Slope parking monitoring method, vehicle and readable storage medium
A technology for standing slopes and vehicles, which is applied in the field of vehicles, can solve the problems of lack of complete and reliable monitoring methods for slopes, and achieve the effect of both integrity and reliability
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Embodiment 1
[0034] Please refer to Figure 2 to Figure 3 ,in, figure 2 It is a schematic diagram of the control system architecture of the vehicle according to an embodiment of the present invention; image 3 is a schematic diagram of the first monitoring logic of an embodiment of the present invention.
[0035] Such as figure 2 As shown, in this embodiment, a slope-holding monitoring module 1 is added to the vehicle control system architecture, and the slope-holding monitoring module 1 uses a slope-holding monitoring method to monitor whether the slope-holding mode of the vehicle is working normally. As introduced in the background art, the slope-holding mode includes a slope-holding function and a single-pedal function.
[0036] Described standing slope monitoring method comprises:
[0037] Running the first monitoring logic to obtain the output result of the first monitoring logic;
[0038] The output result of the first monitoring logic is directly used as the monitoring result. ...
Embodiment 2
[0059] Please refer to Figure 4 , Figure 4 is a schematic diagram of the second monitoring logic of an embodiment of the present invention.
[0060] In the functional design requirements of some standing slopes, the absolute value of the motor speed must be smaller than the safe torque. At this time, only the speed monitoring is sufficient. When the absolute value of the motor speed is greater than or equal to the safe torque, the motor controller should exit the standing slope mode and return to the torque mode, otherwise a fault response should be triggered.
[0061] Therefore, in the present embodiment, described standing slope monitoring method comprises:
[0062] According to the standing slope control logic adopted by the vehicle, choose to run the first monitoring logic or choose to run the second monitoring logic; when the standing slope control logic allows the absolute value of the motor speed to be greater than or equal to the safe torque, select the selected T...
Embodiment 3
[0070] Please refer to Figure 5 , Figure 5 is a schematic diagram of the third monitoring logic of an embodiment of the present invention.
[0071] The basic idea of the present invention is to convert the torque monitoring based on "internal demand torque that cannot ensure the functional safety level" into rotational speed monitoring and actual torque monitoring.
[0072]If it is possible to limit the "required torque obtained internally through proportional-integral adjustment" or "the actual torque output based on the required torque" within a sufficiently safe range, even if it is not possible to confirm that the process of proportional-integral adjustment has not failed, you can pass the " The range verification of "internal demand torque" or "actual output torque" is used to achieve the ASIL B functional safety goal of "avoiding undesired torque in ramp mode". The "safe enough" here refers to any value of "internal demand torque" or "actual output torque" within a...
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