CN115139819B

CN115139819B - Electric vehicle torque monitoring method, system and electric vehicle

Info

Publication number: CN115139819B
Application number: CN202210861642.5A
Authority: CN
Inventors: 孟凡博
Original assignee: Sany Electric Vehicle Technology Co Ltd
Current assignee: Sany Special Vehicle Co Ltd
Priority date: 2022-07-20
Filing date: 2022-07-20
Publication date: 2025-05-30
Anticipated expiration: 2042-07-20
Also published as: CN115139819A

Abstract

The invention relates to the technical field of torque control, and provides an electric vehicle torque monitoring method, system and electric vehicle, wherein the method comprises the steps of determining a whole vehicle running mode and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain intermediate torque required to be experienced in the process of reaching the required torque, obtaining feedback torque which is an execution result corresponding to the required torque, wherein the control state information comprises pedal information and gear information, generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode, and whether the feedback torque is matched with a preset vehicle running requirement. The invention is used for solving the defect that the safety and the comfort of the running of the vehicle are affected because the monitoring of the required torque is on one side in the prior art, realizing the comprehensive monitoring of the torque requirement, ensuring the driving safety and improving the driving experience.

Description

Electric vehicle torque monitoring method and system and electric vehicle

Technical Field

The invention relates to the technical field of torque control, in particular to an electric vehicle torque monitoring method and system and an electric vehicle.

Background

The electric vehicle torque output path is a dangerous situation that a Vehicle Controller (VCU) outputs a torque demand to a Motor Controller (MCU) according to pedal and gear information, and if an abnormal torque demand occurs on the torque output path, an erroneous running direction of the vehicle or unexpected acceleration or the like may occur. Thus, there is a need to monitor torque demand to ensure that no abnormal torque demand is generated on the torque output path.

However, at present, monitoring of torque demand is mainly focused on monitoring of analyzed demand torque and/or output torque, and monitoring is relatively one-sided, so that comprehensive monitoring of demand torque cannot be ensured, and further safety and comfort of vehicle driving are affected.

Disclosure of Invention

The invention provides an electric vehicle torque monitoring method and system and an electric vehicle, which are used for solving the defect that the running safety and comfort of the vehicle are affected because the monitoring of the required torque is relatively one-sided in the prior art, realizing the comprehensive monitoring of the torque requirement, ensuring the driving safety and improving the driving experience.

The invention provides a torque monitoring method of an electric vehicle, which comprises the following steps:

The method comprises the steps of determining a whole vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain an intermediate torque required to be experienced in the process of reaching the required torque, and obtaining a feedback torque which is an execution result corresponding to the required torque;

And generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, and whether the feedback torque is matched with a preset vehicle running requirement or not.

According to the electric vehicle torque monitoring method, the whole vehicle running mode comprises a vehicle running direction, wherein the preset vehicle running requirements comprise a torque change requirement, a vehicle speed requirement and a feedback torque requirement;

The generating a monitoring result based on the required torque, the intermediate torque and the feedback torque includes:

generating the monitoring result based on the required torque, the intermediate torque and the vehicle running direction;

Generating the monitoring result based on the required torque and the torque change requirement;

Generating the monitoring result based on the required torque and the vehicle speed requirement;

And generating the monitoring result based on the required torque, the feedback torque and the feedback torque requirement.

According to the electric vehicle torque monitoring method of the present invention, the generating the monitoring result based on the required torque, the intermediate torque and the vehicle traveling direction includes:

Monitoring whether the direction of the required torque matches the vehicle running direction;

judging whether the required torque is in a torque filtering stage or not when the direction of the required torque is matched with the running direction of the vehicle;

If the required torque is in the torque filtering stage, after a preset filtering time period, judging whether the direction of the output torque output after filtering is matched with the running direction of the vehicle;

If the required torque has passed the torque filtering stage, directly judging whether the direction of the output torque is matched with the running direction of the vehicle.

According to the electric vehicle torque monitoring method of the present invention, the generating the monitoring result based on the required torque and the torque variation requirement includes:

Acquiring the output torque in a preset duration period;

calculating a rate of change of the output torque over the preset duration period based on the timing;

and monitoring whether the change rate of the output torque is matched with the torque change requirement or not based on the relation between the change rate and a preset change rate threshold.

According to the electric vehicle torque monitoring method, the control state information also comprises constant-speed cruising information;

the generating the monitoring result based on the required torque and the vehicle speed requirement comprises the following steps:

And when the constant-speed cruising information is that the constant-speed cruising is started, monitoring whether the vehicle speed generated by the vehicle based on the output torque is matched with the cruising vehicle speed limited by the constant-speed cruising.

According to the electric vehicle torque monitoring method, the control state information comprises highest vehicle speed limit information;

And when the maximum vehicle speed limit information is the maximum vehicle speed, monitoring whether the vehicle meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information based on the vehicle speed generated by executing the output torque.

According to the electric vehicle torque monitoring method of the present invention, the generating the monitoring result based on the required torque, the feedback torque and the feedback torque requirement includes:

Receiving the feedback torque fed back by a motor controller of the vehicle after the motor controller executes the required torque;

Monitoring whether the feedback torque matches the output torque.

The electric vehicle torque monitoring method according to the invention further comprises the following steps:

Determining that a torque directionality failure occurs when the direction of the demand torque and/or the intermediate torque does not match the vehicle running direction;

Recording the torque directionality fault and adjusting the required torque to 0;

When the change rate of the required torque is not matched with the torque change requirement, judging that a torque change quantity fault occurs;

Recording the torque variation faults, and changing the required torque according to a corresponding preset torque variation calibration value in the whole vehicle running mode;

determining that a vehicle speed control failure occurs when the vehicle speed generated by the vehicle based on executing the required torque does not match the vehicle speed requirement;

recording the vehicle speed control fault, controlling the constant-speed cruising or the maximum vehicle speed limit of the vehicle to be closed, and adjusting the required torque to be 0;

determining that a response of a motor controller of the vehicle to the required torque fails when the feedback torque does not match the output torque;

recording response faults of the motor controller, controlling the motor controller to stop enabling, enabling the motor of the vehicle to enter a standby state, and adjusting the required torque to be 0.

The invention also provides an electric vehicle torque monitoring system, which comprises:

The processing module is used for determining a whole vehicle running mode of the vehicle and the required torque of the vehicle based on the control state information of the vehicle, performing torque filtering based on the required torque to obtain intermediate torque required to be experienced in the process of reaching the required torque, and obtaining feedback torque which is an execution result corresponding to the required torque;

The monitoring module is used for generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, and whether the feedback torque is matched with a preset vehicle running requirement or not.

The invention also provides an electric vehicle, which comprises the electric vehicle torque monitoring system.

According to the electric vehicle torque monitoring method, the system and the electric vehicle, the whole vehicle running mode of the vehicle and the required torque of the vehicle are determined based on the control state information of the vehicle, torque filtering is carried out based on the required torque to obtain the intermediate torque required to be experienced in the process of reaching the required torque, and the feedback torque, namely, after the execution result corresponding to the required torque is obtained, the monitoring result is generated based on the required torque, the intermediate torque and the feedback torque, namely, whether the monitored required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, whether the feedback torque is matched with the preset vehicle running requirement or not, torque analysis and torque output are achieved, and torque monitoring is carried out by means of multi-level combination, so that the monitoring of the required torque is more comprehensive, and driving safety and comfort are improved.

Drawings

In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an electric vehicle torque monitoring method provided by the invention;

FIG. 2 is a schematic diagram of a monitoring flow for monitoring torque directionality by using the electric vehicle torque monitoring method according to the present invention;

fig. 3 is a schematic diagram of a monitoring flow for monitoring a torque variation by adopting the electric vehicle torque monitoring method according to the embodiment of the invention;

FIG. 4 is a schematic diagram of a monitoring flow for cruise speed monitoring by using the electric vehicle torque monitoring method according to the embodiment of the present invention;

FIG. 5 is a schematic diagram of a monitoring flow for monitoring vehicle speed by adopting the electric vehicle torque monitoring method of the invention;

FIG. 6 is a schematic diagram of a monitoring flow of MCU torque monitoring using the electric vehicle torque monitoring method of the present invention;

FIG. 7 is a schematic diagram of the architecture of a VCU employing the electric vehicle torque monitoring method of the present invention;

FIG. 8 is an exploded view of the VCU function construction employing the electric vehicle torque monitoring method of the present invention;

FIG. 9 is a logic diagram of various monitoring fault processes using the electric vehicle torque monitoring method of the present invention;

fig. 10 is a schematic structural diagram of an electric vehicle torque monitoring system provided by the invention;

FIG. 11 is a schematic diagram of an electronic device according to the present invention;

Reference numerals:

VCU logic layer; 2, VCU monitoring layer; 3, directional monitoring; the vehicle speed monitoring system comprises a vehicle speed monitoring part, a vehicle speed analysis part, a vehicle mode analysis part, a vehicle speed control part, a torque filtering part, a first direction monitoring part, a second direction monitoring part, a change amount monitoring part, a vehicle speed analysis part, a vehicle speed control part, a vehicle speed filtering part, a first direction monitoring part, a second direction monitoring part, a change amount monitoring part, a vehicle speed, a.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The torque output path of the electric vehicle is that the VCU outputs a torque demand to the motor controller MCU according to the control state information of the pedal and gear information, and then the MCU controls the motor to rotate based on the torque demand output by the VCU and performs torque feedback to the VCU.

The VCU firstly needs to acquire pedal information and gear information of a vehicle, namely a vehicle accelerator pedal position, a vehicle brake pedal position, whether a gear is in a D gear, an R gear or an N gear and the like, then determines a whole vehicle running mode based on the pedal information and the gear information, analyzes and obtains a required torque based on the pedal information, the gear information and the whole vehicle running mode, outputs the VCU after torque filtering, and further transmits the required torque to the MCU. As can be seen, the transmission path of the required torque is complex, and if any one of the VCU torque output paths is abnormal or the MCU torque response module is abnormal, dangerous situations such as incorrect driving direction of the vehicle, unexpected acceleration, etc. may occur. Thus, the VCU needs to monitor the torque demand, i.e., to ensure that the complex torque output path does not create abnormal torque demand.

However, the existing monitoring of the torque demand is mainly focused on the monitoring of the analyzed demand torque and/or the torque output by the VCU, and whether the torque output by the VCU is abnormal or not is not considered, so that the monitoring is relatively one-sided, and the overall monitoring of the VCU torque output path cannot be realized, that is, the overall monitoring of the demand torque cannot be ensured, thereby influencing the safety and the comfort of the vehicle driving.

Based on the method, the invention provides a multi-level combined torque monitoring method for torque analysis, torque output and overall execution, so that the comprehensiveness of torque monitoring is improved, and the driving safety and the riding comfort of a user are further improved.

Firstly, in order to facilitate understanding of the electric vehicle torque monitoring method provided by the embodiment of the present invention, technical terms related to the embodiment are explained first:

the whole vehicle running mode is generally divided into a driving mode, a braking mode, a creeping mode and a sliding mode, wherein the driving mode, the braking mode, the creeping mode and the sliding mode are specific directions according to gear setting of a vehicle;

the VCU analyzes the torque according to the pedal information and the gear information of the vehicle;

Intermediate torque, namely, torque formed by torque filtering is carried out on the required torque obtained by VCU analysis, so that the motor gradually reaches the execution required torque;

Feedback torque, namely, executing torque which is fed back to the VCU after the motor controller executes the required torque;

the vehicle running requirement is the requirement of vehicle speed, comfort, stability, etc. in the running process, for example, the requirement of maintaining the vehicle at a constant speed, making the speed change less than the preset change rate, etc.

An electric vehicle torque monitoring method of the present invention is described below with reference to fig. 1 to 9, and is performed by software and/or hardware of a VCU, as shown in fig. 1, and includes:

101. the method comprises the steps of determining a whole vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain an intermediate torque required to be experienced in the process of reaching the required torque, and obtaining a feedback torque which is an execution result corresponding to the required torque;

It is understood that the control state information of the vehicle includes a plurality of aspects. For example, the gear information is that the motion direction of the vehicle corresponding to the R gear is the tail direction, the position information of the brake pedal or the accelerator pedal corresponds to the running speed of the vehicle, the position of the headlight switch corresponds to the on or off state of the headlight, the position information of the air conditioner knob corresponds to the air conditioner temperature, and the like.

Further, as previously described, the whole vehicle operation modes of the vehicle include a drive mode, a brake mode, a creep mode, and a coast mode. These four modes are all vehicle-related, and vehicle travel and braking are determined by the vehicle gear and pedal position. Thus, based on the pedal information and the shift position information in the control state information of the vehicle, the entire vehicle operation mode of the vehicle can be determined.

Specifically, based on pedal information and gear information of the vehicle, the basis for determining the whole vehicle running mode of the vehicle is as follows:

a drive mode in which the accelerator pedal position is greater than 0 and the brake pedal position is equal to 0;

A braking mode in which the brake pedal position is greater than 0;

A creeping mode in which the vehicle speed is less than a preset value (e.g., 8 km/hr, 9 km/hr, etc.), the accelerator pedal position is equal to 0, and the brake pedal position is equal to 0;

The coasting mode is where the vehicle speed is greater than a preset value (e.g., 10 km/h, 11 km/h, etc.), the accelerator pedal position is equal to 0, and the brake pedal position is equal to 0.

More specifically, the required torque of the vehicle should be matched with pedal information and gear information of the vehicle and the whole vehicle running mode, for example, the required torque should be less than 0 when the vehicle is in a braking mode and the gear is in a D-range, the required torque should be greater than 0 when the vehicle is in a creeping mode and the gear is in a D-range, and the direction is adapted to the forward direction of the vehicle, and so on.

102. And generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, and whether the feedback torque is matched with a preset vehicle running requirement or not.

It can be understood that, based on the control state information of the vehicle, the VCU can implement calculation of the required torque, that is, torque analysis, based on the whole vehicle operation mode after determining the whole vehicle operation mode of the vehicle, and then, after the required torque is obtained, the required torque is subjected to arbitration, filtering, limitation and the like, and output to the VCU, and is executed by the motor controller MCU of the vehicle, so that the vehicle runs at a vehicle speed according with the whole vehicle operation mode and the vehicle running requirement.

Specifically, when the VCU analyzes and filters the required torque and any executed process is wrong, the vehicle running is abnormal, and the running safety and the running comfort of the vehicle are further affected, so that after the whole vehicle running mode of the vehicle is determined based on the control state information of the vehicle and the required torque of the vehicle is obtained through analysis, the torque filtering is further obtained based on the required torque, the intermediate torque required to be experienced in the process of the required torque is achieved, and the feedback torque, namely the execution result corresponding to the required torque, is further obtained, and then whether the required torque, the intermediate torque and the feedback torque are matched with the whole vehicle running mode or the preset vehicle running requirement is monitored, so that the comprehensiveness of torque monitoring can be ensured, and the driving safety and the riding comfort are effectively improved.

The whole vehicle running mode comprises a vehicle running direction, wherein the preset vehicle running requirement comprises a torque change requirement, a vehicle speed requirement and a feedback torque requirement;

Specifically, the whole vehicle running mode is obtained based on the gear information and the pedal information of the vehicle, and thus has the direction of running of the vehicle, and it is understood that when the vehicle is in D gear, the whole vehicle running direction can be defined as the forward direction, and at this time, the required torque given by the VCU and the intermediate torque should be matched with the whole vehicle running mode, so that the monitoring result can be generated based on the required torque, the intermediate torque and the vehicle running direction.

More specifically, the MCU changes the speed of the vehicle based on the execution of the required torque, i.e., the required torque determines the speed change, so that a monitoring result can be generated based on the required torque and the speed demand, and similarly, the MCU feeds back the feedback torque to the VCU after the execution of the required torque, so that the monitoring result can be generated based on the required torque, the feedback torque and the feedback torque demand.

As an embodiment of the present invention, the generating the monitoring result based on the required torque, the intermediate torque, and the vehicle traveling direction includes:

It can be understood that the required torque fluctuates when the torque is filtered, so if the required torque obtained in real time is directly used for judging whether the required torque is matched with the running direction of the vehicle, erroneous judgment is easily caused by the fluctuation of the torque, and further, the VCU performs erroneous processing, thereby affecting the normal driving of the vehicle.

Specifically, in the process of monitoring the electric vehicle torque, the direction of the analyzed demand torque, namely whether the positive and negative of the demand torque are matched with the vehicle running direction or not, can be immediately identified when the torque demand in the wrong direction occurs in the torque analysis, so that unexpected running direction errors of the vehicle are avoided, and then when the analyzed demand torque does not have directivity errors, whether the output torque of the filtered output is matched with the vehicle running direction or not is judged after the preset filtering period when the demand torque is in the torque filtering stage, and whether the output torque is matched with the vehicle running direction or not is directly judged when the demand torque is in the torque filtering stage, so that time is reserved for the demand torque filtering, the misjudgment of whether the demand torque is matched with the vehicle running direction or not caused by the judgment of the demand torque in the filtering process is avoided, the accuracy of monitoring the torque directivity is improved, the normal running of the vehicle is ensured, and the driving safety and the driving experience of a user are improved.

It should be noted that, at present, an electric vehicle is generally configured with an electric control brake system (electric braking system, EBS), and when the EBS is started, the required torque is converted to be responsible for the EBS, so when the electric vehicle torque monitoring method according to the embodiment of the present invention is adopted to monitor the required torque, it is also required to determine whether the EBS is activated.

Further, when the gear of the vehicle is not in the N gear or the P gear and the vehicle speed control modes such as constant speed cruising are started, the vehicle speed is controlled, at this time, whether the torque is reasonable or not can be monitored by monitoring the vehicle speed, and the required torque and the intermediate torque provided by the VCU can be not monitored, so that when the electric vehicle torque monitoring method provided by the embodiment of the invention is adopted to monitor the required torque, whether the vehicle is in the vehicle speed control mode is also required to be judged.

More specifically, the monitoring flow of torque directionality monitoring by adopting the electric vehicle torque monitoring method according to the embodiment of the present invention is shown in fig. 2, and is that whether the current gear of the vehicle is N gear or P gear is first determined, and when the gear of the vehicle is N gear or P gear, it is indicated that the vehicle is in a stationary state, so that the obtained required torque should be 0 under the condition that the vehicle VCU is normal, and therefore, when the obtained required torque is not 0, it should enter the next step, i.e. whether the required torque is in a torque filtering stage is determined. Then, when the current gear of the vehicle is not in the N gear or the P gear, judging whether the vehicle is in a vehicle speed control mode, further judging whether the EBS of the vehicle is started after the vehicle is not in the vehicle speed control mode, and further judging whether the required torque obtained by the VCU is reasonable or not according to the current gear of the vehicle and the running state of the whole vehicle when the EBS is determined to be not started, namely:

when the current gear of the vehicle is the D gear, the reasonable required torque obtained by the VCU should be greater than 0 when the whole vehicle operation mode is driving or creeping, and the reasonable required torque obtained by the VCU should be less than 0 when the whole vehicle operation mode is coasting or braking, so if the required torque obtained at the moment is different from the reasonable required torque, the next step is to be carried out, namely, whether the required torque is in a torque filtering stage is judged.

When the current gear of the vehicle is the R gear, the reasonable required torque obtained by the VCU should be smaller than 0 when the whole vehicle operation mode is driving or creeping, and the reasonable required torque obtained by the VCU should be larger than 0 when the whole vehicle operation mode is coasting or braking, so that if the required torque obtained at the moment is different from the reasonable required torque, the next step is also carried out, namely whether the required torque is in a torque filtering stage is judged.

Further, when the required torque is determined to be in the filtering stage, the error of the direction of the required torque obtained by the VCU can be immediately determined, and the direction monitoring fault flag bit 1 is activated to facilitate the subsequent analysis and processing of the fault, when the required torque is determined to be in the filtering stage, after the filtering time period S (for example, 1 second and 1.5 seconds) is preset, that is, after the required torque is filtered to form the intermediate torque, if the intermediate torque is determined to be different from the reasonable required torque, the error of the torque direction of the intermediate torque obtained by the VCU is determined, and the direction monitoring fault flag bit 2 is activated to facilitate the subsequent analysis and processing of the fault.

It can be understood that by introducing the preset filtering time length, false alarm caused by that the required torque during filtering does not accord with the upper limit range and the lower limit range of the torque monitoring in a short time is avoided, and when the running mode of the whole vehicle is changed, the required torque is changed, and at the moment, a flow of the torque monitoring should be re-entered.

As an embodiment of the present invention, the generating the monitoring result based on the required torque and the torque variation requirement includes:

Acquiring the required torque in a preset duration period;

And monitoring whether the change rate of the required torque is matched with the torque change requirement or not based on the relation between the change rate and a preset change rate threshold value.

Specifically, the required torque in the preset duration period is obtained, then the change rate of the required torque is calculated based on the time sequence of each required torque, and then whether the change rate of the required torque meets the torque change requirement or not can be judged according to the relation between the change rate of the required torque and the preset change rate threshold, namely whether the change amount of the required torque is overlarge in the preset duration period or not is judged, so that the running irregularity of the vehicle caused by overlarge change amount of the output torque is monitored.

More specifically, the preset duration period may be flexibly set according to the running requirement of the vehicle, typically 10 ms, 15 ms, etc., to monitor abrupt changes in the required torque. Meanwhile, according to the difference of the whole vehicle operation modes of the vehicle, the monitoring standard of the change rate is different, namely, the preset change rate threshold value of the whole vehicle operation modes is different, and it is understood that the preset change rate threshold value represents the change of the required torque, is used for monitoring the maximum value of the variable step length of the required torque in unit time, and the change step length of the required torque in unit time is related to the whole vehicle operation mode, the vehicle speed and the required torque, so that the preset change rate threshold value is not a fixed value, but a variable which correspondingly changes along with the change of the whole vehicle operation mode, the vehicle speed and the required torque of the vehicle, and can be specifically set to be defined by multiplying the maximum step length allowed by the current whole vehicle operation mode, the vehicle speed and the required torque of the vehicle by a margin coefficient delta, wherein delta can be 1.1, 1.2, 1.3 and the like, and is specifically set according to the smoothness of the running of the vehicle which needs to be ensured.

Further, a monitoring flow of monitoring the change rate of the required torque by adopting the electric vehicle torque monitoring method according to the embodiment of the present invention is shown in fig. 3, and is as follows:

firstly judging whether the vehicle is in a vehicle speed control mode, and ensuring that the vehicle is smooth when the vehicle is in the vehicle speed control mode, wherein the vehicle speed is relatively stable, so that the change rate dT of the required torque is less than |dT5| is also required to be ensured at the moment, further judging whether the EBS of the vehicle is started when the vehicle is not in the vehicle speed control mode, and further judging whether the required torque obtained by the VCU is reasonable according to the current gear and the running state of the whole vehicle when the EBS is not started, namely:

When the current gear of the vehicle is D gear, the change rate dT of the required torque is smaller than or equal to a preset change rate threshold value |dT1| when the whole vehicle is in a driving or creeping mode, the change rate dT of the required torque is smaller than or equal to |dT2| when the vehicle is in a sliding or braking mode, the change rate dT of the required torque is smaller than or equal to |dT3| when the vehicle is in a driving or creeping mode, and the change rate dT of the required torque is smaller than or equal to |dT4| when the vehicle is in a sliding or braking mode, so that if the change rate of the required torque obtained at the moment is larger than the corresponding preset change rate threshold value, the change amount of the required torque obtained by VCU is judged to be too large, and a change amount monitoring fault marker is activated so that faults can be analyzed and processed later.

As an embodiment of the present invention, the control state information further includes constant speed cruising information;

and when the constant-speed cruising information is that the constant-speed cruising is started, monitoring whether the vehicle speed generated by the vehicle based on the execution of the required torque is matched with the cruising vehicle speed limited by the constant-speed cruising.

It will be appreciated that after the vehicle is cruising at an open cruise control, the VCU can automatically maintain the vehicle speed at a fixed speed without having to step on the accelerator pedal, as required by the driver.

Specifically, the vehicle speed of the vehicle is obtained, and after the vehicle starts constant-speed cruising, the difference value between the vehicle speed and the cruising vehicle speed is compared with a preset first speed threshold value, so that whether the required torque of the VCU meets the requirement of the constant-speed cruising vehicle speed is monitored, namely whether the required torque of the VCU is normal is judged.

More specifically, the preset first speed threshold may be flexibly set as needed, for example, to 10 km/h, 15 km/h, or the like.

Further, a monitoring flow of the cruise speed by adopting the electric vehicle torque monitoring method according to the embodiment of the present invention is shown in fig. 4, where the monitoring flow is as follows:

Firstly judging whether the constant speed cruising is started, when the constant speed cruising is started, acquiring a cruising speed U1 set by the constant speed cruising, then monitoring the speed U1, judging whether the absolute value of U1-Ut1 exceeds a preset first speed threshold dU1, and judging that the speed generated by the vehicle based on the execution of the required torque is not matched with the cruising speed limited by the constant speed cruising when the absolute value of U1-Ut1 is larger than dU1, namely, the required torque of VCU can not enable the vehicle to normally cruise at the constant speed, and at the moment, activating a speed control monitoring fault flag bit so as to facilitate the subsequent analysis and treatment of faults.

As one embodiment of the present invention, the control state information includes maximum vehicle speed limit information;

And when the maximum vehicle speed limit information is the maximum vehicle speed, monitoring whether the vehicle meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information based on the vehicle speed generated by executing the required torque.

It will be appreciated that a typical engineering vehicle, a coach vehicle in a driving school, etc. will be provided with a maximum speed limit function, i.e. when the VCU is functioning properly, the vehicle will be alerted when the vehicle speed reaches the maximum speed limit, and then will not increase even if the accelerator pedal is continuously stepped further.

Specifically, when the maximum vehicle speed limit information is limited to be opened, by acquiring the maximum vehicle speed limit value and judging whether the difference between the vehicle speed and the maximum vehicle speed limit value exceeds a preset second speed threshold value, the monitoring on whether the vehicle speed of the vehicle meets the requirement of the limited maximum vehicle speed in the maximum vehicle speed limit information can be realized, namely, whether the required torque is matched with the running mode of the whole vehicle.

More specifically, the preset second speed threshold value may also be flexibly set as needed, for example, to 10 km/hr, 15 km/hr, or the like.

Further, the constant-speed cruising and the maximum vehicle speed limit belong to monitoring the vehicle speed of the vehicle to realize monitoring of the output torque of the VCU, so that the electric vehicle torque monitoring method for monitoring the constant-speed cruising and the maximum vehicle speed limit can be used for monitoring together, and the monitoring flow is as shown in fig. 5, and is as follows:

Firstly judging whether the constant-speed cruising is started, when the constant-speed cruising is started, monitoring according to the monitoring flow of fig. 4, judging whether the highest vehicle speed limit is started when the constant-speed cruising is not started, acquiring the highest vehicle speed limit U2 when the highest vehicle speed limit is started, then monitoring the vehicle speed Ut1, judging whether the I U2-Ut1I exceeds a preset first speed threshold dU2, and judging that the required torque of the VCU is not matched with the running mode of the whole vehicle when the I U2-Ut1I > dU2, namely, the required torque of the VCU cannot enable the vehicle to run under the highest speed limit, and activating a vehicle speed control monitoring fault flag bit at the moment so as to analyze and process faults later.

As an embodiment of the present invention, the generating the monitoring result based on the required torque, the feedback torque, and the feedback torque request includes:

Receiving the feedback torque fed back by the motor controller of the vehicle after executing the output torque;

Monitoring whether the feedback torque matches the demand torque.

It is understood that the torque output path of the electric vehicle is that the VCU outputs the calculated required torque to the motor controller MCU according to the pedal and gear information, so that when the MCU torque response is abnormal, dangerous situations such as an error in the vehicle running direction or unexpected acceleration may also occur.

Specifically, when the MCU responds normally, the feedback torque should be equal to the required torque, so that the response fault of the MCU to the required torque can be determined by acquiring the feedback torque of the MCU and then judging whether the difference between the feedback torque and the required torque exceeds a preset deviation threshold value or not.

More specifically, the preset deviation threshold may be flexibly set according to practical situations, for example, set to 50 n×m, 100 n×m, and the like.

Further, a monitoring flow of MCU torque monitoring by adopting the electric vehicle torque monitoring method according to the embodiment of the present invention is shown in fig. 6, and is as follows:

firstly judging whether the MCU message has communication faults, such as Busoff, communication loss and the like, if yes, exiting MCU torque monitoring, if not, judging whether the MCU is in an enabling state, and when the MCU is in the enabling state, judging whether the absolute value of the difference value between the current torque Tm fed back by the MCU and the required torque Tq of the VCU is larger than a preset deviation threshold value dS, and when |Tm-Tq| > dS, judging that the MCU has response faults to the required torque of the VCU, wherein the MCU torque fault zone bit can be activated so as to analyze and process faults subsequently.

By integrating the electric vehicle torque monitoring method according to the above embodiment of the present invention, the VCU-based torque monitoring may be configured as a two-layer architecture including the VCU logic layer 1 and the VCU monitoring layer 2 as shown in fig. 7, where the VCU logic layer 1 is configured to acquire control state information of the vehicle such as an accelerator pedal, a brake pedal, a gear, a vehicle speed, and cruise control, and then output torque based on the acquired control state information, and the VCU monitoring layer 2 includes four monitoring portions for monitoring a required torque or an output torque based on the control state information, including the directivity monitoring 3, the variation monitoring 4, the vehicle speed monitoring 5, and the MCU torque monitoring 6, and meanwhile, the VCU monitoring layer 2 is further connected with the MCU7, so that the MCU7 receives the torque output by the VCU monitoring layer 2, and when enabled, feeds back the torque to the VCU monitoring layer 2 for the MCU7 to monitor a response failure of the required torque.

Further, the VCU logic layer and the VCU monitoring layer shown in fig. 7 and the MCU may be further divided based on different functions, specifically as shown in fig. 8, the VCU logic layer includes a whole vehicle mode analysis portion 8, a torque analysis portion 9, a vehicle speed control portion 10 and a torque filtering portion 11, the VCU monitoring layer includes a first directionality monitoring portion 12, a second directionality monitoring portion 13, a variation monitoring portion 14, a vehicle speed monitoring portion 15 and an MCU torque monitoring portion 16, the MCU includes an MCU torque feedback portion 17, wherein the whole vehicle analysis portion 8 is used for obtaining control state information of an accelerator pedal, a brake pedal, a gear and the like to determine a whole vehicle operation mode, the torque analysis portion 9 is used for calculating a required torque based on the whole vehicle operation mode, the torque filtering portion 11 is used for performing torque filtering on the required torque to obtain an intermediate torque required to be experienced in the process of reaching the required torque, and transmitting the intermediate torque to the MCU torque feedback portion 17, the vehicle speed control portion 10 is used for controlling the vehicle speed based on the whole vehicle operation mode, the first directionality monitoring portion 12 is used for monitoring the monitoring of the required torque before filtering, the second directionality monitoring portion 13 is used for the monitoring of the intermediate torque after filtering, the monitoring of the variation monitoring portion 14 is used for the monitoring of the intermediate torque, the variation monitoring portion 14 is used for the speed feedback monitoring of the maximum speed of the required torque, the MCU is used for the speed of the MCU is used for limiting the torque monitoring portion based on the torque feedback monitoring of the torque, and the maximum speed is used for the speed monitoring portion is used for the speed limitation of the MCU monitoring portion 16. Therefore, the torque is monitored in multiple aspects, the torque safety is guaranteed, meanwhile, when the torque directivity is monitored, the time of torque filtering is considered, the torque monitoring fault is prevented from being mistakenly reported in the changing process, and the monitoring accuracy is improved.

As an embodiment of the present invention, the electric vehicle torque monitoring method further includes:

Determining that a torque directionality failure has occurred when the direction of the required torque and/or the output torque does not match the vehicle travel direction;

recording the torque variation faults, and controlling the required torque to change according to a corresponding preset torque variation calibration value in the whole vehicle running mode;

determining that a response of a motor controller of the vehicle to the required torque fails when the feedback torque does not match the required torque;

Specifically, by adopting the electric vehicle torque monitoring method of the embodiment of the invention, a logic diagram for respectively processing different monitoring faults is shown in fig. 9, and according to the monitoring results of each part of the VCU monitoring layer, the safety of the whole vehicle torque can be ensured by designing different fault processing measures, so that the driving safety of a user is ensured, and the driving experience of the user is improved.

More specifically, by recording different faults, subsequent analysis and processing of the faults is facilitated.

The following describes an electric vehicle torque monitoring system provided by the present invention with reference to fig. 10, and the electric vehicle torque monitoring system described below and the electric vehicle torque monitoring method described above may be referred to correspondingly.

The electric vehicle torque monitoring system according to the embodiment of the present invention, as shown in fig. 10, includes a processing module 110 and a monitoring module 120, wherein,

The processing module 110 is configured to determine a vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, perform torque filtering based on the required torque to obtain an intermediate torque required to be experienced in a process of reaching the required torque, and obtain a feedback torque, where the feedback torque is an execution result corresponding to the required torque;

The monitoring module 120 is configured to generate a monitoring result based on the required torque, the intermediate torque, and the feedback torque, where the monitoring result includes whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode, and whether the feedback torque is matched with a preset vehicle running requirement.

According to the electric vehicle torque monitoring system disclosed by the embodiment of the invention, the whole vehicle running mode of the vehicle and the required torque of the vehicle are determined based on the control state information of the vehicle, and the torque filtering is performed based on the required torque to obtain the intermediate torque required to be experienced in the process of reaching the required torque, and the feedback torque, namely the execution result corresponding to the required torque, is obtained, and then the monitoring result is generated based on the required torque, the intermediate torque and the feedback torque, namely whether the monitored required torque and the intermediate torque are respectively matched with the whole vehicle running mode, and whether the feedback torque is matched with the preset vehicle running requirement is achieved, so that the torque analysis, the torque output and the torque execution are combined in a multi-level manner, the monitoring of the required torque is more comprehensive, and the driving safety and the riding comfort are improved.

Preferably, the whole vehicle running mode comprises a vehicle running direction, wherein the preset vehicle running requirement comprises a torque change requirement, a vehicle speed requirement and a feedback torque requirement;

The monitoring module is specifically configured to generate the monitoring result based on the required torque, the intermediate torque and the vehicle running direction, generate the monitoring result based on the required torque and the torque change requirement, generate the monitoring result based on the required torque and the vehicle speed requirement, and generate the monitoring result based on the required torque, the feedback torque and the feedback torque requirement.

Preferably, the monitoring module is further configured to monitor whether the direction of the required torque matches the vehicle running direction, determine whether the required torque is in a torque filtering stage when the direction of the required torque matches the vehicle running direction, determine whether the direction of the intermediate torque output after filtering matches the vehicle running direction after a preset filtering period if the required torque is in the torque filtering stage, and directly determine whether the direction of the required torque matches the vehicle running direction if the required torque has passed through the torque filtering stage.

Preferably, the monitoring module is further configured to obtain the required torque in a preset duration period;

the electric vehicle torque monitoring system also comprises a calculation module;

The calculation module is used for calculating the change rate of the required torque in the preset duration period based on time sequence;

The monitoring module is further configured to monitor whether the rate of change of the requested torque matches the torque change requirement based on a relationship between the rate of change and a preset rate of change threshold.

Preferably, the monitoring module is further configured to monitor whether the vehicle speed generated by executing the required torque matches a cruise vehicle speed defined by the cruise control when the cruise control information is cruise control on.

It is further preferable that the monitoring module is further configured to monitor whether the vehicle satisfies a requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information based on the vehicle speed generated by executing the required torque when the maximum vehicle speed limit information is the maximum vehicle speed.

Still further preferably, the monitoring module is further configured to receive the feedback torque fed back by the motor controller of the vehicle after executing the required torque, and monitor whether the feedback torque matches the required torque.

Preferably, the electric vehicle torque monitoring system further comprises an execution module;

the execution module is used for judging that a torque directional fault occurs when the direction of the required torque and/or the intermediate torque is not matched with the running direction of the vehicle, recording the torque directional fault and adjusting the required torque to 0, judging that a torque variation fault occurs when the variation rate of the required torque is not matched with the torque variation requirement, recording the torque variation fault and controlling the required torque to change according to a preset torque variation calibration value in a corresponding whole vehicle running mode, judging that a vehicle speed control fault occurs when the vehicle is not matched with the vehicle speed requirement based on the speed generated by executing the required torque, recording the vehicle speed control fault, controlling the cruise at constant speed or the maximum speed limit to be closed and adjusting the required torque to 0, judging that a response of a motor controller of the vehicle to the required torque is faulty when the feedback torque is not matched with the required torque, recording the response fault of the motor controller, controlling the motor controller to stop enabling the motor to enter a standby state, and adjusting the motor of the vehicle to 0.

It can be appreciated that the electric vehicle including the electric vehicle torque monitoring system according to the above embodiment has all advantages and technical effects of the electric vehicle torque monitoring system, and will not be described herein.

Fig. 11 illustrates a physical schematic diagram of an electronic device, which may include a processor (processor) 111, a communication interface (Communications Interface) 112, a memory (memory) 113, and a communication bus 114, as shown in fig. 11, where the processor 111, the communication interface 112, and the memory 113 perform communication with each other through the communication bus 114. The processor 111 may call logic instructions in the memory 113 to execute an electric vehicle torque monitoring method, where the method includes determining a vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain an intermediate torque required to be experienced in reaching the required torque, obtaining a feedback torque, the feedback torque being an execution result corresponding to the required torque, and generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, where the monitoring result includes whether the required torque and the intermediate torque are respectively matched with the vehicle running mode, and whether the feedback torque is matched with a preset vehicle running requirement.

Further, the logic instructions in the memory 113 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a U disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, an optical disk, or other various media capable of storing program codes.

In another aspect, the invention further provides a computer program product, which comprises a computer program stored on a non-transitory computer readable storage medium, wherein the computer program comprises program instructions, when the program instructions are executed by a computer, the computer can execute the electric vehicle torque monitoring method provided by the method, the method comprises the steps of determining a whole vehicle running mode of the vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain an intermediate torque required to be experienced in the process of reaching the required torque, obtaining a feedback torque, wherein the feedback torque is an execution result corresponding to the required torque, and generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode, and whether the feedback torque is matched with a preset vehicle running requirement.

In still another aspect, the invention further provides a non-transitory computer readable storage medium, on which a computer program is stored, the computer program when executed by a processor implements the electric vehicle torque monitoring method provided by the above methods, the method including determining a vehicle running mode of the vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering based on the required torque to obtain an intermediate torque required to be experienced in reaching the required torque, obtaining a feedback torque, the feedback torque being an execution result corresponding to the required torque, and generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, the monitoring result including whether the required torque and the intermediate torque are respectively matched with the vehicle running mode, and whether the feedback torque is matched with a preset vehicle running requirement.

The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.

From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.

It should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present invention, and not for limiting the same, and although the present invention has been described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the technical solution described in the above-mentioned embodiments may be modified or some technical features may be equivalently replaced, and these modifications or substitutions do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solution of the embodiments of the present invention.

Claims

1. A method for monitoring torque of an electric vehicle, comprising:

The method comprises the steps of determining a whole vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering of preset filtering time length based on the required torque to obtain intermediate torque required to be experienced in the process of reaching the required torque, obtaining feedback torque which is an execution result corresponding to the required torque, wherein the control state information of the vehicle comprises pedal information and gear information of the vehicle, outputting the required torque to a motor controller through the whole vehicle controller, controlling the motor to rotate based on the required torque through the motor controller, and performing torque feedback to the whole vehicle controller;

Generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, whether the feedback torque is matched with a preset vehicle running requirement or not, the whole vehicle running mode comprises a driving mode, a braking mode, a creeping mode and a sliding mode, and the preset vehicle running requirement comprises constant-speed running of a vehicle at a set speed or speed change of the vehicle during acceleration and deceleration is smaller than a preset change rate;

Further comprises:

judging whether an electric control braking system is activated or not when the required torque is monitored;

The monitoring flow of the torque monitoring of the motor controller is as follows:

Judging whether the message of the motor controller has communication faults or not;

if yes, exiting the torque monitoring of the motor controller;

if not, judging whether the motor controller is in an enabling state, and judging whether the absolute value of the difference value between the current torque fed back by the motor controller and the required torque of the whole vehicle controller is larger than a preset deviation threshold value when the motor controller is in the enabling state;

If the torque fault is larger than the preset threshold value, judging that the response fault of the motor controller to the required torque of the whole vehicle controller is judged, and activating the torque fault zone bit of the motor controller.

2. The method for monitoring the torque of the electric vehicle according to claim 1, wherein the whole vehicle operation mode comprises a vehicle running direction, and the preset vehicle running requirement comprises a torque change requirement, a vehicle speed requirement and a feedback torque requirement;

3. The electric vehicle torque monitoring method according to claim 2, characterized in that the generating the monitoring result based on the required torque, the intermediate torque, and the vehicle traveling direction includes:

If the required torque is in the torque filtering stage, after a preset filtering time period, judging whether the direction of the intermediate torque output after filtering is matched with the running direction of the vehicle;

If the required torque has passed the torque filtering stage, directly judging whether the direction of the intermediate torque is matched with the running direction of the vehicle.

4. The electric vehicle torque monitoring method of claim 2, wherein the generating the monitoring result based on the required torque and the torque variation requirement includes:

Acquiring the required torque in a preset duration period;

calculating a rate of change of the demand torque in the preset duration period based on a time sequence;

5. The method for monitoring torque of an electric vehicle according to claim 2, wherein the control state information further includes constant-speed-cruise information;

6. The method for monitoring torque of an electric vehicle according to claim 2, wherein the control state information includes maximum vehicle speed limit information;

7. The electric vehicle torque monitoring method of claim 2, wherein the generating the monitoring result based on the demand torque, the feedback torque, and the feedback torque demand includes:

Monitoring whether the feedback torque matches the demand torque.

8. The electric vehicle torque monitoring method of claim 2, further comprising:

9. An electric vehicle torque monitoring system, comprising:

The system comprises a processing module, a motor controller, a motor control module, a feedback torque, a control module and a control module, wherein the processing module is used for determining a whole vehicle running mode of a vehicle and a required torque of the vehicle based on control state information of the vehicle, performing torque filtering of preset filtering time length based on the required torque to obtain intermediate torque required to be experienced in the process of reaching the required torque, obtaining the feedback torque which is an execution result corresponding to the required torque, the control state information of the vehicle comprises pedal information and gear information of the vehicle, and outputting the required torque to the motor controller through the whole vehicle controller;

The monitoring module is used for generating a monitoring result based on the required torque, the intermediate torque and the feedback torque, wherein the monitoring result comprises whether the required torque and the intermediate torque are respectively matched with the whole vehicle running mode or not, whether the feedback torque is matched with a preset vehicle running requirement or not, the whole vehicle running mode comprises a driving mode, a braking mode, a creeping mode and a sliding mode, and the preset vehicle running requirement comprises constant-speed running of a vehicle at a set speed or speed change of the vehicle is smaller than a preset change rate when the vehicle is accelerated and decelerated;

Further comprises:

if yes, exiting the torque monitoring of the motor controller;

10. An electric vehicle comprising the electric vehicle torque monitoring system of claim 9.