Vehicle torque control method, device, electronic equipment and vehicle

Abstract

The application provides a vehicle torque control method and device, electronic equipment and vehicle. A redundant control line is formed between the vehicle controller and the main controller for torque control through the first control line and the second control line. The communication states of the first control line and the second control line are obtained. When the communication state is abnormal, the first control line or the second control line with a normal communication state is selected as a target control line. Then the torque control signal corresponding to the target control line is transmitted to the main controller. The main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line. This redundant control line formed between the vehicle controller and the main controller for torque control through the first control line and the second control line can avoid the communication abnormality between the vehicle controller and the main controller, and effectively control the torque of the vehicle, thereby ensuring driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, and in particular to a vehicle torque control method and device, an electronic device, and a vehicle. BACKGROUND

[0002] Abnormal control of torque can cause abnormal acceleration and deceleration of a vehicle, thus causing traffic accidents. Therefore, the torque of the vehicle needs to be controlled. At present, communication connection between a vehicle controller and a main controller is used to realize transmission of a torque request instruction, so that the main controller adjusts the output torque of a motor according to the torque request instruction. However, when communication between the vehicle controller and the main controller is abnormal, the torque of the vehicle cannot be effectively controlled. SUMMARY

[0003] Therefore, the present application aims to provide a vehicle torque control method and device, an electronic device, and a vehicle, to solve the problem that the torque of the vehicle cannot be effectively controlled when communication between a vehicle controller and a main controller is abnormal in the prior art.

[0004] To achieve the above purpose, a first aspect of the present application provides a vehicle torque control method applied to a vehicle controller. The vehicle controller is connected to a main controller for torque control through a first control line or a second control line. The method comprises the following steps.

[0005] Obtaining a communication state of the first control line and the second control line;

[0006] Selecting the first control line or the second control line as a target control line based on the communication state;

[0007] Transmitting a torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line.

[0008] Optionally, the step of selecting the first control line or the second control line as the target control line based on the communication state comprises the following steps.

[0009] Judging whether the communication state of the first control line is normal;

[0010] When the communication state of the first control line is normal, determining that the first control line is the target control line; or,

[0011] When the communication state of the first control line is abnormal, judging whether the communication state of the second control line is normal;

[0012] When the communication state of the second control line is normal, the second control line is determined as the target control line.

[0013] Optionally, the main controller is provided with a corresponding backup controller, and the backup controller is connected with the vehicle controller through a third control line.

[0014] The method further comprises:

[0015] When the communication states of the first control line and the second control line are both abnormal, and the communication state of the third control line is normal, the torque control signal corresponding to the third control line is transmitted to the backup controller, so that the backup controller adjusts the size of the torque according to the torque control signal corresponding to the third control line, wherein the abnormal communication states of the first control line and the second control line indicate that the main controller is abnormal.

[0016] Optionally, the method further comprises:

[0017] When the communication states of the first control line, the second control line and the third control line are all abnormal, it is determined that the main controller and the backup controller are both abnormal, and the vehicle is controlled to exit the automatic driving mode, wherein when the communication states of the control lines are detected, the vehicle is in the automatic driving mode.

[0018] Optionally, the method further comprises:

[0019] When the target control line fails, the failed target control line is removed from the priority sequence, wherein the preset priority sequence is a sequence in which the first control line, the second control line and the third control line are sorted according to a preset priority;

[0020] A high-priority control line is selected from the removed priority sequence as a new control line.

[0021] Optionally, the method further comprises:

[0022] When the failed target control line is repaired and the communication state of the repaired target control line is normal, the automatic driving control type of the new control line is obtained, and the automatic driving control type is used to indicate the execution state of the torque control signal;

[0023] It is judged according to the automatic driving control type of the new control line whether the torque control process corresponding to the new control line is executed completely.

[0024] Optionally, the determining whether the torque control process corresponding to the new control line is executed according to the automatic driving control type of the new control line comprises:

[0025] The automatic driving control type of the new control line is acquired, and the automatic driving control type comprises a first automatic driving control type and a second automatic driving control type.

[0026] When the automatic driving control type is the first automatic driving control type, it is determined that the torque control process corresponding to the new control line is not executed.

[0027] When the automatic driving control type is switched from the first automatic driving control type to the second automatic driving control type, it is determined that the torque control process corresponding to the new control line is executed.

[0028] Based on the same inventive concept, the second aspect of the present application provides a vehicle torque control device, which is arranged in a vehicle controller, and the vehicle controller is connected with a main controller for torque control through a first control line or a second control line, and the device comprises:

[0029] A communication state acquisition module is configured to acquire the communication states of the first control line and the second control line.

[0030] A target control line determination module is configured to select the first control line or the second control line as a target control line based on the communication states.

[0031] A signal transmission module is configured to transmit a torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line.

[0032] Based on the same inventive concept, the third aspect of the present application provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the program, the method of the first aspect is implemented.

[0033] Based on the same inventive concept, the fourth aspect of the present application provides a vehicle comprising the vehicle torque control device of the second aspect or the electronic device of the third aspect.

[0034] From the above, it can be seen that the vehicle torque control method, device, electronic equipment and vehicle provided by the application form a redundant control line between the vehicle controller and the main controller for torque control through the first control line and the second control line, obtain the communication state of the first control line and the second control line, select the first control line or the second control line with normal communication state as the target control line when the communication state is abnormal, and then transmit the torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line. This way of forming a redundant control line between the vehicle controller and the main controller for torque control through the first control line and the second control line can avoid the communication abnormality between the vehicle controller and the main controller, and effectively control the torque of the vehicle, thereby ensuring driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0036] Figure 1 The flowchart of the vehicle torque control method of the embodiment of the application;

[0037] Figure 2 The structural schematic diagram of the vehicle torque control device of the embodiment of the application;

[0038] Figure 3 The schematic diagram of the electronic equipment of the embodiment of the application. DETAILED DESCRIPTION

[0039] In order to make the purpose, technical solutions and advantages of the application more clear, the application will be further described in detail below with reference to specific embodiments and drawings.

[0040] It should be noted that the technical terms or scientific terms used in the embodiments of the present application should be understood as the general meaning understood by those skilled in the art to which the embodiments of the present application belong, unless otherwise defined. The terms "first", "second", and similar terms used in the embodiments of the present application do not represent any order, quantity, or importance, but are only used to distinguish different components. The terms "include", "contain", and similar terms mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The terms "upper", "lower", "left", "right", and the like are only used to represent relative positional relationships, and when the absolute positions of the described objects change, the relative positional relationships may also change accordingly.

[0041] In the related art, the transmission of the torque request instruction is realized through the communication connection between the vehicle controller and the main controller, so that the main controller adjusts the output torque of the motor according to the torque request instruction. However, when the communication between the vehicle controller and the main controller is abnormal, the torque of the vehicle cannot be effectively controlled.

[0042] The vehicle torque control method proposed in the embodiments can avoid the problem that the communication between the vehicle controller and the main controller is abnormal and the torque of the vehicle cannot be effectively controlled by forming a redundant control line between the vehicle controller and the main controller that controls the torque through the first control line and the second control line, thereby ensuring driving safety. The vehicle controller is connected to the main controller that controls the torque through the first control line or the second control line, as shown in Figure 1 The method comprises the following steps:

[0043] In step 101, the communication states of the first control line and the second control line are obtained.

[0044] In this step, the communication state represents the transmission condition of the control line when transmitting signals. The communication states of the first control line and the second control line are monitored in real time by the vehicle controller, and the monitored communication states are displayed through the vehicle information display system connected to the vehicle controller, so that the communication states of the first control line or the second control line connected between the vehicle controller and the main controller that controls the torque can be obtained in real time and intuitively.

[0045] In step 102, the first control line or the second control line is selected as the target control line based on the communication state.

[0046] In this step, the first control line and the second control line form a redundant control line between the vehicle controller and the main controller for torque control. When the communication state is abnormal, the control line with normal communication state is selected as the target control line from the first control line and the second control line, so that the vehicle controller and the main controller can communicate normally when the communication state is abnormal.

[0047] In step 103, the torque control signal corresponding to the target control line is transmitted to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line.

[0048] In this step, the vehicle controller determines the required vehicle working mode (for example, charging mode, driving mode) according to various state information of the vehicle (for example, starting key, stepping on brake pedal or accelerator pedal, charging signal, accelerator / brake pedal position, current vehicle speed and whether the vehicle has fault information, etc.), and then calculates the target driving or braking torque (i.e. torque control signal) in the vehicle controller, and sends the torque control signal corresponding to the target control line to the main controller within a certain time range.

[0049] After the main controller receives the torque control signal corresponding to the target control line, the final torque is calculated in the main controller according to the torque control signal corresponding to the target control line to adjust the size of the torque.

[0050] For example, when the user steps on the accelerator pedal, the vehicle controller sends the torque control signal corresponding to the target control line to the main controller through the target control line, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line, so as to realize the acceleration of the vehicle.

[0051] In some embodiments, step 102 comprises:

[0052] In step 1021, it is judged whether the communication state of the first control line is normal.

[0053] In step 1022, when the communication state of the first control line is normal, the first control line is determined as the target control line. Alternatively,

[0054] In step 1023, when the communication state of the first control line is abnormal, it is judged whether the communication state of the second control line is normal.

[0055] In step 1024, when the communication state of the second control line is normal, the second control line is determined as the target control line.

[0056] In the above scheme, the target control line is selected according to the communication state of the first control line and the second control line. First, it is determined whether the communication state of the first control line is normal. If the communication state of the first control line is normal, the first control line is determined as the target control line.

[0057] If the communication state of the first control line is abnormal, it is then determined whether the communication state of the first control line is normal. If the communication state of the second control line is normal, the second control line is determined as the target control line.

[0058] According to the communication state of the first control line and the second control line, the vehicle controller coordinates the redundant control lines to select the first control line or the second control line as the target control line, so that the vehicle controller and the main controller can realize normal communication, and the situation that the vehicle controller and the main controller cannot realize normal communication when the communication state is abnormal is avoided.

[0059] In some embodiments, the main controller is provided with a corresponding backup controller, and the backup controller is connected with the vehicle controller through a third control line.

[0060] The method further comprises:

[0061] When the communication states of the first control line and the second control line are both abnormal, and the communication state of the third control line is normal, the torque control signal corresponding to the third control line is transmitted to the backup controller, so that the backup controller adjusts the size of the torque according to the torque control signal corresponding to the third control line. The abnormal communication state of the first control line and the second control line indicates that the main controller is abnormal.

[0062] In the above scheme, the backup controller corresponding to the main controller is provided. When the communication states of the first control line and the second control line are both abnormal, it indicates that the main controller is abnormal. When the communication state of the third control line connecting the vehicle controller and the main controller is normal, the torque control signal corresponding to the third control line is transmitted to the backup controller.

[0063] The backup controller of the main controller forms a redundant controller. When the vehicle controller cannot communicate with the main controller, the backup controller replaces the main controller to communicate with the vehicle controller through the third control line, thereby effectively controlling the torque of the vehicle and ensuring driving safety.

[0064] As an optional embodiment, the first control line, the second control line and the third control line are arranged in a preset priority order, for example, the priority order from high to low can be: the first control line, the second control line and the third control line. Here, the preset priority order can be set according to specific conditions, and the priority order can be changed according to requirements.

[0065] When the communication state of the high-priority control line is normal, the high-priority control line is preferentially selected as the target control line.

[0066] In some embodiments, the method further comprises:

[0067] When the communication states of the first control line, the second control line and the third control line are all abnormal, it is determined that the main controller and the backup controller are both abnormal, and the vehicle is controlled to exit the automatic driving mode, wherein the vehicle is in the automatic driving mode when the communication states of the control lines are detected.

[0068] In the above scheme, if the communication states of the first control line, the second control line and the third control line are all abnormal, it means that the main controller and the backup controller are both abnormal, at this time the main controller and the backup controller cannot normally communicate with the vehicle controller, at this time the adjustment of the torque size cannot be effectively realized, and the vehicle needs to be exited from the automatic driving mode to avoid the occurrence of safety accidents due to the failure of the automatic adjustment of the vehicle speed in the automatic driving mode, thereby ensuring the safety of driving.

[0069] In some embodiments, the method further comprises:

[0070] Step A1, when the target control line fails, the failed target control line is removed from a preset priority sequence, wherein the preset priority sequence is a sequence in which the first control line, the second control line and the third control line are arranged in a preset priority.

[0071] Step A2, selecting a high-priority control line from the removed priority sequence as a new control line.

[0072] In the above scheme, the first control line, the second control line and the third control line are arranged in a preset priority to obtain a preset priority sequence, for example, the preset priority sequence obtained by arranging the first control line, the second control line and the third control line in a preset priority from high to low is: the first control line, the second control line and the third control line, if the failed target control line is the first control line at this time, the failed first control line is removed from the priority sequence, and the priority of the remaining second control line is higher than that of the third control line.

[0073] If the communication states of the second control line and the third control line are both normal at this time, the second control line is selected as the new control line because the priority of the second control line is higher than that of the third control line, and the first control line with the fault is switched to the second control line, and the transmission of the torque control signal is performed through the second control line.

[0074] Alternatively, if the target control line with the fault is the third control line at this time, the third control line with the fault is removed from the priority sequence, and the priority of the first control line is higher than that of the second control line.

[0075] If the communication states of the first control line and the second control line are both normal at this time, the first control line is selected as the new control line because the priority of the first control line is higher than that of the second control line, and the third control line with the fault is switched to the first control line, and the transmission of the torque control signal is performed through the first control line.

[0076] In some embodiments, the method further includes:

[0077] Step B1, when the target control line with the fault is removed and the communication state of the target control line with the fault is normal, an automatic driving control type of the new control line is obtained, and the automatic driving control type is used to indicate an execution state of the torque control signal.

[0078] Step B2, whether a torque control process corresponding to the new control line is executed is determined according to the automatic driving control type of the new control line.

[0079] In the above scheme, for example, if the target control line is the first control line at this time, when the first control line with the fault is removed and the communication state of the first control line with the fault is normal, the first control line is not switched back immediately, and at this time, an automatic driving control type transmitted by a new control line currently performing the communication transmission function is obtained, and whether the torque control process corresponding to the new control line is executed is determined according to the automatic driving control type transmitted by the new control line.

[0080] In some embodiments, step B2 includes:

[0081] Step B21, an automatic driving control type of the new control line is obtained, and the automatic driving control type includes a first automatic driving control type and a second automatic driving control type.

[0082] Step B22, when the automatic driving control type is the first automatic driving control type, it is determined that the torque control process corresponding to the new control line is not executed.

[0083] Step B23, when the automatic driving control type is switched from the first automatic driving control type to the second automatic driving control type, determining that the torque control process corresponding to the new control route is executed.

[0084] In the above scheme, the automatic driving control type of the new control route currently executing the communication transmission function is obtained, and the execution state of the torque control signal is obtained according to the automatic driving control type of the new control route. For example, the automatic driving control type of the new control route does not switch and is always the preset first automatic driving control type (for example, 0x2, which can be set according to actual conditions, and here it is not specifically limited), and it is determined that the torque control process corresponding to the new control route is not executed.

[0085] If the automatic driving control type of the new control route switches from the preset first automatic driving control type (for example, 0x2, which can be set according to actual conditions, and here it is not specifically limited) to the preset second automatic driving control type (for example, 0x1, which can be set according to actual conditions, and here it is not specifically limited), it is determined that the torque control process corresponding to the new control route is executed, and then the process of determining the new target control route can be executed.

[0086] In addition, if the automatic driving control type of the new control route switches from the preset first automatic driving control type (for example, 0x2, which can be set according to actual conditions, and here it is not specifically limited) to the preset third automatic driving control type (for example, 0x0, which can be set according to actual conditions, and here it is not specifically limited), it is determined that the torque control process corresponding to the new control route is executed, and then the process of determining the new target control route is not executed.

[0087] Through the above scheme, the first control route and the second control route form a redundant control route between the vehicle controller and the main controller for torque control, the communication state of the first control route and the second control route is obtained, when the communication state is abnormal, the first control route or the second control route with normal communication state is selected as the target control route, and then the torque control signal corresponding to the target control route is transmitted to the main controller. The main controller adjusts the size of the torque according to the torque control signal corresponding to the target control route. This way of forming a redundant control route between the vehicle controller and the main controller for torque control through the first control route and the second control route can avoid the communication abnormality between the vehicle controller and the main controller, and effectively control the torque of the vehicle, thereby ensuring driving safety.

[0088] It should be noted that the method of the embodiments of the present application can be executed by a single device, for example, a computer or a server, etc. The method of the embodiments can also be applied to a distributed scenario, and be completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only execute one or more steps in the method of the embodiments of the present application, and the multiple devices can interact with each other to complete the method.

[0089] It should be noted that some embodiments of the present application have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order and still achieve desirable results. Additionally, the processes depicted in the accompanying figures do not necessarily require the particular order shown or sequential order to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0090] Based on the same inventive concept, the present application also provides a vehicle torque control device corresponding to the method of any of the above embodiments.

[0091] Reference Figure 2 The device is arranged in a vehicle controller, and the vehicle controller is connected with a main controller for torque control through a first control line or a second control line. The device comprises:

[0092] A communication state acquisition module 201 is configured to acquire the communication states of the first control line and the second control line.

[0093] A target control line determination module 202 is configured to select the first control line or the second control line as a target control line based on the communication states.

[0094] A signal transmission module 203 is configured to transmit a torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line.

[0095] In some embodiments, the target control line determination module 202 is specifically configured to:

[0096] determine whether the communication state of the first control line is normal;

[0097] when the communication state of the first control line is normal, determine that the first control line is the target control line; or

[0098] when the communication state of the first control line is abnormal, determine whether the communication state of the second control line is normal;

[0099] When the communication state of the second control line is normal, the second control line is determined as the target control line.

[0100] In some embodiments, the main controller is provided with a corresponding backup controller, and the backup controller is connected with the vehicle controller through a third control line.

[0101] The vehicle torque control device further comprises a backup control module, which is specifically used for:

[0102] When the communication states of the first control line and the second control line are both abnormal, and the communication state of the third control line is normal, the torque control signal corresponding to the third control line is transmitted to the backup controller, so that the backup controller adjusts the size of the torque according to the torque control signal corresponding to the third control line, wherein the communication states of the first control line and the second control line being both abnormal indicates that the main controller is abnormal.

[0103] In some embodiments, the vehicle torque control device further comprises an exit module, which is specifically used for:

[0104] When the communication states of the first control line, the second control line and the third control line are all abnormal, it is determined that the main controller and the backup controller are both abnormal, and the vehicle is controlled to exit the automatic driving mode, wherein when the communication states of the control lines are detected, the vehicle is in the automatic driving mode.

[0105] In some embodiments, the vehicle torque control device further comprises a priority selection module, which is specifically used for:

[0106] When the target control line fails, the preset priority sequence is eliminated, wherein the preset priority sequence is a sequence in which the first control line, the second control line and the third control line are sorted according to a preset priority;

[0107] A control line with high priority is selected as a new control line from the eliminated priority sequence.

[0108] In some embodiments, the vehicle torque control device further comprises a judgment module, which comprises:

[0109] A torque control signal acquisition unit is configured to acquire an automatic driving control type of the new control line when the failed target control line is removed and the communication state of the removed target control line is normal, wherein the automatic driving control type is used to indicate an execution state of the torque control signal.

[0110] The judging unit is configured to determine whether the torque control process corresponding to the new control line is executed according to the automatic driving control type of the new control line.

[0111] In some embodiments, the judging unit is specifically configured to:

[0112] obtain the automatic driving control type of the new control line, wherein the automatic driving control type comprises a first automatic driving control type and a second automatic driving control type;

[0113] when the automatic driving control type is the first automatic driving control type, determine that the torque control process corresponding to the new control line is not executed;

[0114] when the automatic driving control type is switched from the first automatic driving control type to the second automatic driving control type, determine that the torque control process corresponding to the new control line is executed.

[0115] For the convenience of description, the above apparatus is described in various modules according to functions. Of course, the functions of the modules can be implemented in one or more software and / or hardware in the implementation of the present application.

[0116] The apparatuses of the above embodiments are used to implement the vehicle torque control method of any one of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which are not described herein again.

[0117] Based on the same inventive concept, the present application also provides an electronic device corresponding to the method of any one of the above embodiments, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the vehicle torque control method of any one of the above embodiments.

[0118] Figure 3 A more specific hardware structure of an electronic device provided by the present embodiment is shown, which can include a processor 301, a memory 302, an input / output interface 303, a communication interface 304 and a bus 305. The processor 301, the memory 302, the input / output interface 303 and the communication interface 304 are connected to each other through the bus 305 for communication within the device.

[0119] The processor 301 can be implemented by a general CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit) or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the present embodiment.

[0120] The memory 302 can be implemented in the form of a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 302 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the relevant program codes are stored in the memory 302 and are invoked and executed by the processor 301.

[0121] The input / output interface 303 is configured to connect an input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0122] The communication interface 304 is configured to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0123] The bus 305 includes a path for transmitting information between various components (such as the processor 301, the memory 302, the input / output interface 303, and the communication interface 304) of the device.

[0124] It should be noted that although the above device only shows the processor 301, the memory 302, the input / output interface 303, the communication interface 304, and the bus 305, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the embodiments of the present specification, and does not have to contain all the components shown in the figure.

[0125] The electronic device of the above embodiments is used to implement the corresponding vehicle torque control method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not described here.

[0126] Based on the same inventive concept, the present application also provides a computer readable storage medium, which stores computer instructions for causing the computer to execute the vehicle torque control method according to any of the above embodiments.

[0127] The computer readable medium of the embodiments can include permanent and non-permanent, removable and non-removable media, which can be implemented by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0128] The storage medium of the above embodiments stores computer instructions for causing the computer to execute the vehicle torque control method as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0129] Based on the same inventive concept, the embodiments provide a vehicle corresponding to the vehicle torque control device or electronic device or storage medium of any of the above embodiments, which is installed with the vehicle torque control device or electronic device or storage medium capable of realizing the vehicle torque control method of any of the above embodiments.

[0130] Those skilled in the art should understand that the above discussion of any of the embodiments is only exemplary and is not intended to imply that the scope of the present application (including claims) is limited to these examples; the above embodiments or technical features between different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the embodiments of the present application as described above. In order to be brief, they are not provided in detail.

[0131] Additionally, to simplify the description and discussion, and so as not to obscure the embodiments of the application being presented, the well-known functions or constructions of integrated circuit (IC) chips and other components can or can not be shown in the figures and will be omitted as not to unnecessarily obscure the embodiments of the application being presented. Moreover, the devices can be shown in block diagram form in order to avoid obscuring the embodiments of the application, and this also acknowledges the fact that the details in regard to the implementation of the block diagram devices are highly dependent on the platform within which the embodiments of the application are to be implemented (i.e., these details should be well within the purview of one of ordinary skill in the art). Where specific details are set forth in order to describe an illustrative embodiment of the application, it will be apparent to one of ordinary skill in the art that the embodiments of the application can be practiced without, or with variation of, these specific details. Thus, the description is to be considered as illustrative only and not restrictive in nature.

[0132] While the application has been described in connection with specific embodiments thereof, it will be understood that many modifications, substitutions and changes will be apparent to those of ordinary skill in the art. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0133] It is intended to cover all alternatives, modifications and variations of this application falling within the scope of the appended claims. Accordingly, all such changes are intended to be included within the scope of the application as set forth in the claims.

Claims

1. A vehicle torque control method characterized by, The application is applied to a vehicle controller connected with a main controller for torque control through a first control line or a second control line, and the method comprises: acquiring communication states of the first control line and the second control line; selecting the first control line or the second control line as a target control line based on the communication states; transmitting a torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of torque according to the torque control signal corresponding to the target control line; when the target control line fails, removing the failed target control line from a preset priority sequence; selecting a high-priority control line from the removed priority sequence as a new control line; when the failed target control line is repaired and the repaired target control line has a normal communication state, acquiring an automatic driving control type of the new control line, which is used to indicate an execution state of a torque control signal; judging whether a torque control process corresponding to the new control line is executed according to the automatic driving control type of the new control line; determining that the torque control process corresponding to the new control line is executed, and switching back to the repaired target control line from the new control line.

2. The method of claim 1, wherein, The method further comprises: judging whether the communication state of the first control line is normal; when the communication state of the first control line is normal, determining that the first control line is the target control line; or when the communication state of the first control line is abnormal, judging whether the communication state of the second control line is normal; when the communication state of the second control line is normal, determining that the second control line is the target control line.

3. The method of claim 1, wherein, The main controller is provided with a corresponding backup controller connected with the vehicle controller through a third control line; The method further comprises: when the communication states of the first control line and the second control line are both abnormal, and the communication state of the third control line is normal, transmitting a torque control signal corresponding to the third control line to the backup controller, so that the backup controller adjusts the size of torque according to the torque control signal corresponding to the third control line, wherein the abnormal communication states of the first control line and the second control line indicate that the main controller is abnormal.

4. The method of claim 3, wherein, The method further comprises: when the communication states of the first control line, the second control line and the third control line are all abnormal, determining that the main controller and the backup controller are both abnormal, and controlling the vehicle to exit an automatic driving mode, wherein the vehicle is in the automatic driving mode when detecting the communication states of the control lines.

5. The method of claim 3, wherein, The preset priority sequence is a sequence in which the first control line, the second control line and the third control line are sorted according to a preset priority.

6. The method of claim 1, wherein, The automatic driving control type according to the new control line is determined, and it is determined whether the torque control process corresponding to the new control line is executed completely. An automatic driving control type of the new control line is acquired, and the automatic driving control type includes a first automatic driving control type and a second automatic driving control type. When the automatic driving control type is the first automatic driving control type, it is determined that the torque control process corresponding to the new control line is not executed completely. When the automatic driving control type is switched from the first automatic driving control type to the second automatic driving control type, it is determined that the torque control process corresponding to the new control line is executed completely.

7. A vehicle torque control device characterized by comprising: The device is arranged in a vehicle controller, and the vehicle controller is connected with a main controller for torque control through a first control line or a second control line. The device includes: A communication state acquisition module is configured to acquire a communication state of the first control line and the second control line. A target control line determination module is configured to select the first control line or the second control line as a target control line based on the communication state. A signal transmission module is configured to transmit a torque control signal corresponding to the target control line to the main controller, so that the main controller adjusts the size of the torque according to the torque control signal corresponding to the target control line. The device further includes a priority selection module, which is specifically configured to, when the target control line fails, remove the failed target control line from a preset priority sequence, and select a high-priority control line from the removed priority sequence as a new control line. The device further includes a judgment module, which includes: A torque control signal acquisition unit is configured to acquire an automatic driving control type of the new control line when the failed target control line is repaired and the communication state of the repaired target control line is normal, and the automatic driving control type is used to indicate an execution state of the torque control signal. A judgment unit is configured to determine whether the torque control process corresponding to the new control line is executed completely according to the automatic driving control type of the new control line, and to determine that the torque control process corresponding to the new control line is executed completely, and to switch back to the repaired target control line from the new control line.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the method of any one of claims 1 to 6.

9. A vehicle characterized by comprising: The vehicle torque control device of claim 7 or the electronic device of claim 8.

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