Electric vehicle torque monitoring method, system and electric vehicle

Abstract

The present invention relates to the technical field of torque control, and provides an electric vehicle torque monitoring method, system and electric vehicle. The method includes: determining the overall vehicle operation mode and required torque of the vehicle based on the control state information of the vehicle; performing torque filtering on the required torque to obtain the intermediate torque that needs to be experienced in the process of reaching the required torque; obtaining the feedback torque, where the feedback torque is the execution result corresponding to the required torque; the control state information includes pedal information and gear information; generating a monitoring result based on the required torque, intermediate torque and feedback torque, where the monitoring result includes whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; and whether the feedback torque matches the preset vehicle driving requirements. The present invention is used to solve the defect in the prior art that the monitoring of the required torque is relatively one-sided, which affects the driving safety and comfort of the vehicle, realizes the comprehensive monitoring of the torque demand, ensures the safety of the driver and passengers, and improves the driving experience.

Description

Technical Field

[0001] The present invention relates to the technical field of torque control, and particularly to a torque monitoring method, system and electric vehicle for an electric vehicle. Background Art

[0002] The torque output path of a pure electric vehicle is that the vehicle control unit (VCU) outputs torque demand to the motor control unit (MCU) according to the pedal and gear information. If there is an abnormal torque demand in the torque output path, it may lead to dangerous situations such as the vehicle moving in the wrong direction or unexpected acceleration. Therefore, it is necessary to monitor the torque demand to ensure that no abnormal torque demand occurs in the torque output path.

[0003] However, the current monitoring of torque demand mainly focuses on the monitoring of the parsed demand torque and / or output torque, and the monitoring is relatively one-sided, which cannot ensure the comprehensive monitoring of the demand torque, thereby affecting the safety and comfort of vehicle driving. Summary of the Invention

[0004] The present invention provides a torque monitoring method, system and electric vehicle for an electric vehicle, which are used to solve the defect that the safety and comfort of vehicle driving are affected due to the relatively one-sided monitoring of the demand torque in the prior art, realize the comprehensive monitoring of the torque demand, ensure the safety of driving and riding, and improve the driving experience.

[0005] The present invention provides a torque monitoring method for an electric vehicle, including:

[0006] Based on the control state information of the vehicle, determine the overall vehicle operation mode of the vehicle and the demand torque of the vehicle; perform torque filtering based on the demand torque to obtain the intermediate torque that needs to be experienced in the process of reaching the demand torque; obtain the feedback torque, where the feedback torque is the execution result corresponding to the demand torque;

[0007] Based on the demand torque, the intermediate torque and the feedback torque, generate a monitoring result, where the monitoring result includes: whether the demand torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0008] According to the torque monitoring method for an electric vehicle of the present invention, the overall vehicle operation mode includes: the vehicle driving direction; the preset vehicle driving requirements include: torque change requirements, vehicle speed requirements and feedback torque requirements;

[0009] The generating a monitoring result based on the demand torque, the intermediate torque and the feedback torque includes:

[0010] Generate the monitoring result based on the demand torque, the intermediate torque and the vehicle driving direction;

[0011] Generate the monitoring result based on the required torque and the torque change requirement;

[0012] Generate the monitoring result based on the required torque and the vehicle speed requirement;

[0013] Generate the monitoring result based on the required torque, the feedback torque, and the feedback torque requirement.

[0014] 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 driving direction includes:

[0015] Monitor whether the direction of the required torque matches the vehicle driving direction;

[0016] When the direction of the required torque matches the vehicle driving direction, determine whether the required torque is in the torque filtering stage;

[0017] If the required torque is in the torque filtering stage, after a preset filtering duration, determine whether the direction of the output torque after filtering matches the vehicle driving direction;

[0018] If the required torque has passed through the torque filtering stage, directly determine whether the direction of the output torque matches the vehicle driving direction.

[0019] 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 change requirement includes:

[0020] Obtain the output torque within a preset duration period;

[0021] Based on the time sequence, calculate the change rate of the output torque within the preset duration period;

[0022] Based on the relationship between the change rate and a preset change rate threshold, monitor whether the change rate of the output torque matches the torque change requirement.

[0023] According to the electric vehicle torque monitoring method of the present invention, the control status information further includes: constant speed cruise information;

[0024] The generating the monitoring result based on the required torque and the vehicle speed requirement includes:

[0025] When the constant speed cruise information is that the constant speed cruise is turned on, monitor whether the vehicle speed generated by executing the output torque matches the cruise vehicle speed defined by the constant speed cruise.

[0026] According to the electric vehicle torque monitoring method of the present invention, the control status information includes: maximum vehicle speed limit information;

[0027] Generating the monitoring result based on the required torque and the vehicle speed requirement includes:

[0028] When the maximum vehicle speed limit information is the restricted maximum vehicle speed, monitor whether the vehicle speed generated by the vehicle based on the execution of the output torque meets the requirement of the maximum vehicle speed restricted in the maximum vehicle speed limit information.

[0029] According to the electric vehicle torque monitoring method of the present invention, generating the monitoring result based on the required torque, the feedback torque, and the feedback torque requirement includes:

[0030] Receive the feedback torque fed back by the motor controller of the vehicle after executing the required torque;

[0031] Monitor whether the feedback torque matches the output torque.

[0032] The electric vehicle torque monitoring method according to the present invention further includes:

[0033] When the direction of the required torque and / or the intermediate torque does not match the vehicle driving direction, determine that a torque directionality fault occurs;

[0034] Record the torque directionality fault and adjust the required torque to 0;

[0035] When the change rate of the required torque does not match the torque change requirement, determine that a torque change amount fault occurs;

[0036] Record the torque change amount fault and change the required torque according to the preset torque change calibration value in the corresponding vehicle operation mode;

[0037] When the vehicle speed generated by the vehicle based on the execution of the required torque does not match the vehicle speed requirement, determine that a vehicle speed control fault occurs;

[0038] Record the vehicle speed control fault, control the cancellation of the vehicle's cruise control or maximum vehicle speed limit, and adjust the required torque to 0;

[0039] When the feedback torque does not match the output torque, determine that a fault occurs in the response of the motor controller of the vehicle to the required torque;

[0040] Record the response fault of the motor controller, control the motor controller to stop enabling, the motor of the vehicle enters the standby state, and adjust the required torque to 0.

[0041] The present invention also provides an electric vehicle torque monitoring system, including:

[0042] A processing module, configured to determine the overall vehicle operation mode of the vehicle and the required torque of the vehicle based on the control state information of the vehicle; perform torque filtering based on the required torque to obtain intermediate torques that need to be experienced during the process of reaching the required torque; and obtain a feedback torque, where the feedback torque is the execution result corresponding to the required torque.

[0043] A monitoring module, configured to generate a monitoring result based on the required torque, the intermediate torques, and the feedback torque, where the monitoring result includes: whether the required torque and the intermediate torques respectively match the overall vehicle operation mode; and whether the feedback torque matches a preset vehicle driving requirement.

[0044] The present invention also provides an electric vehicle including the above-mentioned electric vehicle torque monitoring system.

[0045] An electric vehicle torque monitoring method, system, and electric vehicle provided by the present invention determine the overall vehicle operation mode of the vehicle and the required torque of the vehicle based on the control state information of the vehicle, perform torque filtering based on the required torque to obtain intermediate torques that need to be experienced during the process of reaching the required torque, and a feedback torque, i.e., the execution result corresponding to the required torque, and then generate a monitoring result based on the required torque, the intermediate torques, and the feedback torque, i.e., monitor whether the required torque and the intermediate torques respectively match the overall vehicle operation mode, and whether the feedback torque matches a preset vehicle driving requirement, so as to realize multi-level combined torque monitoring of torque analysis, torque output, and torque execution, making the monitoring of the required torque more comprehensive, thereby improving the driving safety and comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 is a schematic flowchart of an electric vehicle torque monitoring method provided by the present invention;

[0048] Figure 2 is a schematic monitoring flowchart of torque direction monitoring using the electric vehicle torque monitoring method described in the present invention;

[0049] Figure 3It is a schematic diagram of the monitoring process for monitoring the torque change amount by using the electric vehicle torque monitoring method described in the embodiments of the present invention;

[0050] Figure 4 It is a schematic diagram of the monitoring process for monitoring the cruising vehicle speed by using the electric vehicle torque monitoring method described in the embodiments of the present invention;

[0051] Figure 5 It is a schematic diagram of the monitoring process for monitoring the vehicle speed by using the electric vehicle torque monitoring method described in the present invention;

[0052] Figure 6 It is a schematic diagram of the monitoring process for monitoring the MCU torque by using the electric vehicle torque monitoring method described in the present invention;

[0053] Figure 7 It is a schematic diagram of the architecture of the VCU by using the electric vehicle torque monitoring method described in the present invention;

[0054] Figure 8 It is a functional structure decomposition diagram of the VCU by using the electric vehicle torque monitoring method described in the present invention;

[0055] Figure 9 It is a logic diagram for processing different monitoring faults by using the electric vehicle torque monitoring method described in the present invention;

[0056] Figure 10 It is a schematic diagram of the structure of an electric vehicle torque monitoring system provided by the present invention;

[0057] Figure 11 It is a schematic diagram of the structure of an electronic device provided by the present invention;

[0058] Reference numerals:

[0059] 1: VCU logic layer; 2: VCU monitoring layer; 3: Directional monitoring; 4: Change amount monitoring; 5: Vehicle speed monitoring; 6: MCU torque monitoring; 7: MCU; 8: Vehicle mode analysis part; 9: Torque analysis part; 10: Vehicle speed control part; 11: Torque filtering part; 12: First directional monitoring part; 13: Second directional monitoring part; 14: Change amount monitoring part; 15: Vehicle speed monitoring part; 16: MCU torque monitoring part; 17: MCU torque feedback part. Detailed implementation manners

[0060] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0061] It should be noted that for the torque output path of an electric vehicle, the VCU outputs a torque demand to the motor controller MCU according to control status information such as 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.

[0062] Among them, the VCU first needs to obtain the pedal information and gear information of the vehicle, that is, the positions of the vehicle's acceleration pedal and brake pedal, and whether the gear is in D gear, R gear, or N gear, etc. Then, based on the pedal information and gear information, the overall vehicle operation mode is determined. Next, based on the pedal information, gear information, and overall vehicle operation mode, the required torque is parsed. After that, the required torque is output to the VCU after torque filtering and further transmitted to the MCU. It can be seen that the transmission path of the required torque is complex. If any abnormality occurs in the VCU torque output path or the MCU torque response module, it may lead to dangerous situations such as the vehicle's driving direction being incorrect or unexpected acceleration. Therefore, the VCU needs to monitor the torque demand, that is, to ensure that the complex torque output path does not generate abnormal torque demands.

[0063] However, the existing monitoring of torque demand mainly focuses on the monitoring of the parsed required torque and / or the torque output by the VCU, and does not consider whether there is an abnormality when the torque output by the VCU is executed. The monitoring is relatively one-sided and cannot achieve comprehensive monitoring of the VCU torque output path, that is, it cannot ensure comprehensive monitoring of the required torque, thus affecting the safety and comfort of vehicle driving.

[0064] Based on this, the present invention proposes a multi-level combined torque monitoring method for the entire process of torque parsing, torque output, and execution, thereby improving the comprehensiveness of torque monitoring and further improving the driving safety and comfort of users.

[0065] First, to facilitate the understanding of the electric vehicle torque monitoring method provided by the embodiments of the present invention, the technical terms involved in the embodiments are first explained:

[0066] Overall vehicle operation mode: Generally divided into drive mode, brake mode, creep mode, and coasting mode; among them, for the vehicle's gear settings, the drive mode, brake mode, creep mode, and coasting mode all have specific directions;

[0067] Required torque: The torque obtained by the VCU based on the pedal information and gear information of the vehicle;

[0068] Intermediate torque: The torque formed by filtering the required torque obtained by the VCU, so that the motor gradually reaches the required torque for execution;

[0069] Feedback torque: The execution torque fed back to the VCU by the motor controller after executing the required torque;

[0070] Vehicle driving requirements: Requirements for vehicle speed, comfort, smoothness, etc. during vehicle driving, such as: keeping the vehicle driving at a set speed uniformly, making the vehicle speed change less than the preset change rate when accelerating or decelerating, etc.

[0071] The following combines Figures 1 to 9 to describe a method for monitoring the torque of an electric vehicle according to the present invention, which is executed by the software and / or hardware of the VCU, as Figure 1 shown, the method includes:

[0072] 101. Based on the control state information of the vehicle, determine the overall vehicle operation mode of the vehicle and the required torque of the vehicle; perform torque filtering based on the required torque to obtain the intermediate torque that needs to be experienced during the process of reaching the required torque; obtain the feedback torque, where the feedback torque is the execution result corresponding to the required torque;

[0073] It can be understood that the control state information of the vehicle includes multiple aspects. For example: when the gear information is in the R gear, the movement direction of the vehicle is the rear direction; the position information of the brake pedal or the accelerator pedal corresponds to the driving speed of the vehicle; the position of the headlight switch corresponds to the turning on or off of the headlights; the position information of the air-conditioning knob corresponds to the air-conditioning temperature, and so on.

[0074] Further, as described above, the overall vehicle operation mode of the vehicle includes a driving mode, a braking mode, a creeping mode, and a coasting mode. These four modes are all related to vehicle driving, and vehicle driving and braking are determined by the vehicle's gear and pedal position. Therefore, based on the pedal information and gear information in the control state information of the vehicle, the overall vehicle operation mode of the vehicle can be determined.

[0075] Specifically, based on the pedal information and gear information of the vehicle, the basis for determining the overall vehicle operation mode is:

[0076] Driving mode: The position of the accelerator pedal is greater than 0 and the position of the brake pedal is equal to 0;

[0077] Braking mode: The position of the brake pedal is greater than 0;

[0078] Creeping mode: vehicle speed is less than a preset value (such as 8 km / h, 9 km / h, etc.), accelerator pedal position is equal to 0, and brake pedal position is equal to 0;

[0079] Coasting mode: vehicle speed is greater than a preset value (such as 10 km / h, 11 km / h, etc.), accelerator pedal position is equal to 0, and brake pedal position is equal to 0.

[0080] More specifically, the required torque of the vehicle should match the pedal information, gear information of the vehicle, and the overall vehicle operation mode. For example, when the vehicle is in the braking mode and the gear is in D gear, the required torque should be less than 0. When the vehicle is in the creeping mode and the gear is in D gear, the required torque should be greater than 0, and the direction should match the forward direction of the vehicle, and so on.

[0081] 102. Generate a monitoring result based on the required torque, the intermediate torque, and the feedback torque. The monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0082] It can be understood that based on the control state information of the vehicle, after the VCU determines the overall vehicle operation mode of the vehicle, based on the overall vehicle operation mode, it can calculate the required torque, that is, torque parsing. After obtaining the required torque, the required torque is then arbitrated, filtered, limited, etc., and output to the VCU, and executed by the motor controller MCU of the vehicle, so that the vehicle travels at a vehicle speed that meets the overall vehicle operation mode and vehicle driving requirements.

[0083] Specifically, when any process of the VCU's parsing, filtering, and execution of the required torque goes wrong, it will cause abnormal vehicle driving, which will in turn affect the safety and comfort of vehicle driving. Therefore, after determining the overall vehicle operation mode of the vehicle based on the control state information of the vehicle and parsing to obtain the required torque of the vehicle, further obtain the intermediate torque and the feedback torque that need to be experienced in the process of torque filtering based on the required torque to reach the required torque, that is, the execution result corresponding to the required torque. Then, by monitoring whether the required torque, the intermediate torque, and the feedback torque match the overall vehicle operation mode or the preset vehicle driving requirements, the comprehensiveness of torque monitoring can be ensured, thereby effectively improving the safety and comfort of driving.

[0084] As an embodiment of the present invention, the overall vehicle operation mode includes: the vehicle driving direction; the preset vehicle driving requirements include: torque change requirements, vehicle speed requirements, and feedback torque requirements;

[0085] The generating the monitoring result based on the required torque, the intermediate torque, and the feedback torque includes:

[0086] Generate the monitoring result based on the required torque, the intermediate torque, and the vehicle driving direction;

[0087] Generate the monitoring result based on the required torque and the torque change requirement;

[0088] Generate the monitoring result based on the required torque and the vehicle speed requirement;

[0089] Generate the monitoring result based on the required torque, the feedback torque, and the feedback torque requirement.

[0090] Specifically, the whole vehicle operation mode is obtained based on the gear information and pedal information of the vehicle, so it has the directionality of vehicle driving. It can be understood that when the vehicle is in the D gear, the whole vehicle driving direction can be defined as the forward direction. At this time, the required torque given by the VCU and the intermediate torque should match the whole vehicle operation mode. Therefore, based on the required torque, the intermediate torque, and the vehicle driving direction, the monitoring result can be generated.

[0091] More specifically, the MCU changes the vehicle speed based on the execution of the required torque, that is, the required torque determines the vehicle speed change. Therefore, based on the required torque and the vehicle speed requirement, the monitoring result can be generated; similarly, after the MCU executes the required torque, it feeds back the feedback torque to the VCU. Therefore, based on the required torque, the feedback torque, and the feedback torque requirement, the monitoring result can also be generated.

[0092] As an embodiment of the present invention, the generating the monitoring result based on the required torque, the intermediate torque, and the vehicle driving direction includes:

[0093] Monitor whether the direction of the required torque matches the vehicle driving direction;

[0094] When the direction of the required torque matches the vehicle driving direction, judge whether the required torque is in the torque filtering stage;

[0095] If the required torque is in the torque filtering stage, after a preset filtering duration, judge whether the direction of the output torque after filtering matches the vehicle driving direction;

[0096] If the required torque has passed the torque filtering stage, directly judge whether the direction of the output torque matches the vehicle driving direction.

[0097] It can be understood that when the required torque passes through the torque filtering, there will be fluctuations. Therefore, if the real-time obtained required torque is directly used to judge whether it matches the vehicle driving direction, it is easy to cause misjudgment due to the torque fluctuation, and then cause the VCU to make wrong processing, which in turn affects the normal driving of the vehicle.

[0098] Specifically, during the process of monitoring the torque of an electric vehicle, first monitor the direction of the required torque obtained by parsing, that is, whether the positive or negative of the required torque matches the vehicle driving direction, so that when a torque requirement with a wrong direction appears during torque parsing, it can be immediately identified to avoid the vehicle from having an unexpected wrong driving direction. Then, when there is no directional error in the required torque obtained by parsing, when the required torque is in the torque filtering stage, after a preset filtering duration, determine whether the output torque after filtering matches the vehicle driving direction. When the required torque has passed the torque filtering stage, directly determine whether the output torque matches the vehicle driving direction, thus leaving time for filtering the required torque and avoiding misjudgment of whether the required torque matches the vehicle driving direction caused by judging the required torque during the filtering process, improving the accuracy of torque direction monitoring, ensuring the normal driving of the vehicle, and improving the driving safety and experience of users.

[0099] It should be noted that currently, electric vehicles are generally equipped with an electric braking system (EBS). When the EBS is activated, the required torque is taken over by the EBS. Therefore, when monitoring the required torque using the electric vehicle torque monitoring method described in the embodiments of the present invention, it is also necessary to determine whether the EBS is activated.

[0100] Furthermore, when the vehicle's gear is not in N or P gear and a vehicle speed control mode such as cruise control is activated, the vehicle speed will be controlled. At this time, by monitoring the vehicle speed, the monitoring of whether the torque is reasonable can be achieved, and it is not necessary to monitor the required torque and intermediate torque provided by the VCU. Therefore, when monitoring the required torque using the electric vehicle torque monitoring method described in the embodiments of the present invention, it is also necessary to determine whether the vehicle is in a vehicle speed control mode.

[0101] More specifically, the monitoring process of torque direction monitoring using the electric vehicle torque monitoring method described in the embodiments of the present invention is as follows Figure 2 shown: First, determine whether the current gear of the vehicle is in N or P gear; when the vehicle's gear is in N or P gear, it means the vehicle is in a stationary state. Therefore, when the vehicle VCU is normal, the required torque obtained should be 0. So, when the obtained required torque is not 0, the next step should be entered, that is, to determine whether the required torque is in the torque filtering stage. Then, when the vehicle's current gear is not in N or P gear, determine whether the vehicle is in a vehicle speed control mode, and after determining that it is not in a vehicle speed control mode, further determine whether the vehicle's EBS is activated. When it is determined that the EBS is not activated, further determine whether the required torque obtained from the VCU is reasonable according to the vehicle's current gear and the overall vehicle operating state, that is:

[0102] When the current gear of the vehicle is in D gear and the vehicle running mode is driving or creeping, the reasonable required torque obtained by the VCU should be greater than 0. When the vehicle running mode is coasting or braking, the reasonable required torque obtained by the VCU should be less than 0. Therefore, if the required torque obtained at this time is different from the reasonable required torque, the next step should be entered, that is, to judge whether the required torque is in the torque filtering stage.

[0103] When the current gear of the vehicle is in R gear and the vehicle running mode is driving or creeping, the reasonable required torque obtained by the VCU should be less than 0. When the vehicle running mode is coasting or braking, the reasonable required torque obtained by the VCU should be greater than 0. Therefore, if the required torque obtained at this time is different from the reasonable required torque, the next step should also be entered, that is, to judge whether the required torque is in the torque filtering stage.

[0104] Furthermore, before it is judged that the required torque is in the filtering stage, it can be immediately judged that the direction of the required torque obtained by the VCU at this time is incorrect, and the directional monitoring fault flag bit 1 is activated for subsequent fault analysis and processing. When it is judged that the required torque is in the filtering stage, after a preset filtering duration S (such as 1 second, 1.5 seconds), that is, after the required torque is filtered to form an intermediate torque, if it is judged that the intermediate torque is different from the reasonable required torque, it is determined that the torque direction of the intermediate torque obtained by the VCU is incorrect, and the directional monitoring fault flag bit 2 is activated for subsequent fault analysis and processing.

[0105] It can be understood that by introducing the preset filtering duration, false alarms caused by the required torque during filtering not meeting the upper and lower limit ranges of torque monitoring in a short time are avoided. When the vehicle running mode changes, since the required torque also changes, a torque monitoring process should be entered again at this time.

[0106] As an embodiment of the present invention, generating the monitoring result based on the required torque and the torque change requirement includes:

[0107] Obtain the required torque within a preset duration period;

[0108] Based on the time sequence, calculate the change rate of the output torque within the preset duration period;

[0109] Based on the relationship between the change rate and a preset change rate threshold, monitor whether the change rate of the required torque matches the torque change requirement.

[0110] Specifically, by obtaining the required torque within a preset duration period, then calculating the change rate of the required torque based on the time sequence of each required torque, and then according to the relationship between the change rate of the required torque and the preset change rate threshold, it can be determined whether the change rate of the required torque meets the torque change requirement, that is, whether the change amount of the required torque within the preset duration period is too large, so as to monitor the uneven running of the vehicle caused by the excessive change amount of the output torque.

[0111] More specifically, the preset duration period can be flexibly set according to the running requirements of the vehicle, generally set to 10 milliseconds, 15 milliseconds, etc., to monitor the sudden change of the required torque. At the same time, for different vehicle running modes, the monitoring standard of the change rate should also be different, that is, the preset change rate thresholds for different vehicle running modes are different. It can be understood that since the preset change rate threshold reflects the change of the required torque and is used to monitor the maximum value of the change step that the required torque can change within a unit time, and the change step of the required torque within a unit time is related to the vehicle running mode, vehicle speed and required torque, so the preset change rate threshold should not be a fixed value, but a variable that changes correspondingly with the vehicle running mode, vehicle speed and required torque. Specifically, it can be set to limit by multiplying the maximum allowable step length calibrated according to the current vehicle running mode, vehicle speed and required torque by a margin coefficient δ. Among them, δ can be 1.1, 1.2, 1.3, etc., and is specifically set according to the smoothness of the vehicle running that needs to be ensured. When the requirement for smoothness is relatively high, δ is set smaller, and when the requirement for smoothness is relatively low, δ is set larger.

[0112] Furthermore, the monitoring process of monitoring the change rate of the required torque by using the electric vehicle torque monitoring method described in the embodiment of the present invention is as Figure 3 shown as:

[0113] First, it is judged whether the vehicle is in the vehicle speed control mode. When the vehicle is in the vehicle speed control mode, it is also necessary to ensure that the vehicle speed is relatively stable to make the vehicle run smoothly. Therefore, at this time, it is also necessary to ensure that the change rate dT of the required torque is less than |dT5|. When the vehicle is not in the vehicle speed control mode, it is further judged whether the EBS of the vehicle is started. When it is determined that the EBS is not started, it is further judged whether the required torque obtained by the VCU is reasonable according to the current gear and the vehicle running state of the vehicle, that is:

[0114] When the current gear of the vehicle is in D gear and the vehicle is in driving or creeping mode, the change rate dT of the required torque should be less than or equal to the preset change rate threshold |dT1|; when in coasting or braking mode, the change rate dT of the required torque should be less than or equal to |dT2|; when the current gear is in R gear, in driving or creeping mode, the change rate dT of the required torque should be less than or equal to |dT3|; when in coasting or braking mode, the change rate dT of the required torque should be less than or equal to |dT4|. Therefore, if the change rate of the required torque obtained at this time is greater than the corresponding preset change rate threshold, it is determined that the change amount of the required torque obtained by the VCU is too large, and the change amount monitoring fault flag bit is activated for subsequent fault analysis and processing.

[0115] As an embodiment of the present invention, the control status information further includes: cruise control information;

[0116] Generating the monitoring result based on the required torque and the vehicle speed requirement includes:

[0117] When the cruise control information indicates that cruise control is enabled, monitor whether the vehicle speed generated by the vehicle based on executing the required torque matches the cruise vehicle speed defined by the cruise control.

[0118] It can be understood that after the vehicle activates cruise control, the VCU can automatically maintain the vehicle speed according to the vehicle speed required by the driver without stepping on the accelerator pedal, enabling the vehicle to travel at a fixed speed.

[0119] Specifically, by obtaining the vehicle speed of the vehicle and, after the vehicle activates cruise control, comparing the difference between the vehicle speed and the cruise vehicle speed with a preset first speed threshold, it is possible to monitor whether the required torque of the VCU meets the requirements of the cruise vehicle speed, that is, to determine whether the required torque of the VCU is normal.

[0120] More specifically, the preset first speed threshold can be flexibly set as needed, for example, set to 10 kilometers per hour, 15 kilometers per hour, etc.

[0121] Furthermore, the monitoring process for monitoring the cruise vehicle speed using the electric vehicle torque monitoring method described in the embodiment of the present invention is as follows Figure 4 shown as:

[0122] First, it is determined whether the cruise control is turned on. When the cruise control is turned on, the set cruise vehicle speed U1 of the cruise control needs to be obtained. Then, the vehicle speed Ut1 is monitored, and it is determined whether |U1 - Ut1| exceeds the preset first speed threshold dU1. When |U1 - Ut1| > dU1, it is determined that the vehicle speed generated based on the execution demand torque does not match the cruise vehicle speed limited by the cruise control, that is, the demand torque of the VCU cannot make the vehicle cruise at a constant speed normally. At this time, the vehicle speed control monitoring fault flag can be activated for subsequent fault analysis and processing.

[0123] As an embodiment of the present invention, the control state information includes: maximum vehicle speed limit information;

[0124] Generating the monitoring result based on the demand torque and the vehicle speed requirement includes:

[0125] When the maximum vehicle speed limit information is to limit the maximum vehicle speed, it is monitored whether the vehicle speed generated based on the execution of the demand torque meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information.

[0126] It can be understood that general engineering vehicles, driving school training vehicles, etc. are configured with a maximum vehicle speed limit function, that is, when the VCU function is normal, when the vehicle speed reaches the maximum vehicle speed limit, the vehicle will give an alarm, and then even if the accelerator pedal is continuously depressed deeply, the vehicle speed will not increase anymore.

[0127] Specifically, when the maximum vehicle speed limit information is to turn on the maximum vehicle speed limit, by obtaining the maximum vehicle speed limit value and determining whether the difference between the vehicle speed and the maximum vehicle speed limit value exceeds the preset second speed threshold, it is possible to monitor whether the vehicle speed of the vehicle meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information, that is, to determine whether the demand torque matches the vehicle operation mode.

[0128] More specifically, the preset second speed threshold can also be flexibly set as needed, for example, set to 10 kilometers per hour, 15 kilometers per hour, etc.

[0129] Furthermore, the cruise control and the maximum vehicle speed limit both belong to monitoring the vehicle speed of the vehicle to monitor the output torque of the VCU. Therefore, the cruise control vehicle speed monitoring and the maximum vehicle speed limit monitoring using the electric vehicle torque monitoring method described in the embodiments of the present invention can be jointly monitored, and the monitoring process is as Figure 5 shown as:

[0130] First, it is determined whether the cruise control is turned on. When the cruise control is turned on, in accordance with Figure 4Monitor the monitoring process. When the cruise control is not turned on, determine whether the maximum speed limit is turned on. When the maximum speed limit is turned on, obtain the maximum speed limit U2. Then, monitor the vehicle speed Ut1 and determine whether |U2 - Ut1| exceeds the preset first speed threshold dU2. When |U2 - Ut1| > dU2, it is determined that the required torque of the VCU does not match the vehicle operation mode, that is, the required torque of the VCU cannot make the vehicle travel at the maximum speed limit. At this time, the vehicle speed control monitoring fault flag bit is also activated for subsequent fault analysis and processing.

[0131] As an embodiment of the present invention, generating the monitoring result based on the required torque, the feedback torque, and the feedback torque requirement includes:

[0132] Receive the feedback torque fed back after the motor controller of the vehicle executes the output torque;

[0133] Monitor whether the feedback torque matches the required torque.

[0134] It can be 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. Therefore, when the torque response of the MCU is abnormal, it may also cause dangerous situations such as the vehicle traveling in the wrong direction or unexpected acceleration.

[0135] Specifically, when the MCU response is normal, the feedback torque should be equal to the required torque. Therefore, by obtaining the feedback torque of the MCU and then judging whether the difference between the feedback torque and the required torque exceeds the preset deviation threshold, it is possible to determine the response fault of the MCU to the required torque when the difference between the feedback torque and the required torque exceeds the preset deviation threshold.

[0136] More specifically, the preset deviation threshold can be flexibly set according to the actual situation, such as set to 50 N·m, 100 N·m, etc.

[0137] Further, the monitoring process of MCU torque monitoring using the electric vehicle torque monitoring method described in the embodiment of the present invention is as Figure 6 shown as:

[0138] First, determine whether there is a communication fault in the MCU message, such as Busoff, communication loss, etc. If so, exit the MCU torque monitoring. If not, determine whether the MCU is in the enabled state. When the MCU is in the enabled state, determine whether the absolute value of the difference between the current torque Tm fed back by the MCU and the required torque Tq of the VCU is greater than the preset deviation threshold dS. When |Tm - Tq| > dS, it is determined that there is a response fault of the MCU to the required torque of the VCU. At this time, the MCU torque fault flag can be activated for subsequent fault analysis and processing.

[0139] Based on the electric vehicle torque monitoring method described in the above embodiments of the present invention, the torque monitoring based on the VCU can be configured as a two - layer architecture including a VCU logic layer 1 and a VCU monitoring layer 2 as Figure 7 shown. The VCU logic layer 1 is used to obtain the control state information of the vehicle, such as the accelerator pedal, brake pedal, gear, vehicle speed, and cruise control, and then output the torque based on the obtained control state information. The VCU monitoring layer 2 includes four monitoring parts: directional monitoring 3, change amount monitoring 4, vehicle speed monitoring 5, and MCU torque monitoring 6, which are used to monitor the required torque or the output torque based on the control state information. At the same time, the VCU monitoring layer 2 is also connected to the MCU 7, so that the MCU 7 receives the torque output by the VCU monitoring layer 2 and, when enabled, feeds back the torque to the VCU monitoring layer 2 for monitoring the response fault of the MCU 7 to the required torque.

[0140] Furthermore, the VCU logic layer, VCU monitoring layer, and MCU shown in Figure 7 can be further divided according to different functions, specifically as Figure 8As shown in the figure, the VCU logic layer includes a vehicle mode analysis part 8, a torque analysis part 9, a vehicle speed control part 10, and a torque filtering part 11. The VCU monitoring layer includes a first-direction monitoring part 12, a second-direction monitoring part 13, a change amount monitoring part 14, a vehicle speed monitoring part 15, and an MCU torque monitoring part 16. The MCU includes an MCU torque feedback part 17. Among them, the vehicle analysis part 8 is used to obtain control state information such as the accelerator pedal, brake pedal, and gear position to determine the vehicle operation mode. The torque analysis part 9 is used to calculate the required torque based on the vehicle operation mode. The torque filtering part 11 is used to perform torque filtering on the required torque, obtain the intermediate torque that needs to be experienced during the process of reaching the required torque, and transmit it to the MCU torque feedback part 17. The vehicle speed control part 10 is used to control the vehicle speed based on the vehicle operation mode. The first-direction monitoring part 12 is used to monitor the required torque before filtering. The second-direction monitoring part 13 is used to monitor the intermediate torque after filtering. The change amount monitoring part 14 is used to monitor the change rate of the required torque. The vehicle speed monitoring part 15 is used to monitor vehicle speeds such as constant speed cruise and maximum speed limit. The MCU torque monitoring part 16 is used to monitor the response of the MCU to the required torque based on the feedback torque obtained from the MCU torque feedback part 17. Thus, multi-faceted monitoring of torque is achieved, which is beneficial to ensuring torque safety. At the same time, when monitoring the torque direction, the time of torque filtering is considered to prevent false alarms of torque monitoring failures during the torque change process, improving the accuracy of monitoring.

[0141] As an embodiment of the present invention, the electric vehicle torque monitoring method further includes:

[0142] When the direction of the required torque and / or the output torque does not match the vehicle driving direction, it is determined that a torque directionality failure has occurred;

[0143] Record the torque directionality failure and adjust the required torque to 0;

[0144] When the change rate of the required torque does not match the torque change requirement, it is determined that a torque change amount failure has occurred;

[0145] Record the torque change amount failure and control the required torque to change according to the preset torque change calibration value in the corresponding vehicle operation mode;

[0146] When the vehicle speed generated by the vehicle based on the execution of the required torque does not match the vehicle speed requirement, it is determined that a vehicle speed control failure has occurred;

[0147] Record the vehicle speed control failure, control the closing of the constant speed cruise or maximum speed limit of the vehicle, and adjust the required torque to 0;

[0148] When the feedback torque does not match the required torque, it is determined that the motor controller of the vehicle has a fault in responding to the required torque;

[0149] Record the response fault of the motor controller, control the motor controller to stop enabling, the motor of the vehicle enters the standby state, and adjust the required torque to 0.

[0150] Specifically, using the electric vehicle torque monitoring method described in the embodiments of the present invention, the logic diagram for separately processing different monitoring faults is as Figure 9 shown. According to the monitoring results of each part of the VCU monitoring layer, by designing different fault handling measures, the safety of the vehicle's torque can be ensured, thereby ensuring the driving safety of users and improving the driving experience of users.

[0151] More specifically, by recording different faults, it is convenient to analyze and process the faults subsequently.

[0152] Next, in combination with Figure 10 a description of an electric vehicle torque monitoring system provided by the present invention is given. The electric vehicle torque monitoring system described below can be mutually corresponding and referred to with the electric vehicle torque monitoring method described above.

[0153] The electric vehicle torque monitoring system described in the embodiments of the present invention, as Figure 10 shown, includes: a processing module 110 and a monitoring module 120; wherein,

[0154] The processing module 110 is used to determine the overall vehicle operation mode of the vehicle and the required torque of the vehicle based on the control state information of the vehicle; perform torque filtering based on the required torque to obtain the intermediate torque that needs to be experienced in the process of reaching the required torque; obtain the feedback torque, where the feedback torque is the execution result corresponding to the required torque;

[0155] The monitoring module 120 is used to generate a monitoring result based on the required torque, the intermediate torque, and the feedback torque, and the monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0156] The electric vehicle torque monitoring system described in the embodiments of the present invention determines the overall vehicle operation mode and the required torque of the vehicle based on the control state information of the vehicle, filters the torque based on the required torque to obtain the intermediate torque and the feedback torque that need to be experienced during the process of reaching the required torque, that is, the execution result corresponding to the required torque, and then generates a monitoring result based on the required torque, the intermediate torque and the feedback torque, that is, monitors whether the required torque and the intermediate torque match the overall vehicle operation mode respectively, and whether the feedback torque matches the preset vehicle driving requirements, so as to realize multi-level combined torque monitoring of torque parsing, torque output and torque execution, making the monitoring of the required torque more comprehensive, thereby improving the safety and comfort of driving and riding.

[0157] Preferably, the overall vehicle operation mode includes: the driving direction of the vehicle; the preset vehicle driving requirements include: torque change requirements, vehicle speed requirements and feedback torque requirements;

[0158] The monitoring module is specifically configured to generate the monitoring result based on the required torque, the intermediate torque and the driving direction of the vehicle; generate the monitoring result based on the required torque and the torque change requirements; generate the monitoring result based on the required torque and the vehicle speed requirements; generate the monitoring result based on the required torque, the feedback torque and the feedback torque requirements.

[0159] Preferably, the monitoring module is further configured to monitor whether the direction of the required torque matches the driving direction of the vehicle; when the direction of the required torque matches the driving direction of the vehicle, determine whether the required torque is in the torque filtering stage; if the required torque is in the torque filtering stage, after a preset filtering duration, determine whether the direction of the intermediate torque output after filtering matches the driving direction of the vehicle; if the required torque has passed the torque filtering stage, directly determine whether the direction of the required torque matches the driving direction of the vehicle.

[0160] Preferably, the monitoring module is further configured to obtain the required torque within a preset duration period;

[0161] The electric vehicle torque monitoring system further includes: a calculation module;

[0162] The calculation module is configured to calculate the change rate of the required torque within the preset duration period based on the time sequence;

[0163] The monitoring module is further configured to monitor whether the change rate of the required torque matches the torque change requirements based on the relationship between the change rate and a preset change rate threshold.

[0164] Preferably, when the cruise control information is that the cruise control is turned on, the monitoring module is further configured to monitor whether the vehicle speed generated by the vehicle based on the execution of the required torque matches the cruise vehicle speed defined by the cruise control.

[0165] More preferably, when the maximum vehicle speed limit information is to limit the maximum vehicle speed, the monitoring module is further configured to monitor whether the vehicle speed generated by the vehicle based on the execution of the required torque meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information.

[0166] Even more preferably, the monitoring module is further configured to receive the feedback torque fed back after the motor controller of the vehicle executes the required torque; and monitor whether the feedback torque matches the required torque.

[0167] Preferably, an execution module is further included in the electric vehicle torque monitoring system.

[0168] When the direction of the required torque and / or the intermediate torque does not match the driving direction of the vehicle, the execution module is configured to determine that a torque directionality fault occurs; record the torque directionality fault, and adjust the required torque to 0; when the change rate of the required torque does not match the torque change requirement, determine that a torque change amount fault occurs; record the torque change amount fault, and control the required torque to change according to the preset torque change calibration value in the corresponding vehicle operation mode; when the vehicle speed generated by the vehicle based on the execution of the required torque does not match the vehicle speed requirement, determine that a vehicle speed control fault occurs; record the vehicle speed control fault, control the cruise control or the maximum vehicle speed limit to be turned off, and adjust the required torque to 0; when the feedback torque does not match the required torque, determine that a response fault of the motor controller of the vehicle to the required torque occurs; record the response fault of the motor controller, control the motor controller to stop enabling, the motor of the vehicle enters the standby state, and adjust the required torque to 0.

[0169] The present invention further provides an electric vehicle, including the electric vehicle torque monitoring system as described above.

[0170] It can be understood that the electric vehicle including the electric vehicle torque monitoring system as described in the above embodiment has all the advantages and technical effects of the electric vehicle torque monitoring system, which will not be elaborated here.

[0171] Figure 11 Schematically illustrates the physical structure of an electronic device, such as Figure 11As shown, the electronic device may include: a processor 111, a communications interface 112, a memory 113, and a communication bus 114. Among them, the processor 111, the communications interface 112, and the memory 113 complete communication with each other through the communication bus 114. The processor 111 can call the logical instructions in the memory 113 to execute the electric vehicle torque monitoring method, which includes: determining the overall vehicle operation 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 the intermediate torque that needs to be experienced during the process of reaching the required torque; obtaining the feedback torque, where the feedback torque is the execution result corresponding to the required torque; generating a monitoring result based on the required torque, the intermediate torque, and the feedback torque, and the monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0172] In addition, when the logical instructions in the above-mentioned memory 113 can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0173] On the other hand, the present invention also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer can execute the electric vehicle torque monitoring method provided by the above-mentioned various methods. The method includes: determining the overall vehicle operation 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 the intermediate torque that needs to be experienced in the process of reaching the required torque; obtaining the feedback torque, where the feedback torque is the execution result corresponding to the required torque; generating a monitoring result based on the required torque, the intermediate torque, and the feedback torque. The monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0174] In another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements the electric vehicle torque monitoring method provided by the above-mentioned various methods. The method includes: determining the overall vehicle operation 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 the intermediate torque that needs to be experienced in the process of reaching the required torque; obtaining the feedback torque, where the feedback torque is the execution result corresponding to the required torque; generating a monitoring result based on the required torque, the intermediate torque, and the feedback torque. The monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements.

[0175] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0176] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0177] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electric vehicle torque monitoring method, characterized in that, it includes: Based on the control state information of the vehicle, determine the overall vehicle operation mode of the vehicle and the required torque of the vehicle; Perform torque filtering for a preset filtering duration based on the required torque to obtain the intermediate torque that needs to be experienced during the process of reaching the required torque; obtain the feedback torque, where the feedback torque is the execution result corresponding to the required torque; the control state information of the vehicle includes the pedal information and gear information of the vehicle; output the required torque to the motor controller through the vehicle controller; based on the required torque, the motor controller controls the motor to rotate and provides torque feedback to the vehicle controller; Based on the required torque, the intermediate torque, and the feedback torque, generate a monitoring result, where the monitoring result includes: whether the required torque and the intermediate torque respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements; the overall vehicle operation mode includes a driving mode, a braking mode, a creeping mode, and a coasting mode; the preset vehicle driving requirements include maintaining the vehicle at a set speed for uniform driving or the vehicle speed change being less than a preset change rate when the vehicle accelerates or decelerates; It further includes: When monitoring the required torque, determine whether the electronic braking system is activated; The monitoring process for the torque monitoring of the motor controller is: Determine whether there is a communication fault in the message of the motor controller; If so, exit the torque monitoring of the motor controller; If not, determine whether the motor controller is in an enabled state, and when the motor controller is in an enabled state, determine whether the absolute value of the difference between the current torque fed back by the motor controller and the required torque of the vehicle controller is greater than a preset deviation threshold; If it is greater, determine that the motor controller has a response fault to the required torque of the vehicle controller, and activate the torque fault flag bit of the motor controller.

2. The electric vehicle torque monitoring method according to claim 1, characterized in that, The overall vehicle operation mode includes: the vehicle driving direction; the preset vehicle driving requirements include: torque change requirements, vehicle speed requirements, and feedback torque requirements; The generating the 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 driving direction; Generating the monitoring result based on the required torque and the torque change requirements; Generating the monitoring result based on the required torque and the vehicle speed requirements; Generating the monitoring result based on the required torque, the feedback torque, and the feedback torque requirements.

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 driving direction includes: Monitoring whether the direction of the required torque matches the vehicle driving direction; When the direction of the required torque matches the vehicle driving direction, determine whether the required torque is in the torque filtering stage; If the required torque is in the torque filtering stage, after a preset filtering duration, determine whether the direction of the intermediate torque output after filtering matches the vehicle driving direction; If the required torque has passed through the torque filtering stage, directly determine whether the direction of the intermediate torque matches the vehicle driving direction.

4. The electric vehicle torque monitoring method according to claim 2, characterized in that, generating the monitoring result based on the required torque and the torque change requirement includes: obtaining the required torque within a preset duration period; calculating the change rate of the required torque within the preset duration period based on the time sequence; monitoring whether the change rate of the required torque matches the torque change requirement based on the relationship between the change rate and a preset change rate threshold.

5. The electric vehicle torque monitoring method according to claim 2, characterized in that, the control state information further includes: constant speed cruise information; generating the monitoring result based on the required torque and the vehicle speed requirement includes: when the constant speed cruise information is that constant speed cruise is enabled, monitoring whether the vehicle speed generated by executing the required torque matches the cruise vehicle speed defined by the constant speed cruise.

6. The electric vehicle torque monitoring method according to claim 2, characterized in that, the control state information includes: maximum vehicle speed limit information; generating the monitoring result based on the required torque and the vehicle speed requirement includes: when the maximum vehicle speed limit information is to limit the maximum vehicle speed, monitoring whether the vehicle speed generated by executing the required torque meets the requirement of the maximum vehicle speed limited in the maximum vehicle speed limit information.

7. The electric vehicle torque monitoring method according to claim 2, characterized in that, generating the monitoring result based on the required torque, the feedback torque and the feedback torque requirement includes: receiving the feedback torque fed back after the motor controller of the vehicle executes the required torque; monitoring whether the feedback torque matches the required torque.

8. The electric vehicle torque monitoring method according to claim 2, characterized in that, further includes: when the direction of the required torque and / or the intermediate torque does not match the vehicle driving direction, determining that a torque directionality fault occurs; recording the torque directionality fault and adjusting the required torque to 0; when the change rate of the required torque does not match the torque change requirement, determining that a torque change amount fault occurs; recording the torque change amount fault and changing the required torque according to a preset torque change calibration value in the corresponding vehicle operation mode; when the vehicle speed generated by executing the required torque does not match the vehicle speed requirement, determining that a vehicle speed control fault occurs; recording the vehicle speed control fault, controlling the constant speed cruise or the maximum vehicle speed limit of the vehicle to be turned off, and adjusting the required torque to 0; when the feedback torque does not match the required torque, determining that a fault occurs in the response of the motor controller of the vehicle to the required torque; Record the response fault of the motor controller, control the motor controller to stop enabling, the motor of the vehicle enters the standby state, and adjust the required torque to 0.

9. An electric vehicle torque monitoring system, characterized in that, comprising: a processing module, configured to determine the vehicle's overall vehicle operation mode and the vehicle's required torque based on the vehicle's control state information; perform torque filtering for a preset filtering duration based on the required torque to obtain an intermediate torque that needs to be experienced during the process of reaching the required torque; obtain a feedback torque, where the feedback torque is the execution result corresponding to the required torque; the vehicle's control state information includes the vehicle's pedal information and gear information; output the required torque to the motor controller through the vehicle controller; control the motor to rotate based on the required torque through the motor controller, and perform torque feedback to the vehicle controller; a monitoring module, 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 respectively match the overall vehicle operation mode; whether the feedback torque matches the preset vehicle driving requirements; the overall vehicle operation mode includes a driving mode, a braking mode, a creeping mode, and a coasting mode; the preset vehicle driving requirements include maintaining the vehicle at a set speed for uniform driving or making the vehicle speed change less than a preset change rate when the vehicle accelerates or decelerates; further comprising: when monitoring the required torque, determine whether the electronic braking system is activated; the monitoring process for torque monitoring of the motor controller is: judge whether there is a communication fault in the message of the motor controller; if so, exit the torque monitoring of the motor controller; if not, judge whether the motor controller is in the enabled state, and when the motor controller is in the enabled state, judge whether the absolute value of the difference between the current torque fed back by the motor controller and the required torque of the vehicle controller is greater than a preset deviation threshold; if it is greater, determine that the motor controller has a response fault to the required torque of the vehicle controller, and activate the torque fault flag bit of the motor controller.

10. An electric vehicle, characterized in that, comprises the electric vehicle torque monitoring system according to claim 9.

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