state are usually acquired, it is comprehensive according to the driving intention of driver
Analysis obtains a demand torque, and actuator is executed according to the demand torque, and then drives vehicle can driving according to driver
Intention is sailed to be travelled.
In the case where torque executes actuator as desired, need to consider the safety issue of vehicle driving.Existing skill
In art, after entire car controller is according to acquisition demand torque is calculated, the demand torque is directly sent to actuator, that is, actuator
Input is demand torque, and in order to drive safely, entire car controller needs the actual torque fed back to actuator to be monitored, when
When monitoring actual torque greater than torque max-thresholds, it was demonstrated that vehicle driving does not have safety, directly interrupts power at this time
Output is to guarantee safety.
Inventor has found that monitoring actual torque greater than torque maximum threshold in the way of the prior art
When value, actuator has exported actual torque driving vehicle driving for a period of time, there is the accumulation of certain speed and displacement.Also
It is to say, monitoring learns that actual torque superthreshold problem lags, and considerably increases the risk of vehicle driving, and using directly interruption
The mode of power output greatly reduces the driving experience of driver.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of method and apparatus of dynamical system torque monitoring, solve
The problem of discovery actual torque superthreshold lag, further promotes the security performance of vehicle, and reduces to a certain degree simple thick
Sudden and violent interruption power output behavior promotes driving experience.
In a first aspect, the embodiment of the invention provides a kind of methods of dynamical system torque monitoring, this method comprises:
It according to the first input information, is calculated by the first algorithm and obtains demand torque, the first input information includes vehicle
Driving status associated parameter data；
It according to the second input information, is calculated by the second algorithm and obtains threshold torque, the second input information includes vehicle
Driving status associated parameter data；
By compared with the threshold torque, determining that target torque, the target torque are little to the demand torque
In the threshold torque；
According to the target torque, actuator is controlled.
It is preferably, described by compared with the threshold torque, determining target torque to the demand torque, comprising:
If the demand torque is greater than the threshold torque, the threshold torque is determined as target torque；
If the demand torque is less than or equal to the threshold torque, the demand torque is determined as target torque.
Preferably, the first input information and the second input information are that the entire car controller acquisition obtains,
Wherein, the first input information and the second input information are same or different.
Preferably, the first input information includes at least vehicle speed data, accelerator pedal data and brake pedal data；Institute
The second input information is stated including at least vehicle speed data, accelerator pedal data and brake pedal data.
Preferably, first algorithm is different with second algorithm.
Preferably, further includes:
Monitor and handle the actual torque of the actuator output.
Preferably, the actual torque monitored and handle the actuator output, comprising:
Obtain the actual torque of the actuator feedback；
If the actual torque is greater than the threshold torque, lower electricity instruction is sent to battery management system.
Preferably, further includes:
If the actual torque is greater than the threshold torque, alarm.
Preferably, the form of the alarm includes audible alarm, indicator light alarm or display screen alarm.
Second aspect, the embodiment of the invention provides a kind of devices of dynamical system torque monitoring, which is characterized in that configuration
In entire car controller, comprising:
First calculates obtaining unit, for being calculated by the first algorithm and obtaining demand torque, institute according to the first input information
Stating the first input information includes vehicle running state associated parameter data；
Second calculates obtaining unit, for being calculated by the second algorithm and obtaining threshold torque, institute according to the second input information
Stating the second input information includes vehicle running state associated parameter data；
Determination unit, it is described for by compared with the threshold torque, determining target torque to the demand torque
Target torque is not more than the threshold torque；
Control unit, for controlling actuator according to the target torque.
Compared with prior art, the present invention has at least the following advantages:
Using the technical solution of the embodiment of the present invention, first according to some vehicle running state associated parameter datas, pass through
First algorithm calculate obtain demand torque, by the second algorithm calculate obtain threshold torque, then judge the demand torque with
The size of the threshold torque selects one of them from the demand torque and the threshold torque according to judging result, determines
For target torque, the target torque is not more than the threshold torque；The target torque is finally sent to actuator, so as to
Control the actuator.It can be seen that prejudge whether demand torque is more than threshold torque after obtaining demand torque,
And then the target torque determined is not more than threshold torque, thus when being effectively prevented demand torque more than threshold torque, directly
It is sent to actuator, the case where actual torque for causing actuator to export is more than the unexpected acceleration of threshold torque bring vehicle,
The direct interruption power output directlyed adopt when significantly reducing the risk of vehicle driving, while avoiding for above situation
Mode, improve the driving experience of driver.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is system framework schematic diagram involved in application scenarios a kind of in the embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the method for dynamical system torque monitoring provided in an embodiment of the present invention；
Fig. 3 is the flow diagram of the method for another dynamical system torque monitoring provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the device of dynamical system torque monitoring provided in an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only this
Invention a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
Below to " entire car controller " of the present invention, " actuator ", " demand torque ", " threshold torque ", " practical torsion
These vocabulary of square " explain:
" demand torque ", which refers to, to be driven according to vehicle running state associated parameter data by the reflection that algorithm is calculated
The torque of member's demand；
" threshold torque ", which refers to, to be calculated according to vehicle running state associated parameter data by being different from above-mentioned algorithm
Permission peak torque；
" target torque " refers to the demand torque or threshold torque no more than threshold torque.
" actual torque " refers to the torque that actuator is exported according to target torque；
" entire car controller " refers in this example to be calculated according to input signal in the controls and analyzes demand torque
The device that target torque controls actuator is obtained with threshold torque；
" actuator " refers to the device for executing entire car controller torque demand in the controls, specifically practical according to vehicle
Situation can be the combination of actuator engine or motor or engine and motor.
Generally, the method for dynamical system torque monitoring are as follows: after entire car controller is according to acquisition demand torque is calculated, directly
The demand torque is sent to actuator, as the input of actuator, actual torque that entire car controller feeds back actuator into
Row monitoring directly interrupts power output when monitoring actual torque greater than torque max-thresholds.
Inventor has found that monitoring actual torque greater than torque maximum threshold in the way of above-mentioned control
When value, actuator has exported actual torque driving vehicle driving for a period of time, there is the accumulation of certain speed and displacement.Also
It is to say, monitoring learns that actual torque superthreshold problem lags, and considerably increases vehicle driving risk, and dynamic using directly interrupting
The mode of power output, greatly reduces the driving experience of driver.
In order to solve this problem, in embodiments of the present invention, first according to some vehicle running state relevant parameter numbers
According to, by the first algorithm calculate obtain demand torque, by the second algorithm calculate obtain threshold torque, then judge the demand
The size of torque and the threshold torque, according to judging result from the demand torque and threshold torque selection wherein one
It is a, it is determined as target torque, the target torque is not more than the threshold torque；The target torque is finally sent to execution
Device, to control the actuator.It can be seen that prejudging whether demand torque is more than threshold after obtaining demand torque
It is worth torque, and then the target torque determined is not more than threshold torque, to be effectively prevented demand torque more than threshold torque
When, it is transmitted directly to actuator, the actual torque for causing actuator to export is more than the unexpected acceleration of threshold torque bring vehicle
The case where, the direct interruption that is directlyed adopt when significantly reducing the risk of vehicle driving, while avoiding for above situation
The mode of power output improves the driving experience of driver.
For example, one of the scene of the embodiment of the present invention, can be applied in scene as shown in Figure 1.The scene
Including sensor 101, entire car controller 102 and actuator 103.101 vehicle running state associated parameter data of sensor is formed
First input information and the second input information send entire car controller 102 to；Entire car controller 102 inputs information according to first,
It is calculated by the first algorithm and obtains demand torque；Entire car controller 102 is obtained according to the second input information by the calculating of the second algorithm
Obtain threshold torque；Entire car controller 102 by compared with the threshold torque, determining target torque to the demand torque,
The target torque is not more than the threshold torque；The target torque is sent to 103 conduct of actuator by entire car controller 102
It is inputted, and then entire car controller 102 controls actuator 103, and actuator 103 exports practical according to the target torque
Torque.
It is understood that in above-mentioned application scenarios, although by the action description of embodiment of the present invention by vehicle control
Device 101 processed executes.But the present invention is unrestricted in terms of executing subject, as long as performing disclosed in embodiment of the present invention
Movement.
It is understood that above-mentioned scene is only a Sample Scenario provided in an embodiment of the present invention, the embodiment of the present invention
It is not limited to this scene.
With reference to the accompanying drawing, by embodiment come the method for dynamical system torque monitoring in the present invention will be described in detail embodiment
With the specific implementation of device.
Illustrative methods
Referring to fig. 2, a kind of flow diagram of the method for dynamical system torque monitoring in the embodiment of the present invention is shown.?
In the present embodiment, the method for example be may comprise steps of:
Step 201: according to the first input information, is calculated by the first algorithm and obtain demand torque, the first input letter
Breath includes vehicle running state associated parameter data.
Step 202: according to the second input information, is calculated by the second algorithm and obtain threshold torque, the second input letter
Breath includes vehicle running state associated parameter data.
It should be noted that demand torque and threshold torque are obtained, on condition that some vehicles needed for knowing calculated torque
Therefore driving status associated parameter data before the computation, is needed first to acquire input information, be adopted for example, can use sensor
Collect vehicle running state associated parameter data.
Wherein, the first input information and the second input information can be identical, be also possible to different.?
That is the data that the first input information includes with the second input information can be identical；It can also part phase
Together, part is not identical.In general, in order to calculate acquisition torque, the first input information include at least vehicle speed data,
Accelerator pedal data and brake pedal data；Similarly, the second input information includes at least vehicle speed data, accelerator pedal data
With brake pedal data.
It should be noted that demand torque and threshold torque are two different concepts, therefore, demand torque and threshold are calculated
It is not identical to be worth used first algorithm and the second algorithm when torque.In general, the second algorithm is for the first algorithm
It is relatively simple.
Step 203: by compared with the threshold torque, determining target torque, the target to the demand torque
Torque is not more than the threshold torque.
It should be noted that being compared to the demand torque with the threshold torque in step 203, comparison result has
It is two kinds, specific as follows shown:
One is the demand torques to be greater than the threshold torque, and demand torque has been over permitted maximum at this time
Torque accelerates during control fails and is direct suddenly in order to avoid occurring vehicle when there is torque as desired and control actuator
Situations such as disconnected power output, demand torque should be given up at this time, select threshold torque as target torque, so as to subsequent according to place
Actuator is controlled in the threshold torque in torque allowed band；
Another kind be the demand torque be less than or equal to the threshold torque, at this time demand torque be less than it is permitted most
Large torque, at this time can be directly using demand torque as target torque, so as to subsequent moment of torsion control actuator according to demand.
Therefore, in some embodiments of the present embodiment, the step 203, if such as may include: that the demand is turned round
Square is greater than the threshold torque, and the threshold torque is determined as target torque；If the demand torque is less than or equal to the threshold
It is worth torque, the demand torque is determined as target torque.
Step 204: according to the target torque, controlling actuator.
It should be noted that actuator can export a practical torsion according to target torque after executing the step 204
Square the considerations of for vehicle driving safety, needs to monitor in real time the actual torque, and handle according to monitoring data analysis.At this
It in some embodiments of embodiment, such as can also include: monitoring and the actual torque for handling the actuator feedback.
In fact, actual torque of the step of the monitoring and handling for the acquisition actuator feedback；If the actual torque
Greater than the threshold torque, lower electricity instruction is sent to battery management system.Shown in the specific implementation steps are as follows:
Step A: the actual torque of the actuator feedback is obtained；
Step B: judge whether the actual torque is greater than the threshold torque；If so, entering step C；If it is not, returning to step
Rapid A；
Step C: lower electricity instruction is sent to battery management system.
It should be noted that showing that actual torque is super when judgement obtains the actual torque greater than the threshold torque
Permitted peak torque is crossed, vehicle driving risk increases severely, and driver can be reminded to occur by the way of alarm at this time
The abnormal conditions.In some embodiments of the present embodiment, if such as can also include: that the actual torque is greater than the threshold
It is worth torque, alarms.The form of alarm can be audible alarm, indicator light alarm or display screen alarm.For example, can lead to
Cross sending " dichloro-diphenyl-dichlorothane " sound alarm；Can also " red " lamp bright by indicator light or indicator light do not stop to flash to alarm；
It display alarm information can also alarm on amusement display screen.
The various embodiments provided through this embodiment, first according to some vehicle running state associated parameter datas,
It is calculated by the first algorithm and obtains demand torque, calculated by the second algorithm and obtain threshold torque, then judge that the demand is turned round
The size of square and the threshold torque selects one of them from the demand torque and the threshold torque according to judging result,
It is determined as target torque, the target torque is not more than the threshold torque；The target torque is finally sent to actuator,
To control the actuator.It can be seen that prejudging whether demand torque is more than that threshold value is turned round after obtaining demand torque
Square, and then the target torque determined is not more than threshold torque, thus when being effectively prevented demand torque more than threshold torque, directly
Actuator is given in sending and receiving, and the actual torque for causing actuator to feed back is more than the unexpected acceleration of threshold torque bring vehicle therewith
Situation significantly reduces the risk of vehicle driving, while the direct interruption that while avoiding for above situation directlys adopt is dynamic
The mode of power output, improves the driving experience of driver.
Dynamical system torque monitoring in the embodiment of the present invention in practical applications is described in detail by the following examples
Method specific implementation.
Referring to Fig. 3, the flow diagram of the method for another dynamical system torque monitoring in the embodiment of the present invention is shown.
In the present embodiment, the method for example may comprise steps of:
Step 301: sensor sends rotary speed data, vehicle speed data, accelerator pedal data and braking to entire car controller and steps on
Plate data.
Step 302: entire car controller is according to the rotary speed data, the vehicle speed data, the accelerator pedal data and institute
Brake pedal data are stated, is calculated by the first algorithm and obtains demand torque.
Step 303: entire car controller is according to the vehicle speed data, the accelerator pedal data and the brake pedal number
According to the second algorithm by being different from first algorithm, which calculates, obtains threshold torque.
It should be noted that the execution sequence of the step 302 and step 303 does not limit, can both first carry out described
Step 302 executes the step 303 again, can also first carry out the step 303 and execute the step 302 again, can also be simultaneously
Execute the step 302 and the step 303.
Step 304: entire car controller judges whether the demand torque is greater than the threshold torque, if so, entering step
305；If it is not, entering step 306.
Step 305: the threshold torque is determined as target torque by entire car controller.
Step 306: the demand torque is determined as target torque by entire car controller.
Step 307: the target torque is sent to actuator by entire car controller.
Step 308: actuator exports actual torque according to the target torque.
Step 309: the actual torque is fed back to entire car controller by actuator.
Step 310: entire car controller judges whether the actual torque is greater than the threshold torque, if so, entering step
311。
Step 311: entire car controller sends lower electricity instruction to battery management system.
Step 312: entire car controller carries out audible alarm, indicator light alarm or display screen alarm.
The various embodiments provided through this embodiment, first according to some vehicle running state associated parameter datas,
It is calculated by the first algorithm and obtains demand torque, calculated by the second algorithm and obtain threshold torque, then judge that the demand is turned round
The size of square and the threshold torque selects one of them from the demand torque and the threshold torque according to judging result,
It is determined as target torque, the target torque is not more than the threshold torque；The target torque is finally sent to actuator,
To control the actuator.It can be seen that prejudging whether demand torque is more than that threshold value is turned round after obtaining demand torque
Square, and then the target torque determined is not more than threshold torque, thus when being effectively prevented demand torque more than threshold torque, directly
Actuator is given in sending and receiving, and the actual torque for causing actuator to export is more than the feelings of the unexpected acceleration of threshold torque bring vehicle
Condition significantly reduces the risk of vehicle driving, while the direct interruption power that while avoiding for above situation directlys adopt
The mode of output improves the driving experience of driver.
Example devices
Referring to fig. 4, a kind of structural schematic diagram of the device of dynamical system torque monitoring in the embodiment of the present invention is shown.?
In the present embodiment, described device for example be can specifically include:
First calculates obtaining unit 401, for calculating acquisition demand by the first algorithm and turning round according to the first input information
Square, the first input information includes vehicle running state associated parameter data；
Second calculates obtaining unit 402, for calculating acquisition threshold value by the second algorithm and turning round according to the second input information
Square, the second input information includes vehicle running state associated parameter data；
Determination unit 403, for by compared with the threshold torque, determining target torque to the demand torque,
The target torque is not more than the threshold torque；
Control unit 404, for controlling actuator according to the target torque.
Optionally, the determination unit 403 includes that the first determining subelement and second determine subelement；
Described first determines subelement, if being greater than the threshold torque for the demand torque, by the threshold torque
It is determined as target torque；
Described second determines subelement, if being less than or equal to the threshold torque for the demand torque, by the demand
Torque is determined as target torque.
Optionally, the first input information and the second input information are that the entire car controller acquisition obtains,
Wherein, the first input information and the second input information are same or different.
Optionally, the first input information includes at least vehicle speed data, accelerator pedal data and brake pedal data；Institute
The second input information is stated including at least vehicle speed data, accelerator pedal data and brake pedal data.
Optionally, first algorithm is different with second algorithm.
Optionally, described device further includes monitoring processing unit；
The monitoring processing unit, for monitoring and handling the actual torque of the actuator feedback.
Optionally, the monitoring processing unit includes obtaining subelement and transmission sub-unit；
The acquisition subelement, for obtaining the actual torque of the actuator feedback；
The transmission sub-unit, if being greater than the threshold torque, Xiang Suoshu battery management system for the actual torque
Send lower electricity instruction.
Optionally, described device further includes alarm unit；
The alarm unit is alarmed if being greater than the threshold torque for the actual torque.
Optionally, the form of the alarm includes audible alarm, indicator light alarm or display screen alarm.
The various embodiments provided through this embodiment, first according to some vehicle running state associated parameter datas,
It is calculated by the first algorithm and obtains demand torque, calculated by the second algorithm and obtain threshold torque, then judge that the demand is turned round
The size of square and the threshold torque selects one of them from the demand torque and the threshold torque according to judging result,
It is determined as target torque, the target torque is not more than the threshold torque；The target torque is finally sent to actuator,
To control the actuator.It can be seen that prejudging whether demand torque is more than that threshold value is turned round after obtaining demand torque
Square, and then the target torque determined is not more than threshold torque, thus when being effectively prevented demand torque more than threshold torque, directly
Actuator is given in sending and receiving, and the actual torque for causing actuator to export is more than the feelings of the unexpected acceleration of threshold torque bring vehicle
Condition significantly reduces the risk of vehicle driving, while the direct interruption power that while avoiding for above situation directlys adopt
The mode of output improves the driving experience of driver.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.The terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
The above described is only a preferred embodiment of the present invention, being not intended to limit the present invention in any form.Though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention.It is any to be familiar with those skilled in the art
Member, without departing from the scope of the technical proposal of the invention, all using the methods and technical content of the disclosure above to the present invention
Technical solution makes many possible changes and modifications or equivalent example modified to equivalent change.Therefore, it is all without departing from
The content of technical solution of the present invention, according to the technical essence of the invention any simple modification made to the above embodiment, equivalent
Variation and modification, all of which are still within the scope of protection of the technical scheme of the invention.
Claims (10)
1. a kind of method of dynamical system torque monitoring, which is characterized in that be applied to entire car controller, comprising:
It according to the first input information, is calculated by the first algorithm and obtains demand torque, the first input information includes vehicle row
Sail state associated parameter data；
It according to the second input information, is calculated by the second algorithm and obtains threshold torque, the second input information includes vehicle row
Sail state associated parameter data；
By compared with the threshold torque, determining that target torque, the target torque are not more than institute to the demand torque
State threshold torque；
According to the target torque, actuator is controlled.
2. the method according to claim 1, wherein described by the demand torque and the threshold torque
Comparison, determine target torque, comprising:
If the demand torque is greater than the threshold torque, the threshold torque is determined as target torque；
If the demand torque is less than or equal to the threshold torque, the demand torque is determined as target torque.
3. the method according to claim 1, wherein the first input information and the second input information are
What the entire car controller acquisition obtained, wherein the first input information and the second input information are same or different.
4. the method according to claim 1, wherein the first input information includes at least vehicle speed data, adds
Speed pedal data and brake pedal data；The second input information includes at least vehicle speed data, accelerator pedal data and braking
Pedal data.
5. the method according to claim 1, wherein first algorithm is different with second algorithm.
6. the method according to claim 1, wherein further include:
Monitor and handle the actual torque of the actuator output.
7. according to the method described in claim 6, it is characterized in that, the practical torsion monitored and handle the actuator output
Square, comprising:
Obtain the actual torque of the actuator feedback；
If the actual torque is greater than the threshold torque, lower electricity instruction is sent to battery management system.
8. the method according to the description of claim 7 is characterized in that further include:
If the actual torque is greater than the threshold torque, alarm.
9. according to the method described in claim 8, it is characterized in that, the form of the alarm includes audible alarm, indicator light report
The alarm of alert or display screen.
10. a kind of device of dynamical system torque monitoring, which is characterized in that be configured at entire car controller, comprising:
First calculates obtaining unit, for being calculated by the first algorithm and obtaining demand torque according to the first input information, described the
One input information includes vehicle running state associated parameter data；
Second calculates obtaining unit, for being calculated by the second algorithm and obtaining threshold torque according to the second input information, described the
Two input information include vehicle running state associated parameter data；
Determination unit, for by compared with the threshold torque, determining target torque, the target to the demand torque
Torque is not more than the threshold torque；
Control unit, for controlling actuator according to the target torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810306745.9A CN110356399A (en) | 2018-04-08 | 2018-04-08 | A kind of method and apparatus of dynamical system torque monitoring |
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| CN114103951A (en) * | 2020-08-28 | 2022-03-01 | 上海汽车集团股份有限公司 | Parameter determination method and related device |
| CN114670800A (en) * | 2020-12-24 | 2022-06-28 | 上海汽车集团股份有限公司 | Torque monitoring method, device and system |
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Application publication date: 20191022 |