CN111959487A - Vehicle torque safety monitoring method and device, vehicle and storage medium - Google Patents
Vehicle torque safety monitoring method and device, vehicle and storage medium Download PDFInfo
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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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
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Abstract
The invention discloses a vehicle torque safety monitoring method and device, an automobile and a storage medium. The method comprises the following steps: acquiring vehicle running state data and vehicle real-time torque, and determining whether the vehicle is abnormal in torque according to the vehicle running state data and the vehicle real-time torque; when the vehicle torque is abnormal, determining the vehicle overrun speed and the vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque; and controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold. The embodiment of the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem of accident occurrence caused by over-sensitive fault triggering or unreasonable triggering time of the vehicle, realizes more accurate monitoring of the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process.
Description
Technical Field
The embodiment of the invention relates to a vehicle control technology, in particular to a vehicle torque safety monitoring method and device, an automobile and a storage medium.
Background
At present, two main torque safety monitoring modes for electric automobiles are provided: firstly, according to vehicle running state data, two vehicle required torque values are obtained through two different torque calculation methods, whether the two values are within a certain threshold value range or not is judged, if the two values exceed the threshold value range, the torque is judged to be abnormal, and fault measures are taken; and the other method is that a vehicle real-time torque value is obtained through a vehicle execution torque bus signal, the torque value is compared with a vehicle required torque value calculated according to vehicle running state data, if the torque value exceeds the threshold range, the torque is judged to be abnormal, and a fault measure is taken.
In the two methods, the judgment of whether the vehicle torque is safe is determined by comparing the torque values, however, when the vehicle is in different driving states, the influence caused by the same abnormal torque is different, the requirement of torque function safety monitoring cannot be met only by comparing the torque values, the safety of passengers cannot be well ensured, and traffic accidents are easy to happen.
Disclosure of Invention
The invention provides a vehicle torque safety monitoring method and device, an automobile and a storage medium, which are used for realizing more accurate monitoring of vehicle torque and avoiding accidents caused by over-sensitive fault triggering or unreasonable triggering time.
In a first aspect, an embodiment of the present invention provides a vehicle torque safety monitoring method, including:
acquiring vehicle running state data and vehicle real-time torque, and determining whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the vehicle real-time torque;
when the vehicle torque is abnormal, determining vehicle overrun speed and vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque;
and controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
Optionally, the determining whether the vehicle has abnormal torque according to the vehicle driving state data and the vehicle real-time torque includes:
determining vehicle required torque according to the vehicle running state data, and comparing the vehicle required torque with the vehicle real-time torque;
if the difference value of the vehicle real-time torque and the vehicle required torque is larger than a preset torque threshold value, determining that the vehicle torque is abnormal; if not, then,
determining that the vehicle torque is normal.
Optionally, the determining the vehicle overrun speed and the vehicle overrun displacement according to the vehicle driving state data and the vehicle real-time torque includes:
determining the difference value of the vehicle real-time torque and the vehicle required torque as an overrun torque, and determining overrun acceleration according to the overrun torque;
and determining the vehicle overrun speed and the vehicle overrun displacement according to the overrun acceleration and the vehicle running state data.
Optionally, if the vehicle overrun speed and/or the vehicle overrun displacement exceed/exceeds the corresponding safety threshold, controlling the vehicle motor to stop outputting includes:
determining whether the vehicle overrun speed is greater than a preset speed threshold value, and if so, controlling a vehicle motor to stop outputting; or,
and acquiring a preset overrun speed displacement table, determining whether the overrun displacement of the vehicle is greater than a preset displacement threshold corresponding to the current vehicle speed, and controlling the motor of the vehicle to stop outputting if the overrun displacement of the vehicle is greater than the preset displacement threshold corresponding to the current vehicle speed.
Optionally, after controlling the vehicle motor to stop outputting, the method further includes:
and monitoring the change condition of the overrun torque, and reducing the overrun speed and the overrun displacement of the vehicle according to corresponding step length when the overrun torque is smaller than the preset torque threshold.
Optionally, after the vehicle overrun speed and the vehicle overrun displacement are reduced by the corresponding step length, the method further includes:
and when the vehicle overrun speed and the vehicle overrun displacement are reduced to zero, controlling the output of a vehicle motor.
Optionally, before determining whether the vehicle is abnormal in torque according to the vehicle driving state data and the vehicle real-time torque, the method further includes:
and carrying out data safety level detection on the vehicle running state data and the vehicle real-time torque, and if the vehicle running state data or the vehicle real-time torque do not accord with a preset safety level, carrying out data safety level abnormity prompting.
In a second aspect, an embodiment of the present invention further provides a vehicle torque safety monitoring device, including:
the torque state determining module is used for acquiring vehicle running state data and vehicle real-time torque and determining whether the vehicle is abnormal in torque or not according to the vehicle running state data and the vehicle real-time torque;
the speed displacement determining module is used for determining vehicle overrun speed and vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque when the vehicle torque is abnormal;
and the motor control module is used for controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more processors;
a memory for storing one or more programs;
the collector is used for collecting vehicle running state data and vehicle real-time torque;
a motor for outputting torque to power the vehicle;
when executed by the one or more processors, cause the one or more processors to implement a vehicle torque security monitoring method as described in any embodiment of the invention.
In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a vehicle torque security monitoring method according to any of the embodiments of the present invention.
The present invention determines whether the torque of the vehicle is abnormal by determining whether the torque of the vehicle is abnormal according to the vehicle driving state data and the real-time torque of the vehicle, when the vehicle torque is abnormal, further judging whether the vehicle overrun speed and the vehicle overrun displacement are in the normal range, the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem that accidents are caused because the fault triggering is too sensitive or the triggering time is unreasonable because the judgment on the vehicle torque safety is only carried out through the comparison of the torque values, realizes more accurate monitoring on the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process.
Drawings
FIG. 1 is a schematic illustration of a vehicle torque security monitoring method of the prior art;
FIG. 2 is a flow chart of a method for monitoring vehicle torque safety according to an embodiment of the present invention;
FIG. 3 is a flowchart of a vehicle torque security monitoring method according to a second embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle torque security monitoring method according to a second embodiment of the present invention;
fig. 5 is a block diagram of a vehicle torque safety monitoring device according to a third embodiment of the present invention;
fig. 6 is a block diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
In the vehicle torque safety monitoring method shown in fig. 1, according to the data of the parameters related to the vehicle running state, the vehicle required torque T1 is obtained through calculation of an L1 function algorithm, according to the data of the parameters related to the vehicle running state, the vehicle monitoring torque T2 is obtained through calculation of an L2 function monitoring algorithm, when it is determined whether the vehicle torque is normal, two methods are usually adopted, one is to compare the vehicle required torque T1 obtained through the L1 function algorithm with the vehicle monitoring torque T2 obtained through calculation of the L2 function monitoring algorithm, and if the difference between the two exceeds a certain threshold, it is determined that the torque is abnormal, and a fault measure is taken; the other method is that the actual torque Tq of the vehicle obtained by executing a torque bus signal through an actuator is compared with the vehicle monitoring torque T2 obtained by calculating an L2 function monitoring algorithm, if the difference value of the actual torque Tq and the vehicle monitoring torque T2 exceeds a certain threshold value, the torque is judged to be abnormal, and fault measures are taken. In the method, the safety judgment of the vehicle torque is determined by comparing the torque values, and the requirement of safety monitoring of the torque function cannot be met, so that the invention provides the vehicle torque safety monitoring method, the vehicle torque safety monitoring device, the vehicle and the storage medium, and solves the problems in the prior art.
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only a part of the structures related to the present invention, not all of the structures, are shown in the drawings, and furthermore, embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 2 is a flowchart of a vehicle torque safety monitoring method according to an embodiment of the present invention, where the embodiment is applicable to a situation of torque safety monitoring during driving of an electric vehicle, and the method may be executed by a vehicle torque safety monitoring device, and the device may be implemented by software and/or hardware.
As shown in fig. 2, the method specifically includes the following steps:
and step 110, acquiring vehicle running state data and vehicle real-time torque, and determining whether the vehicle is abnormal in torque according to the vehicle running state data and the vehicle real-time torque.
The vehicle driving state data may be understood as various parameter data at the current time when the vehicle is driving, and may include related parameter data such as the current vehicle speed of the vehicle, the power of the vehicle engine, and the rotating speed of the vehicle engine. The vehicle real-time torque can be understood as an actual torque value under the current state of the vehicle fed back by a vehicle actuator.
Specifically, the vehicle torque safety monitoring device can acquire vehicle running state data through an acquisition device on the vehicle, calculate a torque value required to be provided for the vehicle at the moment through the vehicle running state data, and also can acquire an execution torque bus signal of a vehicle actuator to obtain the real-time torque of the vehicle. Whether the vehicle has abnormal torque can be judged by comparing the calculated torque with the vehicle real-time torque, for example, if the difference between the calculated required torque and the vehicle real-time torque is large, the vehicle can be considered to have abnormal torque, otherwise, the vehicle can be considered to have normal torque.
And step 120, when the vehicle torque is abnormal, determining the vehicle overrun speed and the vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque.
The vehicle overrun speed can be understood as a speed change value which may be caused by vehicle torque abnormality. The vehicle overrun displacement may be understood as a displacement variation value that may be generated by the vehicle over a certain period of time due to the vehicle torque abnormality.
Specifically, when the torque of the vehicle is abnormal, the vehicle overrun speed and the vehicle overrun displacement which may be generated due to the torque abnormality can be calculated according to the vehicle running state data and the vehicle real-time torque. The vehicle torque safety monitoring device can determine the required torque of the vehicle at the moment according to the vehicle running state data, determine the difference value of the required torque of the vehicle at the moment and the real-time torque of the vehicle as the abnormal torque, calculate the acceleration of the torque acting on the whole vehicle through a vehicle dynamic equation, and determine the vehicle over-limit speed and the vehicle over-limit displacement according to the acceleration.
And step 130, controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
Specifically, when the torque of the vehicle is abnormal, the vehicle overrun speed and the vehicle overrun displacement which may be generated under the abnormal torque may be analyzed. The vehicle torque safety monitoring device can judge whether the vehicle overrun speed or the vehicle overrun displacement is in a corresponding safety range, and when the vehicle overrun speed or the vehicle overrun displacement exceeds a corresponding safety threshold, the vehicle can be considered to have a safety problem, so that the vehicle motor can be controlled to temporarily close the output.
The technical scheme of the embodiment determines whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the real-time torque of the vehicle, when the vehicle torque is abnormal, further judging whether the vehicle overrun speed and the vehicle overrun displacement are in the normal range, the embodiment of the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem that accidents are caused because the fault triggering is too sensitive or the triggering time is unreasonable because the judgment on the vehicle torque safety is only carried out through the comparison of the torque values, realizes more accurate monitoring on the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process.
Example two
Fig. 3 is a flowchart of a vehicle torque safety monitoring method according to a second embodiment of the present invention. On the basis of the embodiment, the vehicle torque safety monitoring method is further optimized.
As shown in fig. 3, the method specifically includes:
and step 210, acquiring vehicle running state data and vehicle real-time torque, and performing data safety level detection on the vehicle running state data and the vehicle real-time torque.
Wherein, the security level may refer to the probability that the description system can achieve the specified security objective. The torque control and the safety of the pure electric vehicle are directly related, and if the driving torque is too large, a dangerous condition of high-speed rear-end collision or vehicle rushing out of a lane can be caused; if the energy recovery torque is too large, the vehicle is easy to cause a high-speed rear-end collision accident with a rear vehicle, and serious personal injury can be caused in any case. Therefore, the level of safety assessment of the drive torque and energy recovery torque functions should be high, up to the level of ASIL C, which is four levels, a, B, C, D, where a is the lowest level and D is the highest level. In the conventional scheme, as shown in fig. 1, in an L2 function monitoring algorithm, the rationality of an input signal is not checked, and the safety level requirement of a torque function cannot be met.
Specifically, data safety level detection is carried out on the acquired vehicle running state data and the acquired vehicle real-time torque, a safety level standard can be set to be an ASIL C level, and if the vehicle running state data or the vehicle real-time torque do not accord with a preset safety level, data processing can be carried out on related data, or abnormal prompt that the data safety level does not reach the standard is carried out.
For example, as shown in fig. 4, since the safety level of the L1 function algorithm is only QM, and the vehicle motor is output according to the torque value calculated by the L1 function algorithm, if the safety level of the L2 function monitoring algorithm reaches ASIL C level, the same or higher function safety level requirement needs to be made for the motor actuator, so as to ensure that the actual torque signal fed back by the motor actuator meets ASIL C level.
And step 220, determining the required torque of the vehicle according to the vehicle running state data, and judging whether the difference value of the real-time torque of the vehicle and the required torque of the vehicle is greater than a preset torque threshold value.
The required torque of the vehicle can be understood as an ideal torque value required under the current state of the vehicle calculated by a vehicle safety monitoring algorithm.
Specifically, vehicle running state data can be acquired through a collector on the vehicle, a torque value which needs to be provided for the vehicle at the moment is calculated through the vehicle running state data, the torque value is determined as a vehicle required torque, the real-time torque of the vehicle and the vehicle required torque can be subtracted, the difference value of the real-time torque of the vehicle and the vehicle required torque is compared with a preset torque threshold, and if the difference value of the real-time torque of the vehicle and the vehicle required torque is larger than the preset torque threshold, the step 230-2 is performed; otherwise, step 230-1 is performed.
Step 230-1, vehicle torque is normal.
Specifically, if the difference between the vehicle real-time torque and the vehicle required torque is not greater than the preset torque threshold, it may be indicated that the vehicle torque is normal at this time, and the process may return to step 210 to perform the safety monitoring on the vehicle torque again.
And step 230-2, determining the difference value of the real-time torque of the vehicle and the required torque of the vehicle as the overrun torque, and determining the overrun acceleration according to the overrun torque.
The overrun torque can be understood as a deviation value between an actual torque of the vehicle and a required torque of the vehicle at the current moment. Overrun acceleration may be understood as the rate of change of vehicle speed caused by overrun torque.
Specifically, the vehicle torque safety monitoring device can determine the difference value between the real-time torque of the vehicle and the required torque of the vehicle as the over-limit torque, and calculate the acceleration generated when the over-limit torque acts on the whole vehicle through a vehicle dynamic equation.
And step 240, determining the vehicle overrun speed and the vehicle overrun displacement according to the overrun acceleration and by combining the vehicle running state data.
Specifically, the vehicle torque safety monitoring device may calculate a change value that may occur in a vehicle speed within a preset time period, based on the overrun acceleration in combination with vehicle driving state data, such as a current vehicle speed of the vehicle, determine the speed change value as a vehicle overrun speed, and determine a displacement change value that may occur in the vehicle due to the speed change value within the time period as a vehicle overrun displacement.
And step 250, judging whether the vehicle overrun speed is larger than a preset speed threshold value.
Specifically, the vehicle overrun speed may be compared with a preset speed threshold, and if the vehicle overrun speed is greater than the preset speed threshold, step 270-1 is performed; otherwise, go to step 260.
And step 260, acquiring a preset overrun speed displacement table, and judging whether the overrun displacement of the vehicle is greater than a preset displacement threshold corresponding to the current vehicle speed.
The overrun speed displacement table can be understood as a preset overrun displacement safety threshold comparison table under different vehicle speeds.
Specifically, the vehicle overrun displacement may be compared with a preset displacement threshold corresponding to the current vehicle speed in the overrun speed displacement table, and if the vehicle overrun displacement is greater than the preset displacement threshold corresponding to the current vehicle speed, the step 270-1 is performed; otherwise, step 270-2 is performed.
And step 270-1, controlling the vehicle motor to stop outputting.
Specifically, if the vehicle overrun speed is greater than the preset speed threshold or the vehicle overrun displacement is greater than the corresponding preset displacement threshold, it can be considered that the occurrence of vehicle accidents is likely to be caused by the abnormal current vehicle torque, so that fault treatment is required, the motor of the vehicle is controlled to temporarily stop outputting, and the accident occurrence probability is reduced. Step 280 may then be performed.
And 270-2, controlling the motor of the vehicle to normally output.
Specifically, if the vehicle overrun speed is not greater than the preset speed threshold and the vehicle overrun displacement is not greater than the corresponding preset displacement threshold, it can be shown that the difference between the vehicle real-time torque and the vehicle demand torque is still in a relatively safe range with respect to the current running state of the vehicle, and the difference between the torques does not have a great influence on the vehicle, so that the process can return to step 210 to perform the safety monitoring of the vehicle torque again.
And step 280, monitoring the change condition of the overrun torque, and reducing the overrun speed and the overrun displacement of the vehicle according to corresponding step length when the overrun torque is smaller than a preset torque threshold value.
Specifically, after the motor of the vehicle is controlled to stop outputting, the real-time torque of the vehicle and the required torque of the vehicle can be monitored, and when the difference value of the real-time torque of the vehicle and the required torque of the vehicle is reduced to a preset torque threshold value, the recorded values of the overrun speed and the overrun displacement of the vehicle can be reduced according to a certain step length.
And step 290, controlling the output of the vehicle motor when the vehicle overrun speed and the vehicle overrun displacement are reduced to zero.
Specifically, when the vehicle overrun speed and the vehicle overrun displacement are reduced to zero, the vehicle can be considered to enter a normal state, and the motor can be recovered to work normally at the moment.
The technical scheme of the embodiment determines whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the real-time torque of the vehicle, when the vehicle torque is abnormal, further judging whether the vehicle overrun speed and the vehicle overrun displacement are in the normal range, the embodiment of the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem that accidents are caused because the fault triggering is too sensitive or the triggering time is unreasonable because the judgment on the vehicle torque safety is only carried out through the comparison of the torque values, realizes more accurate monitoring on the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process. In addition, the embodiment of the invention also monitors the torque condition of the vehicle after the motor stops outputting, reduces the vehicle overrun speed and the vehicle overrun displacement according to corresponding step length when the overrun torque is smaller than the preset torque threshold value, and resumes the normal work of the motor when the vehicle enters a normal state to ensure the normal running of the vehicle.
EXAMPLE III
The vehicle torque safety monitoring device provided by the embodiment of the invention can execute the vehicle torque safety monitoring method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Fig. 5 is a block diagram of a vehicle torque safety monitoring apparatus according to a third embodiment of the present invention, and as shown in fig. 5, the apparatus includes: a torque state determination module 310, a speed displacement determination module 320, and a motor control module 330.
The torque state determination module 310 is configured to obtain vehicle driving state data and vehicle real-time torque, and determine whether the vehicle is abnormal in torque according to the vehicle driving state data and the vehicle real-time torque.
And a speed and displacement determining module 320, configured to determine, when the vehicle torque is abnormal, a vehicle overrun speed and a vehicle overrun displacement according to the vehicle driving state data and the vehicle real-time torque.
And the motor control module 330 is used for controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
The technical scheme of the embodiment determines whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the real-time torque of the vehicle, when the vehicle torque is abnormal, further judging whether the vehicle overrun speed and the vehicle overrun displacement are in the normal range, the embodiment of the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem that accidents are caused because the fault triggering is too sensitive or the triggering time is unreasonable because the judgment on the vehicle torque safety is only carried out through the comparison of the torque values, realizes more accurate monitoring on the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process.
Optionally, the determining whether the vehicle has abnormal torque according to the vehicle driving state data and the vehicle real-time torque includes:
determining vehicle required torque according to the vehicle running state data, and comparing the vehicle required torque with the vehicle real-time torque;
if the difference value of the vehicle real-time torque and the vehicle required torque is larger than a preset torque threshold value, determining that the vehicle torque is abnormal; if not, then,
determining that the vehicle torque is normal.
Optionally, the determining the vehicle overrun speed and the vehicle overrun displacement according to the vehicle driving state data and the vehicle real-time torque includes:
determining the difference value of the vehicle real-time torque and the vehicle required torque as an overrun torque, and determining overrun acceleration according to the overrun torque;
and determining the vehicle overrun speed and the vehicle overrun displacement according to the overrun acceleration and the vehicle running state data.
Optionally, the motor control module 330 is specifically configured to:
determining whether the vehicle overrun speed is greater than a preset speed threshold value, and if so, controlling a vehicle motor to stop outputting; or,
and acquiring a preset overrun speed displacement table, determining whether the overrun displacement of the vehicle is greater than a preset displacement threshold corresponding to the current vehicle speed, and controlling the motor of the vehicle to stop outputting if the overrun displacement of the vehicle is greater than the preset displacement threshold corresponding to the current vehicle speed.
Optionally, the apparatus further includes a monitoring module 340, where the monitoring module 340 is configured to:
and monitoring the change condition of the overrun torque, and reducing the overrun speed and the overrun displacement of the vehicle according to corresponding step length when the overrun torque is smaller than the preset torque threshold.
Optionally, the apparatus further comprises a second motor control module 350, wherein the second motor control module 350 is configured to:
and when the vehicle overrun speed and the vehicle overrun displacement are reduced to zero, controlling the output of a vehicle motor.
Optionally, the apparatus further includes a data security detection module 360, where the data security detection module 360 is configured to:
and carrying out data safety level detection on the vehicle running state data and the vehicle real-time torque, and if the vehicle running state data or the vehicle real-time torque do not accord with a preset safety level, carrying out data safety level abnormity prompting.
The technical scheme of the embodiment determines whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the real-time torque of the vehicle, when the vehicle torque is abnormal, further judging whether the vehicle overrun speed and the vehicle overrun displacement are in the normal range, the embodiment of the invention not only analyzes the torque value, but also judges different conditions of the vehicle overrun speed and the vehicle overrun displacement which are possibly generated when the torque is abnormal, solves the problem that accidents are caused because the fault triggering is too sensitive or the triggering time is unreasonable because the judgment on the vehicle torque safety is only carried out through the comparison of the torque values, realizes more accurate monitoring on the vehicle torque, has more reasonable fault triggering time, and improves the safety of the vehicle in the running process. In addition, the embodiment of the invention also monitors the torque condition of the vehicle after the motor stops outputting, reduces the vehicle overrun speed and the vehicle overrun displacement according to corresponding step length when the overrun torque is smaller than the preset torque threshold value, and resumes the normal work of the motor when the vehicle enters a normal state to ensure the normal running of the vehicle.
Example four
Fig. 6 is a block diagram of a vehicle according to a fourth embodiment of the present invention, as shown in fig. 6, the vehicle includes a processor 410, a memory 420, a collector 430, and a motor 440; the number of processors 410 in the vehicle may be one or more, and one processor 410 is taken as an example in fig. 6; the processor 410, memory 420, collector 430 and motor 440 in the vehicle may be connected by a bus or other means, as exemplified by the bus connection in fig. 6.
The memory 420 serves as a computer-readable storage medium for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the vehicle torque safety monitoring method in the embodiment of the present invention (e.g., the torque state determination module 310, the speed displacement determination module 320, and the motor control module 330 in the vehicle torque safety monitoring apparatus). The processor 410 executes various functional applications and data processing of the vehicle by executing software programs, instructions and modules stored in the memory 420, so as to implement the vehicle torque safety monitoring method described above.
The memory 420 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 420 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 420 may further include memory located remotely from the processor 410, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
A collector 430 for collecting vehicle driving state data and vehicle real-time torque, and generating signal inputs related to user settings and function control of the vehicle; a motor 440 for outputting torque to power the vehicle; .
EXAMPLE five
Embodiments of the present invention also provide a storage medium containing computer-executable instructions which, when executed by a computer processor, perform a vehicle torque security monitoring method, the method comprising:
acquiring vehicle running state data and vehicle real-time torque, and determining whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the vehicle real-time torque;
when the vehicle torque is abnormal, determining vehicle overrun speed and vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque;
and controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
Of course, the embodiment of the present invention provides a storage medium containing computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and can also perform related operations in the vehicle torque safety monitoring method provided in any embodiment of the present invention.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods according to the embodiments of the present invention.
It should be noted that, in the embodiment of the vehicle torque safety monitoring device, the included units and modules are only divided according to the functional logic, but are not limited to the above division as long as the corresponding functions can be realized; in addition, specific names of the functional units are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A vehicle torque security monitoring method, comprising:
acquiring vehicle running state data and vehicle real-time torque, and determining whether the torque of the vehicle is abnormal or not according to the vehicle running state data and the vehicle real-time torque;
when the vehicle torque is abnormal, determining vehicle overrun speed and vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque;
and controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
2. The vehicle torque safety monitoring method according to claim 1, wherein the determining whether the vehicle is torque-abnormal according to the vehicle driving state data and the vehicle real-time torque comprises:
determining vehicle required torque according to the vehicle running state data, and comparing the vehicle required torque with the vehicle real-time torque;
if the difference value of the vehicle real-time torque and the vehicle required torque is larger than a preset torque threshold value, determining that the vehicle torque is abnormal; if not, then,
determining that the vehicle torque is normal.
3. The vehicle torque safety monitoring method according to claim 2, wherein the determining of the vehicle overrun speed and the vehicle overrun displacement from the vehicle driving state data and the vehicle real-time torque comprises:
determining the difference value of the vehicle real-time torque and the vehicle required torque as an overrun torque, and determining overrun acceleration according to the overrun torque;
and determining the vehicle overrun speed and the vehicle overrun displacement according to the overrun acceleration and the vehicle running state data.
4. The vehicle torque security monitoring method of claim 1, wherein said controlling vehicle motor output to stop if said vehicle over-speed and/or said vehicle over-displacement exceeds a respective security threshold comprises:
determining whether the vehicle overrun speed is greater than a preset speed threshold value, and if so, controlling a vehicle motor to stop outputting; or,
and acquiring a preset overrun speed displacement table, determining whether the overrun displacement of the vehicle is greater than a preset displacement threshold corresponding to the current vehicle speed, and controlling the motor of the vehicle to stop outputting if the overrun displacement of the vehicle is greater than the preset displacement threshold corresponding to the current vehicle speed.
5. The vehicle torque security monitoring method according to claim 3, further comprising, after controlling the vehicle motor to stop outputting:
and monitoring the change condition of the overrun torque, and reducing the overrun speed and the overrun displacement of the vehicle according to corresponding step length when the overrun torque is smaller than the preset torque threshold.
6. The vehicle torque security monitoring method of claim 5, further comprising, after reducing the vehicle overrun speed and the vehicle overrun displacement by respective steps:
and when the vehicle overrun speed and the vehicle overrun displacement are reduced to zero, controlling the output of a vehicle motor.
7. The vehicle torque safety monitoring method according to claim 1, before determining whether a vehicle is torque-abnormal according to the vehicle driving state data and the vehicle real-time torque, further comprising:
and carrying out data safety level detection on the vehicle running state data and the vehicle real-time torque, and if the vehicle running state data or the vehicle real-time torque do not accord with a preset safety level, carrying out data safety level abnormity prompting.
8. A vehicle torque security monitoring device, comprising:
the torque state determining module is used for acquiring vehicle running state data and vehicle real-time torque and determining whether the vehicle is abnormal in torque or not according to the vehicle running state data and the vehicle real-time torque;
the speed displacement determining module is used for determining vehicle overrun speed and vehicle overrun displacement according to the vehicle running state data and the vehicle real-time torque when the vehicle torque is abnormal;
and the motor control module is used for controlling the motor of the vehicle to stop outputting if the vehicle overrun speed and/or the vehicle overrun displacement exceed the corresponding safety threshold.
9. A vehicle, characterized by comprising:
one or more processors;
a memory for storing one or more programs;
the collector is used for collecting vehicle running state data and vehicle real-time torque;
a motor for outputting torque to power the vehicle;
when executed by the one or more processors, cause the one or more processors to implement the vehicle torque security monitoring method of any one of claims 1-7.
10. A storage medium containing computer executable instructions for performing the vehicle torque security monitoring method of any one of claims 1-7 when executed by a computer processor.
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