Torque controller and storage medium

Abstract

The application relates to a torque controller and a storage medium. The torque controller comprises a function layer configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; and a safety layer configured to monitor an unintended acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and each torque checking unit is configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists when the check of any intermediate result fails. By using the torque controller provided by the application, the unintended acceleration risk can be detected in advance, and the driving safety is greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle control, in particular to a torque controller and a storage medium. BACKGROUND

[0002] During driving, unexpected acceleration may occur. Unexpected acceleration refers to abnormal acceleration of the vehicle against the will of the driver, for example, after the driver releases the accelerator, the vehicle is still in an accelerating state.

[0003] The existing torque controller can detect whether the vehicle torque output by the vehicle is abnormal to determine whether unexpected acceleration has occurred.

[0004] Although the prior art can detect unexpected acceleration and reduce the harm caused by unexpected acceleration through remedial measures such as interrupting power, unexpected acceleration has already occurred, and even if remedial measures are taken, there is still a high safety risk. SUMMARY

[0005] Therefore, the present application provides a torque controller and a storage medium, which can detect unexpected acceleration risk in advance and greatly improve driving safety.

[0006] In a first aspect, the present application provides a torque controller, comprising: a function layer, configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; a safety layer, configured to monitor unexpected acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and each torque checking unit is configured to check the at least one intermediate result, and determine that there is unexpected acceleration risk if the check of any intermediate result fails.

[0007] In combination with the first aspect, in a first implementation manner of the first aspect, the torque checking unit is specifically configured to: perform torque calculation according to the torque calculation link by using an algorithm different from the function layer to obtain an intermediate result of the unit, and obtain a corresponding intermediate result of the function layer; calculate an absolute value of a difference between the intermediate result of the unit and the corresponding intermediate result of the function layer; and if the absolute value is greater than a preset value, the check fails, and it is determined that there is unexpected acceleration risk.

[0008] In combination with the first aspect, in a second implementation manner of the first aspect, the at least one torque checking unit comprises, in sequence, a pedal torque checking unit, a crawling torque checking unit, a crawling arbitration torque checking unit, a distribution torque checking unit, a brake energy recovery arbitration torque checking unit, a vehicle body stability control arbitration torque checking unit, a filtering torque checking unit, and an intelligent driving arbitration torque checking unit.

[0009] With reference to the first aspect, in a third implementation form of the first aspect, the safety layer of the torque controller further comprises an output unit, and wherein: the torque checking unit is further configured to generate a corresponding fault flag; and the output unit is configured to obtain the fault flag and store the fault flag, so that a maintenance personnel can troubleshoot according to the fault flag.

[0010] With reference to the third implementation form of the first aspect, in a fourth implementation form of the first aspect, the output unit of the safety layer is further configured to: determine whether the current vehicle is in a working condition corresponding to the fault flag; and if the current vehicle is in the working condition corresponding to the fault flag, take a torque control measure.

[0011] With reference to the fourth implementation form of the first aspect, in a fifth implementation form of the first aspect, the output unit of the safety layer is specifically configured to: if the current vehicle is in the working condition corresponding to the fault flag, maintain the current torque; prompt a user to exit the working condition corresponding to the fault flag; and if no exit instruction is received within a preset time length, reduce the current torque gradient to a crawling torque.

[0012] With reference to the third implementation form of the first aspect, in a sixth implementation form of the first aspect, the output unit of the safety layer is further configured to: after obtaining the fault flag, parse prompt information corresponding to the fault flag; and play the prompt information through a voice device or a display device to prompt the user to take a response measure.

[0013] With reference to the first aspect, in a seventh implementation form of the first aspect, the safety layer of the torque controller further comprises an input unit, and wherein: the input unit is configured to: receive vehicle data, wherein the vehicle data comprises at least one of a vehicle speed, an accelerator pedal state, a brake pedal state, slope information, a vehicle driving mode, a vehicle body stability control signal, an automatic driving signal, a brake energy recovery signal, a front-rear motor torque distribution ratio, and a gear position; and send the vehicle data to the at least one torque checking unit.

[0014] In a second aspect, the present application further provides a torque controller, which comprises a first processor, a second processor, a first memory and a second memory, and the first processor, the second processor, the first memory and the second memory are connected through a bus, wherein: the first memory is configured to store a plurality of instructions; the first processor is configured to load and execute the plurality of instructions in the first memory to realize the functions of the function layer of the torque controller in the first aspect or any implementation form of the first aspect; the second memory is configured to store a plurality of instructions; and the second processor is configured to load and execute the plurality of instructions in the second memory to realize the functions of the safety layer of the torque controller in the first aspect or any implementation form of the first aspect.

[0015] In a third aspect, the application further provides a computer readable storage medium, which stores a plurality of instructions, and the instructions are adapted to be loaded and executed by a processor to implement the functions of the safety layer of the torque controller according to the first aspect or any one of the implementation forms of the first aspect.

[0016] To sum up, the application provides a torque controller and a storage medium, wherein the safety layer of the torque controller verifies the intermediate result of the function layer on the torque calculation link through the torque verification unit, so as to detect the risk of unintended acceleration of the automobile in advance, without the need to detect that the automobile has unintended acceleration after the function layer completes the torque calculation of the entire torque calculation link. It can be seen that the application can detect the risk of unintended acceleration in advance, and greatly improves the driving safety. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 a schematic block diagram of the torque controller according to an embodiment of the application;

[0018] Figure 2 a schematic block diagram of the torque controller according to another embodiment of the application;

[0019] Figure 3 a schematic block diagram of the torque controller according to another embodiment of the application;

[0020] Figure 4 a structural block diagram of the torque controller according to an embodiment of the application. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the application clearer, the application will be further described in detail below with reference to the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and are not used to limit the application.

[0022] It should be noted that the torque controller provided in the present application can be a controller dedicated to torque control or a vehicle control unit (VCU). Data interaction can be performed between the layers and units of the torque controller. In addition, the processor in the torque controller can include, but is not limited to, a graphics processing unit (GPU), a central processing unit (CPU), a general-purpose processor, a co-processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The processor can implement the functions of the functional layer and the safety layer of the torque controller described in the present application, and the present application will not be repeated here.

[0023] It should also be noted that the functional layer and the safety layer are independent of each other in software design, and are carried on different processors, and the memory area of the parameter variable is independent, so the functional layer and the safety layer are independently running and do not interfere with each other. Even if the functional layer crashes, the safety layer can still run normally. The units in the safety layer and the functional layer interact with other units in the form of an application programming (API) interface.

[0024] In view of the problem that the prior art has a large safety risk when unintended acceleration occurs, the present application provides a gear controller. The gear controller detects the risk of unintended acceleration in advance to greatly improve driving safety. Specifically, the gear controller includes an L1SW layer (i.e., a functional layer) and an L2SW layer (i.e., a safety layer). The functional layer is configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result. The safety layer is configured to monitor the risk of unintended acceleration based on the at least one intermediate result. The safety layer includes at least one torque checking unit connected in sequence. Each torque checking unit is configured to check the at least one intermediate result, and determine that there is a risk of unintended acceleration if the check of any intermediate result fails. It can be seen that the torque controller provided in the present application adds at least one torque checking unit in the safety layer. The torque checking unit checks the intermediate result of the functional layer in the torque calculation link, so that the risk of unintended acceleration of the vehicle can be detected in advance.

[0025] In order to better understand the technical solutions of the present application, an embodiment of a gear controller is provided, as shown in Figure 1 The torque controller includes a function layer and a safety layer, wherein:

[0026] The function layer of the torque controller is used to perform torque calculation according to a torque calculation link to obtain at least one intermediate result. The torque calculation link refers to the logical order of torque calculation, for example, first calculating pedal torque, then calculating creep torque, and so on until outputting the final vehicle torque. The torque calculation link can be represented as at least one torque calculation unit connected in sequence, for example, Figure 1 The function layer includes a first torque calculation unit, a second torque calculation unit, and an Nth torque calculation unit. When performing torque calculation, each torque calculation unit can obtain the intermediate result output by any previous torque calculation unit, and after performing torque calculation of the unit and obtaining the intermediate result, the calculated intermediate result is output to the subsequent torque calculation unit, for example, Figure 1 The second torque calculation unit in obtains the first intermediate result of the first torque calculation unit, and outputs the second intermediate result of the unit to the third torque calculation unit. More specifically, the function layer can include eight torque calculation units connected in sequence, which include a pedal torque calculation unit, a creep torque calculation unit, a creep arbitration torque calculation unit, a distribution torque calculation unit, a cooperative regenerative brake system (CRBS) arbitration torque calculation unit, an electronic stability controller (ESC) arbitration torque calculation unit, a filter torque calculation unit, and an advanced driving system (ADS) arbitration torque calculation unit to implement torque calculation. The function layer obtains the final vehicle torque by sequentially executing the torque calculation of the eight units.

[0027] The safety layer of the torque controller is configured to monitor the risk of unintended acceleration according to at least one intermediate result; wherein, based on a service-oriented architecture (SOA), at least one torque checking unit is additionally developed and designed in the safety layer, one torque checking unit is one SWC function service unit, the at least one torque checking unit in the safety layer is connected in sequence, and the at least one torque checking unit is respectively configured to check the at least one intermediate result, instead of only checking the final vehicle torque output by the last torque calculation unit, so that whether the vehicle has the risk of unintended acceleration can be detected before the torque calculation in the function layer is completed. The at least one torque checking unit is called in sequence for checking, if the checking fails, it is determined that there is the risk of unintended acceleration, if the checking passes, the next checking unit is used for checking, if all the checking passes, there is no risk of unintended acceleration. For example Figure 1 The first torque checking unit is configured to check the first intermediate result of the first torque calculation unit in the function layer, the second torque checking unit is configured to check the second intermediate result of the second torque calculation unit in the function layer, and the Nth torque checking unit is configured to check the final vehicle torque of the Nth torque calculation unit in the function layer. More specifically, the safety layer can include eight torque checking units connected in sequence, including a pedal torque checking unit, a crawling torque checking unit, a crawling arbitration torque checking unit, a distribution torque checking unit, a cooperative regenerative brake system (CRBS) arbitration torque checking unit, an electronic stability controller (ESC) arbitration torque checking unit, a filtering torque checking unit, and an advanced driving system (ADS) arbitration torque checking unit. The safety layer monitors whether the vehicle has the risk of unintended acceleration by sequentially executing the torque checking of the eight units.

[0028] It should be noted that, in order to realize the checking of the intermediate result of the function layer, on the one hand, the torque checking unit also realizes the function of the corresponding torque calculation unit in the function layer, that is, the torque checking unit can perform torque calculation in accordance with the torque calculation link and synchronously with the torque calculation unit in the function layer to obtain the intermediate result, on the other hand, the torque checking unit can compare the intermediate result calculated by the unit with the intermediate result calculated by the corresponding torque calculation unit in the function layer to determine whether the vehicle has the risk of unintended acceleration. In addition, the torque checking unit can use the same algorithm as the torque calculation unit, or use a different algorithm. For this purpose, the present application proposes two kinds of torque controllers, which will be described in detail as follows:

[0029] The torque checking unit of the safety layer of the first torque controller is specifically configured to: according to a torque calculation link, perform torque calculation by using the same algorithm as the function layer to obtain an intermediate result of the unit, and obtain a corresponding intermediate result in the function layer; calculate an absolute value of a difference between the intermediate result of the unit and the corresponding intermediate result in the function layer; if the absolute value is greater than a maximum error value, the checking fails, and it is determined that there is an unintended acceleration risk.

[0030] The torque checking unit of the safety layer of the second torque controller is specifically configured to: according to a torque calculation link, perform torque calculation by using an algorithm different from the function layer to obtain an intermediate result of the unit, and obtain a corresponding intermediate result in the function layer; calculate an absolute value of a difference between the intermediate result of the unit and the corresponding intermediate result in the function layer; if the absolute value is greater than a preset value, the checking fails, and it is determined that there is an unintended acceleration risk.

[0031] In the second torque controller, the torque checking unit of the safety layer realizes the function of the corresponding torque calculation unit by using an algorithm different from the function layer, so as to obtain an intermediate result. If an absolute value of a difference between the intermediate result of the torque checking unit and the intermediate result of the torque calculation unit is greater than a preset value, the checking fails, and it is determined that the vehicle has an unintended acceleration risk. Through experimental tests, the preset value can be a wheel end torque corresponding to an acceleration of 0.24g. When the difference is greater than the preset value, the user will feel a significant forward inclination or a backward thrust, and the vehicle is prone to collision and other dangers. For example:

[0032] The pedal torque checking unit of the safety layer obtains an intermediate result of a pedal torque calculation unit of the function layer (i.e., a pedal torque output by the pedal torque calculation unit of the function layer), and calculates an intermediate result of the unit (i.e., a pedal torque output by the pedal torque checking unit of the safety layer) according to vehicle data such as vehicle speed, accelerator pedal state, vehicle driving mode, and gear position. Then, the two intermediate results are compared. If N 11 -N 21 >N, the checking fails, and it is determined that the vehicle has an unintended acceleration risk. If N 11 -N 21 ≤N, the checking passes, and the next checking unit (i.e., the creep torque checking unit of the safety layer) is called, where N 11 is the intermediate result of the pedal torque calculation unit of the function layer, N 21 is the intermediate result of the pedal torque checking unit of the safety layer, and N is a preset value.

[0033] The creeping torque checking unit of the safety layer obtains the intermediate result of the creeping torque calculation unit of the function layer (i.e., the creeping torque output by the creeping torque calculation unit of the function layer), and calculates the intermediate result of the unit (i.e., the creeping torque output by the creeping torque checking unit of the safety layer) according to the vehicle data such as the vehicle speed, the accelerator pedal state, the brake pedal state, the slope information, and the gear position, and then compares the two intermediate results. If N 12 -N 22 >N, the checking fails, and it is determined that the vehicle has the risk of unintended acceleration. If N 12 -N 22 ≤N, the checking passes, and the creeping arbitration torque checking unit of the safety layer is called, where N 12 is the intermediate result of the creeping torque calculation unit of the function layer, N 22 is the intermediate result of the creeping torque checking unit of the safety layer, and N is a preset value.

[0034] The creeping arbitration torque checking unit of the safety layer obtains the intermediate result of the creeping arbitration torque calculation unit of the function layer (i.e., the creeping arbitration torque output by the creeping arbitration torque calculation unit of the function layer), and calculates the intermediate result of the unit (i.e., the creeping arbitration torque output by the creeping arbitration torque checking unit of the safety layer) according to the vehicle data such as the accelerator pedal state and the gear position, and the pedal torque and the creeping torque output by the pedal torque checking unit and the creeping torque checking unit of the safety layer, and then compares the two intermediate results. If N 13 -N 23 >N, the checking fails, and it is determined that the vehicle has the risk of unintended acceleration. If N 13 -N 23 ≤N, the checking passes, and the distribution torque checking unit of the safety layer is called, where N 13 is the intermediate result of the creeping arbitration torque calculation unit of the function layer, N 23 is the intermediate result of the creeping arbitration torque checking unit of the safety layer, and N is a preset value.

[0035] The distribution torque checking unit of the safety layer obtains the intermediate result of the distribution torque calculation unit of the function layer (i.e., the distribution torque output by the distribution torque calculation unit of the function layer), and calculates the intermediate result of the unit (i.e., the distribution torque output by the distribution torque checking unit of the safety layer) according to the front-rear motor torque distribution ratio and the creeping arbitration torque of the creeping arbitration torque checking unit of the safety layer, and then compares the two intermediate results. If N 14 -N 24 >N, the checking fails, and it is determined that the vehicle has the risk of unintended acceleration. If N 14 -N 24N, the calculation is passed, and the CRBS arbitration torque calculation unit of the safety layer is called, wherein, N 14 is the intermediate result of the distribution torque calculation unit of the function layer, N 24 is the intermediate result of the distribution torque calculation unit of the safety layer, and N is a preset value.

[0036] The CRBS arbitration torque calculation unit of the safety layer obtains the intermediate result of the CRBS arbitration torque calculation unit of the function layer (i.e., the CRBS arbitration torque output by the CRBS arbitration torque calculation unit of the function layer), and calculates the intermediate result of the unit (i.e., the CRBS arbitration torque output by the CRBS arbitration torque calculation unit of the safety layer) according to the vehicle data such as the brake pedal state, the gear, and the CRBS signal, and then compares the two intermediate results, and if N 15 -N 25 >N, the calculation is failed, and it is determined that the vehicle has a risk of unintended acceleration, and if N 15 -N 25 ≤N, the calculation is passed, and the ESC arbitration torque calculation unit of the safety layer is called, wherein, N 15 is the intermediate result of the CRBS arbitration torque calculation unit of the function layer, N 25 is the intermediate result of the CRBS arbitration torque calculation unit of the safety layer, and N is a preset value.

[0037] The ESC arbitration torque calculation unit of the safety layer obtains the intermediate result of the ESC arbitration torque calculation unit of the function layer (i.e., the ESC arbitration torque output by the ESC arbitration torque calculation unit of the function layer), and calculates the intermediate result of the unit (i.e., the ESC arbitration torque output by the ESC arbitration torque calculation unit of the safety layer) according to the vehicle data such as the ESC signal and the gear, and the CRBS arbitration torque output by the CRBS arbitration torque calculation unit of the safety layer, and then compares the two intermediate results, and if N 16 -N 26 >N, the calculation is failed, and it is determined that the vehicle has a risk of unintended acceleration, and if N 16 -N 26 ≤N, the calculation is passed, and the filter torque calculation unit of the safety layer is called, wherein, N 16 is the intermediate result of the ESC arbitration torque calculation unit of the function layer, N 26 is the intermediate result of the ESC arbitration torque calculation unit of the safety layer, and N is a preset value.

[0038] The filter torque checking unit of the safety layer obtains the intermediate result of the filter torque calculation unit of the function layer (i.e., the filter torque output by the filter torque calculation unit of the function layer), and calculates the intermediate result of the filter torque checking unit according to the vehicle data such as the driving mode, the gear and the brake pedal state, and the ESC arbitration torque output by the ESC arbitration torque checking unit of the safety layer, and then compares the two intermediate results. If N 16 -N 26 >N, the checking fails, and it is determined that the vehicle has the risk of unintended acceleration. If N 16 -N 26 ≤N, the checking passes, and the ADS arbitration torque checking unit of the safety layer is called, wherein N 16 is the intermediate result of the filter torque calculation unit of the function layer, N 26 is the intermediate result of the filter torque checking unit of the safety layer, and N is a preset value.

[0039] The ADS arbitration torque checking unit of the safety layer obtains the intermediate result of the ADS arbitration torque calculation unit of the function layer (i.e., the ADS arbitration torque output by the ADS arbitration torque calculation unit of the function layer), and calculates the intermediate result of the ADS arbitration torque checking unit according to the vehicle data such as the ADS signal, the gear and the brake pedal state, and the ADS arbitration torque output by the filter torque checking unit of the safety layer, and then compares the two intermediate results. If N 16 -N 26 >N, the checking fails, and it is determined that the vehicle has the risk of unintended acceleration. If N 16 -N 26 ≤N, the checking passes, and it is determined that the vehicle has no risk of unintended acceleration, wherein N 16 is the intermediate result of the ADS arbitration torque calculation unit of the function layer, N 26 is the intermediate result of the ADS arbitration torque checking unit of the safety layer, and N is a preset value.

[0040] In summary, the torque controller with the new software architecture provided in the application adds at least one torque checking unit in the safety layer of the torque controller. The torque checking unit can detect whether the vehicle has the risk of unintended acceleration before the function layer completes the torque calculation on the entire torque calculation link, and thus greatly improves the driving safety.

[0041] In addition, the application also provides an embodiment, such as Figure 2As shown, an output unit is also designed in the safety layer of the torque controller. This output unit is a SWC function service unit. Specifically, the torque verification unit is also used to generate the corresponding fault flag bit; the output unit is used to obtain the fault flag bit and store the fault flag bit so that maintenance personnel can troubleshoot the fault based on the fault flag bit.

[0042] Among them, such as Figure 2 As shown, each torque calculation unit in the safety layer is connected to the output unit. After the torque calculation unit verifies the intermediate results of the functional layer, if the verification passes, it continues to call the next torque calculation unit. If the verification fails, it generates a corresponding fault flag and sends the fault flag to the output unit. The output unit stores the fault flag. This allows maintenance personnel to quickly locate the fault point by reading the fault flag when analyzing the cause of unexpected acceleration. Specifically, if the first torque calculation unit, the second torque calculation unit, ..., the Nth torque calculation unit fails the verification, it can send the first fault flag, the second fault flag, ..., the Nth fault flag to the output unit respectively. When the machine or task analyzes the fault, the specific torque calculation unit that failed can be determined through the fault flag, thereby locating the fault point on the torque calculation link.

[0043] For example, if the pedal torque verification unit, creep torque verification unit, creep arbitration torque verification unit, distribution torque verification unit, CRBS arbitration torque verification unit, ESC arbitration torque verification unit, filter torque verification unit, and ADS arbitration torque verification unit fail the verification, they can send pedal torque fault flag, creep torque fault flag, creep arbitration torque fault flag, distribution torque fault flag, CRBS arbitration torque fault flag, ESC arbitration torque fault flag, filter torque fault flag, and ADS arbitration torque fault flag to the output unit, respectively.

[0044] In one feasible approach, to reduce erroneous operations, the output layer of the safety layer can also consider the vehicle's operating conditions to determine whether to implement torque control measures. Specifically, the output unit of the safety layer is also used to: determine whether the current vehicle is in the operating condition corresponding to the fault flag; if the current vehicle is in the operating condition corresponding to the fault flag, then implement torque control measures.

[0045] The output unit of the safety layer first determines whether the current automobile is in the working condition corresponding to the fault flag after obtaining the fault flag, and if so, torque control measures are taken. For example, when the fault flag is a pedal torque fault flag, it is determined whether the current automobile is in the driver driving, and if so, torque control measures are taken. For another example, when the fault flag is a crawling torque fault flag, it is determined whether the current automobile is in the crawling, and if so, torque control measures are taken. For another example, when the fault flag is an ADS arbitration torque fault flag, it is determined whether the current automobile is in the intelligent driving, and if so, torque control measures are taken. In addition, the torque control measures taken by the output unit can be outputting zero torque, or outputting a preset crawling torque, and the application does not limit this.

[0046] In order to further improve the driving safety, the output unit can also prompt the user to voluntarily exit the current working condition when the automobile has an unintended acceleration risk, instead of directly taking torque control measures. Because the unintended risk has not occurred, the user may not be aware of the unintended acceleration risk, and at this time, if the automobile directly loses power or power degradation, it may cause the user to panic and hit the steering wheel hard, thereby causing a safety accident. Specifically, the output unit of the safety layer is specifically used for: if the current automobile is in the working condition corresponding to the fault flag, maintaining the current torque; prompting the user to exit the working condition corresponding to the fault flag, and in the case that no exit instruction is received within a preset time, reducing the current torque gradient to a preset crawling torque, if the exit instruction is received within the preset time (for example, 10 seconds), the working condition corresponding to the fault flag is exited, and the current torque gradient is reduced to a preset crawling torque (for example, 60 Nm). For example, after obtaining the ADS arbitration torque fault flag, the output unit first determines whether the current automobile is in intelligent driving, if the current automobile is in intelligent driving, the current torque is maintained, and then the user is prompted to exit the intelligent driving. If the output unit receives an exit instruction for exiting the intelligent driving issued by the user within 10 seconds, the intelligent driving is exited, and the current torque gradient is reduced to 60 Nm. If the output unit does not receive an exit instruction for exiting the intelligent driving issued by the user within 10 seconds, the current torque gradient is autonomously reduced to 60 Nm.

[0047] To further improve driving safety, the output unit can also prompt the user in the form of voice or text that the current car has a risk of unintended acceleration, specifically, the output unit of the safety layer is further configured to: after obtaining the fault flag, parse the prompt information corresponding to the fault flag; play the prompt information through a voice device or a display device to prompt the user to take measures. For example, the output unit receives the ADS arbitration torque fault flag, parses the prompt information corresponding to the fault flag as "intelligent driving has an abnormal acceleration risk, please exit intelligent driving and restore manual driving", and then plays the prompt information through a voice playing device or a display screen.

[0048] In addition, the application also provides an embodiment, as shown in Figure 3 As shown in the figure, an input unit is also developed and designed in the safety layer of the torque controller, which is a SWC function service unit. Specifically, the input unit of the safety layer is configured to: receive vehicle data, wherein the vehicle data includes at least one of vehicle speed, accelerator pedal state, brake pedal state, slope information, vehicle driving mode, ESC signal, ADS signal, CRBS signal, front and rear motor torque distribution ratio, gear position; send the vehicle data to at least one torque checking unit.

[0049] As shown in the figure, the input unit is connected with each torque checking unit in the safety layer, for example Figure 3 As shown in the figure, the input unit is connected with the first torque checking unit, the second torque checking unit,..., and the Nth torque checking unit, so that each torque checking unit can obtain the required vehicle data from the input unit. For example, the first torque checking unit obtains the first vehicle data from the input unit, the second torque checking unit obtains the second vehicle data from the input unit,..., and the Nth torque checking unit obtains the Nth vehicle data from the input unit.

[0050] In addition, the application also provides a torque controller, as shown in Figure 4 As shown in the figure, the torque control device includes a first processor 411, a second processor 421, a first memory 412, and a second memory 422, which are connected through a bus 430, wherein: the first memory 412 is configured to store a plurality of instructions; the first processor 411 is configured to load and execute the plurality of instructions in the first memory to realize the functions of the function layer of the torque controller in any of the preceding embodiments; the second memory 422 is configured to store a plurality of instructions; and the second processor 421 is configured to load and execute the plurality of instructions in the second memory 422 to realize the functions of the safety layer of the torque controller in any of the preceding embodiments.

[0051] The first processor 411 and the second processor 421 can be an electronic control unit (ECU), a central processing unit (CPU), a general-purpose processor, a coprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or another programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The first processor 411 and the second processor 421 can also be a combination of computing functions, such as one or more microprocessor combinations, a combination of a DSP and a microprocessor, and the like. In the embodiment, the first processor 411 and the second processor 421 can adopt a single-chip microcomputer, and various control functions can be realized by programming the single-chip microcomputer, such as determining the angle interval to which the slope value belongs in the embodiment, and the processor has the advantages of powerful computing capability and fast processing. Specifically, the first processor 411 is configured to perform functions of a function layer, and is configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result. The second processor 421 is configured to perform functions of a safety layer, and is configured to monitor an unintended acceleration risk according to the at least one intermediate result. The second processor 421 is further configured to perform functions of at least one torque checking unit in the safety layer, and is configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists when the checking fails.

[0052] In an implementation, the second processor 421 is specifically configured to perform torque calculation according to a torque calculation link by using an algorithm different from the function layer to obtain an intermediate result of the unit and obtain a corresponding intermediate result of the function layer, calculate an absolute value of a difference between the intermediate result of the unit and the corresponding intermediate result of the function layer, and determine that the unintended acceleration risk exists when the absolute value is greater than a preset value.

[0053] In an implementation, the second processor 421 is specifically configured to perform functions of a pedal torque checking unit, a creep torque checking unit, a creep arbitration torque checking unit, a distribution torque checking unit, a brake energy recovery arbitration torque checking unit, a vehicle body stability control arbitration torque checking unit, a filtering torque checking unit, and an intelligent driving arbitration torque checking unit.

[0054] In an implementation, the second processor 421 is further configured to generate a corresponding fault flag; and execute a function of an output unit in the safety layer, to obtain the fault flag and store the fault flag, so that a maintenance personnel can troubleshoot according to the fault flag.

[0055] In an implementation, the second processor 421 is further configured to determine whether the current vehicle is in a working condition corresponding to the fault flag; and if the current vehicle is in the working condition corresponding to the fault flag, take a torque control measure.

[0056] In an implementation, the second processor 421 is specifically configured to, if the current vehicle is in the working condition corresponding to the fault flag, maintain a current torque; prompt a user to exit the working condition corresponding to the fault flag; and if an exit instruction is not received within a preset time length, reduce a torque gradient of the current torque to a crawling torque.

[0057] In an implementation, the second processor 421 is further configured to, after obtaining the fault flag, parse prompt information corresponding to the fault flag; and play the prompt information through a voice device or a display device, to prompt the user to take a response measure.

[0058] In an implementation, the second processor 421 executes a function of an input unit in the safety layer, to receive vehicle data, wherein the vehicle data includes at least one of a vehicle speed, an accelerator pedal state, a brake pedal state, slope information, a vehicle driving mode, a vehicle body stability control signal, an automatic driving signal, a brake energy recovery signal, a front-rear motor torque distribution ratio, and a gear position; and send the vehicle data to at least one torque checking unit.

[0059] In an embodiment, the application further provides a computer readable storage medium, in which a plurality of instructions are stored, the instructions being adapted to be loaded and executed by a processor to implement the method in any of the foregoing embodiments. The processor is configured to execute the plurality of instructions; and the memory is configured to store the plurality of instructions, the instructions being adapted to be loaded and executed by the processor to implement the functions of the function layers of the torque controller as in the foregoing embodiments.

[0060] Any combination of the technical features in the foregoing embodiments can be made. To make the description concise, all possible combinations of the technical features in the foregoing embodiments are not described herein, however, as long as the combinations of the technical features do not exist contradictions, they shall be considered as the scope of the present disclosure.

[0061] The above embodiments only express several implementation ways of the present application, and the description is specific and detailed, but it should not be understood as a limitation to the patent scope of the application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A torque controller characterized by, The torque controller comprises: a function layer, configured to perform torque calculation according to a torque calculation link to obtain at least one intermediate result; a safety layer, configured to monitor an unintended acceleration risk according to the at least one intermediate result; wherein the safety layer comprises at least one torque checking unit connected in sequence, and the at least one torque checking unit is respectively configured to check the at least one intermediate result, and determine that the unintended acceleration risk exists if the check of any intermediate result fails; the torque checking unit is further configured to generate a corresponding fault flag bit when the check fails, and send the fault flag bit to an output unit of the safety layer; the output unit of the safety layer is further configured to: determine whether the current vehicle is in a working condition corresponding to the fault flag bit, and if the current vehicle is in the working condition corresponding to the fault flag bit, maintain the current torque and prompt the user to exit the working condition corresponding to the fault flag bit; and if no exit instruction is received within a preset time length, reduce the current torque gradient to a crawling torque.

2. The torque controller of claim 1, wherein, The torque checking unit is specifically configured to: perform torque calculation according to the torque calculation link by using an algorithm different from that of the function layer to obtain an intermediate result of the unit and obtain a corresponding intermediate result in the function layer; calculate an absolute value of a difference between the intermediate result of the unit and the corresponding intermediate result in the function layer; if the absolute value is greater than a preset value, the check fails, and it is determined that the unintended acceleration risk exists.

3. The torque controller of claim 1, wherein, The at least one torque checking unit comprises, in sequence, a pedal torque checking unit, a crawling torque checking unit, a crawling arbitration torque checking unit, a distribution torque checking unit, a brake energy recovery arbitration torque checking unit, a vehicle body stability control arbitration torque checking unit, a filtering torque checking unit, and an intelligent driving arbitration torque checking unit.

4. The torque controller of claim 1, wherein, The safety layer of the torque controller further comprises an output unit, wherein: the output unit is configured to obtain the fault flag bit and store the fault flag bit, so that maintenance personnel can troubleshoot according to the fault flag bit.

5. The torque controller of claim 4, wherein, The output unit of the safety layer is further configured to: after obtaining the fault flag bit, parse prompt information corresponding to the fault flag bit; play the prompt information through a voice device or a display device to prompt the user to take countermeasures.

6. The torque controller of claim 1, wherein, The safety layer of the torque controller further comprises an input unit, wherein the input unit is configured to: receive vehicle data, wherein the vehicle data comprises at least one of vehicle speed, accelerator pedal state, brake pedal state, slope information, vehicle driving mode, vehicle body stability control signal, automatic driving signal, brake energy recovery signal, front and rear motor torque distribution ratio, and gear position; send the vehicle data to the at least one torque checking unit.

7. A torque controller characterized by, The torque control device comprises a first processor, a second processor, a first memory and a second memory, and the first processor, the second processor, the first memory and the second memory are connected through a bus, wherein: The first memory is configured to store a plurality of instructions; and the first processor is configured to load and execute the plurality of instructions in the first memory to implement the function of the function layer of the torque controller according to any one of claims 1 to 6. The second memory is configured to store a plurality of instructions; and the second processor is configured to load and execute the plurality of instructions in the second memory to implement the function of the security layer of the torque controller according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium has stored therein a plurality of instructions adapted to be loaded by the processor and implement the function of the security layer of the torque controller according to any one of claims 1 to 6.

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