Vehicle control method, vehicle control device, and vehicle

Abstract

This application provides a vehicle control method, a vehicle control device, and a vehicle. The method is applied to a vehicle controller and includes: acquiring a motor torque request, an engine torque request, and filtered motor torque and engine torque requests from a target vehicle; obtaining upper and lower limits for motor torque and engine torque based on the motor torque and engine torque requests; if the filtered motor torque request is outside the upper and lower limits, controlling the motor torque to zero; if the filtered engine torque request is outside the upper and lower limits, controlling the engine torque to zero. This method can reduce the probability of vehicle stalling.

Description

Technical Field

[0001] This application relates to the field of vehicles, and more specifically, to a vehicle control method, a vehicle control device, and a vehicle. Background Technology

[0002] With the rapid development of the automotive industry, the number of cars on the road has increased significantly, and people are paying more and more attention to driving safety. As a result, the safety monitoring of vehicle torque function is also receiving increasing attention.

[0003] Currently, for vehicles with multiple power sources (e.g., four-wheel drive vehicles), the driver's torque request is typically reset to zero when unexpected torque is detected. However, from a practical driving perspective, frequent vehicle stalling during operation can severely impact the driver's experience. Therefore, reducing the probability of vehicle stalling has become an urgent problem to be solved. Summary of the Invention

[0004] This application provides a vehicle control method, a vehicle control device, and a vehicle. The method can perform more granular fault detection on the vehicle's torque request, clear the torque of a single path with a torque fault, and reduce the probability of vehicle stall.

[0005] In a first aspect, a vehicle control method is provided, applied to a vehicle controller. The method includes: acquiring a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request from a target vehicle; obtaining upper and lower limits for motor torque and engine torque based on the motor torque request and the engine torque request; if the filtered motor torque request is outside the upper and lower limits for motor torque, controlling the motor torque to be zero; if the filtered engine torque request is outside the upper and lower limits for engine torque, controlling the engine torque to be zero.

[0006] The above technical solution obtains the upper and lower limits of motor torque and engine torque based on the motor torque request and engine torque request, respectively. Since the upper and lower limits of motor torque and engine torque are determined based on the motor torque request and engine torque request, the accuracy of the upper and lower limits of each torque path in the vehicle can be improved by determining the upper and lower limits of each torque path in the vehicle separately. Compared with the prior art, which resets the driver torque request to zero when an unexpected torque request is detected in the vehicle, in this application, if the filtered motor torque request is outside the motor torque upper and lower limits, the motor torque is controlled to be zeroed; if the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is controlled to be zeroed. This allows for more granular fault detection of the vehicle's torque request. In the case of a torque fault in a single path, the torque of that single path can be targeted to be zeroed, which can reduce the probability of vehicle stall and improve the driving experience for passengers.

[0007] In conjunction with the first aspect, in some possible implementations, the motor torque request is subjected to a first filtering process to obtain the upper and lower limits of the motor torque; the engine torque request is subjected to the first filtering process to obtain the upper and lower limits of the engine torque.

[0008] The above technical solution performs a first filtering process on the motor torque request to obtain the upper and lower limits of the motor torque, and performs a first filtering process on the engine torque request to obtain the upper and lower limits of the engine torque. Compared with determining the upper and lower limits of the motor / engine torque through the motor / engine torque request, this solution improves the accuracy of determining the upper and lower limits of the motor / engine torque by filtering the motor / engine torque request. Based on this, torque fault detection can be performed, which can improve the accuracy of fault detection.

[0009] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; the method further includes: performing the first filtering process on the front motor torque request and the rear motor torque request to obtain upper and lower limits of the front motor torque and the rear motor torque; if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, controlling the front motor torque to be cleared to zero; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, controlling the rear motor torque to be cleared to zero.

[0010] In combination with the first aspect and the above implementation methods, in some possible implementation methods, if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor fault flag is activated to make the front motor torque zero; if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, the rear motor fault flag is activated to make the rear motor torque zero.

[0011] The above technical solution, if the filtered front / rear motor torque request is outside the upper and lower limits of the front / rear motor torque, activates the front / rear motor fault flag to clear the front / rear motor torque to zero. Since whether the front / rear motor torque is cleared to zero is determined by detection, torque fault detection of the motor in the target vehicle can be performed with finer granularity, and the motor torque can be cleared to zero in a targeted manner. This ensures that the vehicle will not completely stall when a torque fault occurs in a single path, improving the driving experience for passengers.

[0012] Combining the first aspect and the above implementation methods, in some possible implementation methods, if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine fault flag is activated to clear the engine torque to zero.

[0013] The above technical solution activates the engine fault flag if the filtered engine torque request is outside the upper and lower limits of the engine torque, so that the engine torque is cleared to zero. Since whether the engine torque is cleared to zero is determined by detection, by performing torque fault detection on the engine in the target vehicle at a finer granular level and clearing the engine torque to zero in a targeted manner, it can be ensured that the vehicle will not completely stall when a torque fault occurs in a single path, thus improving the driving experience of the passengers.

[0014] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the method further includes: performing torque allocation on the driver's torque request to generate the motor torque request and the engine torque request; performing a second filtering process on the motor torque request and the engine torque request to generate the filtered motor torque request and the filtered engine torque request.

[0015] The above technical solution generates filtered motor torque requests and filtered engine torque requests by performing a second filtering process on the motor torque request and the engine torque request. Since the torque fault detection of the motor and engine is based on the filtered torque request, the accuracy of torque fault detection of the motor and engine can be improved by detecting whether the motor and engine have torque faults through the filtered torque request.

[0016] In conjunction with the first aspect and the above implementation methods, in some possible implementation methods, the method further includes: if the filtered motor torque request is outside the upper and lower limits of the motor torque, outputting motor prompt information; wherein the motor prompt information is used to indicate that the motor is abnormal; if the filtered engine torque request is outside the upper and lower limits of the engine torque, outputting engine prompt information; wherein the engine prompt information is used to indicate that the engine is abnormal.

[0017] The above technical solution improves vehicle and passenger safety by providing targeted alerts to indicate abnormalities in the motor or engine, enabling users to perform maintenance on the motor or engine.

[0018] In combination with the first aspect and the above implementation methods, in some possible implementation methods, the vehicle controller includes a monitoring layer and a functional layer; the method further includes: obtaining, through the monitoring layer, the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request in the target vehicle sent by the functional layer; and obtaining the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request through the monitoring layer.

[0019] Secondly, a vehicle control method is provided, applied to a vehicle controller, the method comprising:

[0020] Obtain the driver's torque request in the target vehicle, allocate torque based on the driver's torque request, and generate motor torque request and engine torque request;

[0021] The motor torque request and the engine torque request are filtered to generate filtered motor torque request and filtered engine torque request;

[0022] Based on the vehicle parameters of the target vehicle, the first torque upper and lower limits are obtained;

[0023] Based on the motor torque request and the engine torque request, the second torque upper and lower limits are obtained;

[0024] Based on the motor torque request and the engine torque request, the upper and lower limits of motor torque and engine torque are obtained;

[0025] If the driver's torque request is outside the first torque upper and lower limits, or if the driver's torque request is outside the second torque upper and lower limits, control the vehicle torque to be reset to zero;

[0026] If the filtered motor torque request is outside the upper and lower limits of the motor torque, control the motor torque to be cleared to zero;

[0027] If the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is controlled to be cleared to zero.

[0028] Optionally, the driver's torque request in the target vehicle is obtained based on the vehicle parameters of the target vehicle; wherein the vehicle parameters include: pedal position, vehicle speed and brake master cylinder pressure.

[0029] In one implementation, the vehicle controller includes a monitoring layer and a functional layer. The monitoring layer acquires the driver torque request from the target vehicle sent by the functional layer. The monitoring layer also acquires a motor torque request and an engine torque request generated by the functional layer based on the driver torque for torque allocation. Furthermore, the monitoring layer acquires a filtered motor torque request and a filtered engine torque request generated by the functional layer after filtering the motor torque request and engine torque request. The monitoring layer then determines a first torque upper and lower limit based on the vehicle parameters of the target vehicle. Finally, the monitoring layer determines the torque based on the motor torque request and engine torque request. The system receives a torque request and obtains a second torque upper and lower limit. Based on the motor torque request and the engine torque request, the monitoring layer obtains the motor torque upper and lower limits and the engine torque upper and lower limits. If the driver torque request is outside the first torque upper and lower limits, the system controls the vehicle torque to zero. If the driver torque request is outside the first torque upper and lower limits, or if the driver torque request is outside the second torque upper and lower limits, the system controls the vehicle torque to zero. If the filtered motor torque request is outside the motor torque upper and lower limits, the system controls the motor torque to zero. If the filtered engine torque request is outside the engine torque upper and lower limits, the system controls the engine torque to zero.

[0030] It should be understood that the extensions, limitations, explanations and descriptions of the relevant content in the first aspect above also apply to the same content in the second aspect.

[0031] Thirdly, a vehicle control device is provided, configured in a vehicle controller. The device includes: a data acquisition module for acquiring motor torque requests, engine torque requests, and filtered motor torque requests and filtered engine torque requests from a target vehicle; a data calculation module for obtaining upper and lower limits for motor torque and engine torque based on the motor torque requests and engine torque requests; a first control module for controlling the motor torque to zero if the filtered motor torque request is outside the upper and lower limits for motor torque; and a second control module for controlling the engine torque to zero if the filtered engine torque request is outside the upper and lower limits for engine torque.

[0032] Fourthly, a vehicle is provided, including a memory and a processor, wherein the memory is used to store executable program code; and the processor is used to call and run the executable program code from the memory, causing the vehicle to perform the vehicle control method in the first aspect or any possible implementation thereof.

[0033] Fifthly, a computer-readable storage medium is provided that stores computer program code, which, when executed on a computer, causes the computer to perform the vehicle control method of the first aspect or any possible implementation thereof.

[0034] In a sixth aspect, a computer program product is provided, comprising: computer program code, which, when executed on a computer, causes the computer to perform the vehicle control method of the first aspect or any possible implementation thereof. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of a vehicle control method provided in an embodiment of this application;

[0036] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application;

[0037] Figure 3 This is a schematic diagram of the framework of a vehicle control method provided in an embodiment of this application;

[0038] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application;

[0039] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application. Detailed Implementation

[0040] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0041] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0042] Figure 1 This is a schematic diagram of a vehicle control method provided in an embodiment of this application.

[0043] For example, such as Figure 1 As shown, the target vehicle includes a front motor, a rear motor, and an engine. During vehicle operation, power can be supplied to the target vehicle through the front motor, rear motor, and engine. After the vehicle is powered on, the filtered torque requests from the front motor, rear motor, and engine are acquired. If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the motor torque is reset to zero. Similarly, if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the rear motor torque is reset to zero. Likewise, if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is reset to zero.

[0044] Understandably, if the filtered front motor torque request is within the upper or lower limit of the front motor torque, the front motor output torque is controlled to match the filtered front motor torque request. Similarly, if the filtered rear motor torque request is within the upper or lower limit of the rear motor torque, the rear motor output torque is controlled to match the filtered rear motor torque request. Likewise, if the filtered engine torque request is within the upper or lower limit of the engine torque, the engine output torque is controlled to match the filtered engine torque request. This allows for more granular fault detection of the target vehicle's torque requests, and based on the detection results, the output torque of the engine or motor in the target vehicle can be selectively reset to zero, thereby reducing the probability of the target vehicle stalling and improving the driving experience for passengers.

[0045] It should be noted that existing technologies monitor the driver's torque requests. If an unexpected torque request occurs, the driver's torque request is reset to zero, thus controlling the vehicle to enter a safe state. However, from a practical perspective, frequent vehicle stalls during operation can severely impact the driving experience for passengers. Therefore, this application proposes a vehicle control method, a vehicle control device, and a vehicle. Through the embodiments of this application, more granular fault detection of the vehicle's torque requests can be performed, and torque can be reset to zero for single paths with torque faults, reducing the probability of vehicle stalls.

[0046] Figure 2 This is a schematic flowchart of a vehicle control method provided in an embodiment of this application.

[0047] For example, Figure 2 The method shown is executed by the vehicle's overall controller.

[0048] For example, such as Figure 2 As shown, the method 200 includes the following procedures:

[0049] S210: Obtain the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request from the target vehicle.

[0050] The motor torque request includes the front motor torque request and the rear motor torque request.

[0051] For example, the driver's torque request of the target vehicle is obtained, torque is allocated to the driver's torque request, and motor torque request and engine torque request are generated. The motor torque request and engine torque request are then subjected to a second filtering process to generate filtered motor torque request and filtered engine torque request.

[0052] Specifically, the vehicle controller includes a functional layer and a monitoring layer. In the functional layer, based on the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available torque of the engine, and the steering wheel angle information, the torque is allocated to the driver's torque request, generating the front motor torque request, rear motor torque request, and engine torque request in the target vehicle, and sending the front motor torque request, rear motor torque request, and engine torque request to the monitoring layer.

[0053] Furthermore, at the functional layer, the front motor torque request is subjected to a second filtering process to generate a filtered front motor torque request; the rear motor torque request is subjected to a second filtering process to generate a filtered rear motor torque request; the engine torque request is subjected to a second filtering process to generate a filtered engine torque request, and the filtered front motor torque request, the filtered rear motor torque request, and the filtered engine torque request are sent to the monitoring layer.

[0054] In one example, torque allocation is performed on the driver's torque request based on the target vehicle's vehicle parameters. Specifically, the driver's torque request, actual gear position, steering wheel angle signal, maximum available power of the front motor, maximum available power of the rear motor, and maximum available engine power of the target vehicle are obtained. These parameters are then input into the electronic control unit for calculation and adjustment to determine the torque requests for the front motor, rear motor, and engine.

[0055] It is understandable that the actual gear position of a target vehicle may affect the operating conditions and efficiency of the front motor, rear motor, or engine. Therefore, adjusting the torque request of the front motor, rear motor, or engine in the target vehicle by controlling the actual gear position can improve the accuracy of torque distribution.

[0056] In another example, torque allocation is performed based on the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available power of the engine, and the driver's torque request. Specifically, the sum of the available power of the front motor, the rear motor, and the engine in the target vehicle is obtained; a first percentage of the maximum available power of the front motor, a second percentage of the maximum available power of the rear motor, and a third percentage of the maximum available power of the engine are determined; based on the first, second, and third percentages and the driver's torque request, the torque requests of the front motor, the rear motor, and the engine are determined.

[0057] For example, obtain the maximum available power P1 of the front motor, the maximum available power P2 of the rear motor, and the maximum available power P3 of the engine. Based on the sum of these three maximum available power values, obtain the total available power T-total, where T-total = P1 + P2 + P3. Determine the first proportion of the maximum available power P1 of the front motor in the total available power T-total, the second proportion of the maximum available power P2 of the rear motor in the total available power T-total, and the third proportion of the maximum available power P3 of the engine in the total available power T-total. Based on the product of the first proportion and the driver's torque request, generate the front motor torque request T1; the product of the second proportion and the driver's torque request, generate the rear motor torque request T2; and the product of the third proportion and the driver's torque request, generate the engine torque request T3. The specific expression can be represented as follows:

[0058] Ti=(Pi / (P1+P2+...+Pn))*T-total

[0059] In this context, the total number of motors and engines in the target vehicle is n, Pi represents the maximum available power of the motor or the maximum available power of the engine, and Ti represents the torque request of the motor or the torque request of the engine.

[0060] In another example, torque is allocated based on the output torque of the electric motor or engine participating in power output under various operating conditions of the target vehicle, according to the current operating conditions and the driver's torque request. For example, the output torque of the electric motor or engine is obtained when the target vehicle is accelerating; when climbing a hill; when driving at high speed, etc. The current operating conditions of the target vehicle and the driver's torque request are obtained to determine the torque requests of the front motor, rear motor, and engine.

[0061] The above scheme generates filtered motor torque requests and filtered engine torque requests by performing a second filtering process on the motor torque request and the engine torque request. Since the torque fault detection of the motor and engine is based on the filtered torque request, the accuracy of torque fault detection of the motor and engine can be improved by detecting whether the motor and engine have torque faults through the filtered torque request.

[0062] For example, the driver's torque request is obtained through the accelerator pedal position, vehicle speed, and brake master cylinder pressure of the target vehicle. Specifically, the driver's torque request is calculated at the functional layer using the accelerator pedal position, target vehicle speed, and brake master cylinder pressure, and then sent to the monitoring layer. At the monitoring layer, a first torque upper and lower limit is calculated using the accelerator pedal position, target vehicle speed, and brake master cylinder pressure. The monitoring layer checks whether the driver's torque request is within the first torque upper and lower limits. If the driver's torque request is outside the first torque upper and lower limits, the vehicle torque is reset to zero.

[0063] For example, if the accelerator pedal position in the target vehicle is 0, the vehicle speed is 30km / h, and the brake master cylinder pressure is 0, the driver's torque request is calculated to be 60N at the functional layer and sent to the monitoring layer. At the monitoring layer, based on the accelerator pedal position being 0, the vehicle speed being 30km / h, and the brake master cylinder pressure being 0, the upper limit of the first torque is calculated to be +50N and the lower limit to be -50N. Therefore, it is determined that the driver's torque request is outside the upper and lower limits of the first torque, and the torque of the entire vehicle is controlled to be cleared to zero.

[0064] For example, after the functional layer calculates the driver's torque request, it allocates the driver's torque request based on the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available power of the engine, and the steering wheel angle information. It then determines the torque requests of the front motor, the rear motor, and the engine in the target vehicle and sends these requests to the monitoring layer. The monitoring layer determines the second torque upper and lower limits based on the driver's torque request and checks whether the sum of the front motor torque request, the rear motor torque request, and the engine torque request is within the second torque upper and lower limits. If the sum of the front motor torque request, the rear motor torque request, and the engine torque request is outside the second torque upper and lower limits, the system controls the vehicle torque to be reset to zero.

[0065] S220, based on the motor torque request and the engine torque request, obtains the upper and lower limits of motor torque and engine torque.

[0066] For example, the motor torque request undergoes a first filtering process to obtain the upper and lower limits of the motor torque; specifically, the front motor torque request and the rear motor torque request undergo the first filtering process to obtain the upper and lower limits of the front motor torque and the rear motor torque, respectively. The engine torque request undergoes the first filtering process to obtain the upper and lower limits of the engine torque.

[0067] Specifically, the vehicle controller includes a monitoring layer, which monitors motor torque requests or engine torque requests. The monitoring layer determines whether the torque request type is positive or negative based on the driver's torque request. A first filtering process is performed on the front motor torque request to obtain a filtered front motor reference torque, with the upper and lower limits of the front motor torque ranging from 0 to the filtered front motor reference torque. Similarly, a first filtering process is performed on the rear motor torque request to obtain a filtered rear motor reference torque, with the upper and lower limits of the rear motor torque ranging from 0 to the filtered rear motor reference torque. Finally, a first filtering process is performed on the engine torque request to obtain a filtered engine reference torque, with the upper and lower limits of the engine torque ranging from 0 to the filtered engine reference torque.

[0068] For example, if the monitoring layer obtains a driver torque request type of positive torque, the first filtering process is applied to the front motor torque request, generating a filtered front motor reference torque of +10N; the first filtering process is applied to the rear motor torque request, generating a filtered rear motor reference torque of +10N; and the first filtering process is applied to the engine torque request, generating a filtered engine reference torque of +12N. The upper limit of the front motor torque is determined to be +10N and the lower limit to be 0, the upper limit of the rear motor torque is determined to be +10N and the lower limit to be 0, and the upper limit of the engine torque is determined to be +12N and the lower limit to be 0.

[0069] Alternatively, if the monitoring layer detects that the driver's torque request type is negative torque, the first filtering process is applied to the front motor torque request, generating a filtered front motor reference torque of -10N; the first filtering process is applied to the rear motor torque request, generating a filtered rear motor reference torque of -10N; and the first filtering process is applied to the engine torque request, generating a filtered engine reference torque of -12N. The upper limit of the front motor torque is set to 0, and the lower limit to -10N; the upper limit of the rear motor torque is set to 0, and the lower limit to -10N; and the upper limit of the engine torque is set to 0, and the lower limit to -12N.

[0070] For example, if the driver's torque request is -30N, the torque request type is determined to be negative torque; if the driver's torque request is +30N, the torque request type is determined to be positive torque. The torque request type of the driver's torque request can be determined according to the actual situation, and is not specifically limited here.

[0071] Optionally, the filtering intensity of the first filtering process is equal to that of the second filtering process; or, the filtering intensity of the first filtering process is less than that of the second filtering process. The filtering intensity of the first filtering process and the filtering intensity of the second filtering process can be determined according to the actual situation, and are not specifically limited here.

[0072] It should be noted that the filtering intensity of the first filtering process is less than that of the second filtering process, meaning that the second filtering process has a higher degree of suppression on the input data. Ideally, with the same input signal, the numerical result of the second filtering process should be smaller than that of the first filtering process.

[0073] The above scheme performs a first filtering process on the motor torque request to obtain the upper and lower limits of the motor torque, and performs a first filtering process on the engine torque request to obtain the upper and lower limits of the engine torque. Compared with determining the upper and lower limits of the motor / engine torque through the motor / engine torque request, this scheme can improve the accuracy of the motor / engine torque upper and lower limits by filtering the motor / engine torque request. Based on this, torque fault detection can improve the accuracy of fault detection.

[0074] S230: If the filtered motor torque request is outside the upper and lower limits of the motor torque, control the motor torque to be cleared to zero.

[0075] For example, if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor torque is controlled to be cleared to zero. Specifically, if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor fault flag is activated to clear the front motor torque to zero.

[0076] Specifically, the monitoring layer checks whether the filtered front motor torque request is within the upper or lower limit of the front motor torque. If the filtered front motor torque request is within the upper or lower limit of the front motor torque, the output torque of the front motor is determined to be equal to the filtered front motor torque request. If the filtered front motor torque request is outside the upper or lower limit of the front motor torque, the front motor fault flag is activated, and the front motor torque is cleared to zero in the safety arbitration module.

[0077] For example, if the upper limit of the front motor torque is +10N and the lower limit is 0, and the filtered front motor torque request is 8N, then the filtered front motor torque request is determined to be within the upper and lower limits of the front motor torque, and the output torque of the front motor is determined to be equal to 8N. Alternatively, if the upper limit of the front motor torque is +10N and the lower limit is 0, and the filtered front motor torque request is 12N, then the filtered front motor torque request is determined to be outside the upper and lower limits of the front motor torque, the front motor fault flag is activated, and the front motor torque is cleared to zero in the safety arbitration module, meaning the output torque of the front motor is 0.

[0078] For example, if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the rear motor torque is controlled to be cleared to zero. Specifically, if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, the rear motor fault flag is activated to clear the rear motor torque to zero.

[0079] Specifically, the monitoring layer detects whether the filtered rear motor torque request is within the upper or lower limit of the rear motor torque. If the filtered rear motor torque request is within the upper or lower limit of the rear motor torque, the output torque of the rear motor is determined to be equal to the filtered rear motor torque request. If the filtered rear motor torque request is outside the upper or lower limit of the rear motor torque, the rear motor fault flag is activated, and the rear motor torque is cleared to zero in the safety arbitration module.

[0080] Furthermore, if the filtered motor torque request is outside the upper and lower limits of the motor torque, a motor warning message is output to indicate that the motor is malfunctioning. Specifically, if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, a front motor warning message is output to indicate that the front motor is malfunctioning; similarly, if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, a rear motor warning message is output to indicate that the rear motor is malfunctioning. This targeted output of warning messages to indicate motor malfunctions allows users to perform motor maintenance, thereby improving vehicle and occupant safety.

[0081] Optionally, the motor warning message can be output through the target vehicle's display; or, the motor warning message can be output through the target vehicle's voice assistant, for example, "Hello, the motor is malfunctioning, please repair it promptly." The output method and content of the motor warning message can be determined according to the actual situation, and are not specifically limited here.

[0082] Within a first preset time period after outputting the front motor prompt information, the number of times the front motor fault flag is activated is obtained; if the number of front motor faults is greater than the preset number, the front motor is prompted to be repaired; within a second preset time period after outputting the rear motor prompt information, the number of times the rear motor fault flag is activated is obtained; if the number of rear motor faults is greater than the preset number, the rear motor is prompted to be repaired.

[0083] Optionally, the preset number of times for the front motor and the preset number of times for the rear motor can be set to 10 times, 8 times, 5 times, etc. The preset number of times for the rear motor and the preset number of times for the front motor can be the same or different, and no specific limitation is made here.

[0084] Optionally, the first preset time period and the second preset time period can be set to 6 months, 12 months, etc.; or, the first preset time period or the second preset time period can be determined based on the vehicle's age, with the age negatively correlated with the first preset time period or the second preset time period. The first preset time period and the second preset time period can be the same or different, and no specific limitation is made here.

[0085] For example, if the upper limit of the rear motor torque is 0 and the lower limit is -10N, and the filtered rear motor torque request is -8N, then the filtered rear motor torque request is determined to be within the upper and lower limits of the rear motor torque, and the output torque of the rear motor is determined to be equal to -8N. Alternatively, if the upper limit of the rear motor torque is 0 and the lower limit is -10N, and the filtered rear motor torque request is -12N, then the filtered rear motor torque request is determined to be outside the upper and lower limits of the rear motor torque, the rear motor fault flag is activated, and the rear motor torque is cleared to zero in the safety arbitration module, meaning the output torque of the rear motor is 0.

[0086] It should be noted that there is no specific order between detecting whether the filtered front motor torque request is within the upper or lower limit of the front motor and monitoring whether the filtered rear motor torque request is within the upper or lower limit of the rear motor. They can be performed simultaneously, or the filtered front motor torque request can be detected first, or the filtered rear motor torque request can be detected first. There is no specific limitation.

[0087] The above solution activates the front / rear motor fault flag if the filtered front / rear motor torque request is outside the upper / lower limits of the front / rear motor torque, thereby clearing the front / rear motor torque to zero. Since whether the front / rear motor torque is cleared to zero is determined by detection, torque fault detection of the motors in the target vehicle can be performed with finer granularity, and the motor torque can be cleared to zero in a targeted manner. This ensures that the vehicle will not completely stall when a torque fault occurs in a single path, thus improving the driving experience for passengers.

[0088] S240, if the filtered engine torque request is outside the upper and lower limits of the engine torque, control the engine torque to be cleared to zero.

[0089] It should be noted that the execution order of S230 and S240 is not important. S230 can be executed first, S240 can be executed first, or they can be executed simultaneously. No specific restrictions are made here.

[0090] For example, if the filtered engine torque request is outside the upper and lower limits of engine torque, the engine torque is controlled to be cleared to zero. Specifically, if the filtered engine torque request is outside the upper and lower limits of engine torque, the engine fault flag is activated to clear the engine torque to zero.

[0091] Specifically, the monitoring layer checks whether the filtered engine torque request is within the upper or lower limits of engine torque. If the filtered engine torque request is within the upper or lower limits of engine torque, the output torque of the engine is determined to be equal to the filtered engine torque request. If the filtered engine torque request is outside the upper or lower limits of engine torque, the engine fault flag is activated, and the engine torque is cleared to zero in the safety arbitration module.

[0092] For example, if the engine torque upper limit is +10N and the lower limit is 0, and the filtered engine torque request is 8N, then the filtered engine torque request is determined to be within the upper and lower limits of the engine torque, and the engine output torque is determined to be equal to 8N. Alternatively, if the engine torque upper limit is +10N and the lower limit is 0, and the filtered engine torque request is 12N, then the filtered engine torque request is determined to be outside the upper and lower limits of the engine torque, the engine fault flag is activated, and the engine torque is cleared to zero in the safety arbitration module, meaning the engine output torque is 0.

[0093] Furthermore, if the filtered engine torque request is outside the upper and lower limits of the engine torque, an engine warning message is output to indicate an engine malfunction. This targeted output of warning messages helps users identify and address engine issues, thereby improving vehicle and occupant safety.

[0094] Optionally, the engine warning message can be output through the target vehicle's display; or, the engine warning message can be output through the target vehicle's voice assistant, for example, the engine warning message could be "Hello, there is an engine malfunction, please have it repaired promptly." The output method and content of the engine warning message can be determined according to the actual situation, and are not specifically limited here.

[0095] The above solution activates the engine fault flag if the filtered engine torque request is outside the upper and lower limits of the engine torque, so that the engine torque is cleared to zero. Since whether the engine torque is cleared to zero is determined by detection, by performing torque fault detection on the engine in the target vehicle at a finer granular level and clearing the engine torque to zero in a targeted manner, it can be ensured that the vehicle will not completely stall when a torque fault occurs in a single path, thus improving the driving experience for passengers.

[0096] Within the third preset time period after the engine prompt message is output, the number of engine abnormalities that activate the engine fault flag is obtained; if the number of engine abnormalities is greater than the preset number, the engine is prompted to be repaired.

[0097] Optionally, the preset number of times for the engine can be set to 10 times, 8 times, 5 times, etc. The preset number of times for the engine, the preset number of times for the rear motor, and the preset number of times for the front motor can be the same or different, and no specific limitation is made here.

[0098] Optionally, the third preset time period can be set to 6 months, 12 months, etc.; or, the third preset time period can be determined based on the vehicle's age, with the age negatively correlated with the third preset time period. The third preset time period can be determined based on actual circumstances and is not specifically limited here. Furthermore, the third preset time period, the second preset time period, and the first preset time period can be the same or different, and are not specifically limited here.

[0099] In one example, the vehicle controller includes a monitoring layer and a functional layer. The functional layer obtains the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request from the target vehicle, and sends these requests to the monitoring layer. The monitoring layer obtains the upper and lower limits of the motor torque and engine torque based on the motor torque request and engine torque request, and checks whether the filtered motor torque request is outside the upper and lower limits of the motor torque. If the filtered motor torque request is outside the upper and lower limits of the motor torque, the controller controls the motor torque to be reset to zero. Similarly, the controller checks whether the filtered engine torque request is outside the upper and lower limits of the engine torque. If the filtered engine torque request is outside the upper and lower limits of the engine torque, the controller controls the engine torque to be reset to zero.

[0100] The above technical solution obtains the upper and lower limits of motor torque and engine torque based on the motor torque request and engine torque request, respectively. Since the upper and lower limits of motor torque and engine torque are determined based on the motor torque request and engine torque request, respectively, by determining the upper and lower limits of torque paths in the vehicle separately, the accuracy of the upper and lower limits of each torque path in the vehicle can be improved. Compared with the prior art, which resets the driver torque request to zero when an unexpected torque request is detected in the vehicle, in this application, if the filtered motor torque request is outside the motor torque upper and lower limits, the motor torque is controlled to be zeroed; if the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is controlled to be zeroed. This allows for more granular fault detection of the vehicle's torque request. In the case of a torque fault in a single path, the torque of that single path can be targeted to be zeroed, which can reduce the probability of vehicle stalling and improve the driving experience for passengers.

[0101] In one example, this solution detects torque requests in the target vehicle using three fault detection methods, which are executed simultaneously without any order. Details are as follows:

[0102] The first fault detection method: fault detection is performed based on the driver's torque request.

[0103] For example, the driver's torque request is calculated by the accelerator pedal position, vehicle speed, and brake master cylinder pressure, and the first torque upper and lower limits are calculated using the same signals. That is, the first torque upper and lower limits are calculated by the accelerator pedal position, vehicle speed, and brake master cylinder pressure. It is then detected whether the driver's torque request is within the first torque upper and lower limits. If the driver's torque request is outside the first torque upper and lower limits, the vehicle torque is controlled to be reset to zero.

[0104] The second fault detection method: fault detection is performed by summing the motor torque request and the engine torque request.

[0105] For example, torque is allocated based on the driver's torque request to obtain the motor torque request and the engine torque request. Based on the motor torque request and the engine torque request, a second torque upper and lower limit is determined. It is detected whether the sum of the motor torque request and the engine torque request is within the second torque upper and lower limit. If the sum of the motor torque request and the engine torque request is outside the second torque upper and lower limit, the vehicle torque is controlled to be cleared to zero.

[0106] The third fault detection method: fault detection is performed by separating the filtered motor torque request and the filtered engine torque request into different paths.

[0107] For example, a second filtering process is performed on the motor torque request and the engine torque request to generate filtered motor torque requests and filtered engine torque requests. A first filtering process is then performed on the motor torque request to obtain upper and lower limits for motor torque; the same process is applied to the engine torque request to obtain upper and lower limits for engine torque. It is then detected whether the filtered motor torque request falls within these limits. If the filtered motor torque request is outside these limits, the motor torque is reset to zero. Similarly, it is detected whether the filtered engine torque request falls within these limits. If the filtered engine torque request is outside these limits, the engine torque is reset to zero.

[0108] The following is combined Figure 3 The three fault detection methods are explained. Figure 3 This is a schematic diagram of the framework of a vehicle control method provided in an embodiment of this application.

[0109] For example, such as Figure 3As shown, the vehicle controller includes a monitoring layer and a control layer. Vehicle parameters of the target vehicle are input via CAN (Controller Area Network), including accelerator pedal position, vehicle speed, brake master cylinder pressure, actual gear position, steering wheel angle signal, maximum available power of the front motor, maximum available power of the rear motor, and maximum available engine torque, etc. In the vehicle controller, the functional layer and monitoring layer obtain vehicle parameters through input interface modules. In the driver torque calculation module of the functional layer, the driver torque request of the target vehicle is determined based on the accelerator pedal position, vehicle speed, and brake master cylinder pressure. This request is then sent to the driver torque monitoring module of the monitoring layer. The driver torque monitoring module calculates the first torque upper and lower limits based on the accelerator pedal position, vehicle speed, and brake master cylinder pressure obtained from the input interface module of the monitoring layer. It then checks whether the driver torque request is within these limits. If the request is outside these limits, the driver torque monitoring module sends a vehicle fault flag to the torque distribution monitoring module. The torque distribution monitoring module then sends the vehicle fault flag to the safety status arbitration module to control the target vehicle's overall output torque to zero.

[0110] The driver torque calculation module in the functional layer sends the driver torque request to the torque distribution module. The torque distribution module allocates torque according to the driver's torque request, determining the front motor torque request, rear motor torque request, and engine torque request. These requests are then sent to the torque distribution monitoring module in the monitoring layer. The torque distribution monitoring module determines a second torque upper and lower limit based on the motor and engine torque requests. It checks whether the sum of the front motor torque request, rear motor torque request, and engine torque request falls within this second torque upper and lower limit. If the sum falls outside these limits, the torque distribution monitoring module sends a vehicle fault flag to the safety status arbitration module to control the target vehicle's overall output torque to zero.

[0111] The torque distribution module in the functional layer sends the front motor torque request, rear motor torque request, and engine torque request to the torque filtering module. The torque filtering module performs a second filtering process on the front motor torque request to generate a filtered front motor torque request, the rear motor torque request to generate a filtered rear motor torque request, and the engine torque request to generate a filtered engine torque request. These filtered front motor torque requests, rear motor torque requests, and engine torque requests are then sent to the torque distribution monitoring module in the monitoring layer. The torque distribution monitoring module performs a first filtering process on the front and rear motor torque requests sent by the torque distribution module to obtain the upper and lower limits of the front and rear motor torques. The torque distribution monitoring module also performs a first filtering process on the engine torque request sent by the torque distribution module to obtain the upper and lower limits of the engine torque. The system detects whether the filtered front motor torque request is within the upper and lower limits of the front motor torque. If the filtered front motor torque request is outside the upper and lower limits, the torque distribution monitoring module sends the front motor fault flag to the safety status arbitration module to control the front motor output torque to be reset to zero. Similarly, the system detects whether the filtered rear motor torque request is within the upper and lower limits of the rear motor torque. If the filtered rear motor torque request is outside the upper and lower limits, the torque distribution monitoring module sends the rear motor fault flag to the safety status arbitration module to control the rear motor output torque to be reset to zero. Finally, the system detects whether the filtered engine torque request is within the upper and lower limits of the engine torque. If the filtered engine torque request is outside the upper and lower limits of the engine torque, the torque distribution monitoring module sends the engine fault flag to the safety status arbitration module to control the engine output torque to be reset to zero.

[0112] Furthermore, the front motor output torque request, rear motor output torque request, and engine output torque request are determined through three fault detection methods. Specifically, if the driver's torque request is within the first torque upper and lower limits, and the sum of the motor torque request and the engine torque request is within the second torque upper and lower limits, the front motor output torque request, rear motor output torque request, and engine output torque request are determined respectively based on the fault detection results of each path. If the driver's torque request is outside the first torque upper and lower limits, or if the sum of the motor torque request and the engine torque request is outside the second torque upper and lower limits, the front motor output torque request, rear motor output torque request, and engine output torque request are determined to be zero. Then, the front motor output torque request, rear motor output torque request, and engine output torque request are sent to the CAN bus through the safety state arbitration module.

[0113] It should be understood that the above examples are provided to help those skilled in the art understand the embodiments of this application, and are not intended to limit the embodiments of this application to the specific values ​​or scenarios illustrated. Those skilled in the art can obviously make various equivalent modifications or changes based on the above examples, and such modifications or changes also fall within the scope of the embodiments of this application.

[0114] The above text combined Figures 1 to 3 The vehicle control method provided in the embodiments of this application has been described in detail; the following will be combined with Figure 4 and Figure 5 The apparatus embodiments of this application are described in detail below. It should be understood that the apparatus in the embodiments of this application can perform the various methods described in the foregoing embodiments of this application, that is, the specific working processes of the various products described below can be referred to the corresponding processes in the foregoing method embodiments.

[0115] Figure 4 This is a schematic diagram of the structure of a vehicle control device provided in an embodiment of this application.

[0116] The vehicle control device 400 is located in the vehicle controller.

[0117] For example, such as Figure 4 As shown, the vehicle control device 400 includes:

[0118] The data acquisition module 410 is used to acquire the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle.

[0119] Data calculation module 420 is used to obtain the upper and lower limits of motor torque and engine torque based on the motor torque request and engine torque request;

[0120] The first control module 430 is used to control the motor torque to be cleared to zero if the filtered motor torque request is outside the upper and lower limits of the motor torque.

[0121] The second control module 440 is used to control the engine torque to zero if the filtered engine torque request is outside the upper and lower limits of the engine torque.

[0122] Optionally, as one embodiment, the data calculation module 420 is specifically used for:

[0123] The motor torque request is subjected to a first filtering process to obtain the upper and lower limits of the motor torque; the engine torque request is subjected to a first filtering process to obtain the upper and lower limits of the engine torque.

[0124] Optionally, as an embodiment, the motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; the data calculation module 420 is specifically used for:

[0125] The torque requests from the front motor and the rear motor are subjected to a first filtering process to obtain the upper and lower limits of the torque from the front motor and the torque from the rear motor.

[0126] The first control module 430 is specifically used for:

[0127] If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, control the front motor torque to be cleared to zero; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, control the rear motor torque to be cleared to zero.

[0128] Optionally, as an embodiment, the first control module 430 is specifically used for:

[0129] If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, activate the front motor fault flag to clear the front motor torque to zero; if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, activate the rear motor fault flag to clear the rear motor torque to zero.

[0130] Optionally, as an embodiment, the second control module 440 is specifically used for:

[0131] If the engine torque request is outside the upper and lower limits of engine torque, activate the engine fault flag to reset the engine torque to zero.

[0132] Optionally, as an embodiment, the vehicle control module 400 is also used for:

[0133] The driver's torque request is allocated to generate a motor torque request and an engine torque request; the motor torque request and the engine torque request are then subjected to a second filtering process to generate a filtered motor torque request and a filtered engine torque request.

[0134] Optionally, as an embodiment, the vehicle control module 400 is also used for:

[0135] If the filtered motor torque request is outside the upper and lower limits of motor torque, a motor warning message is output; the motor warning message is used to indicate that there is an abnormality in the motor. If the filtered engine torque request is outside the upper and lower limits of engine torque, an engine warning message is output; the engine warning message is used to indicate that there is an abnormality in the engine.

[0136] Optionally, as one embodiment, the vehicle controller includes a monitoring layer and a functional layer; the vehicle control module 400 is also used for:

[0137] The monitoring layer obtains the motor torque request, engine torque request, and filtered motor torque request and engine torque request from the target vehicle sent by the functional layer; based on the motor torque request and engine torque request, the monitoring layer obtains the upper and lower limits of motor torque and engine torque.

[0138] It should be noted that the aforementioned vehicle control device 400 is embodied in the form of a functional unit. The term "module" here can be implemented in software and / or hardware, without specific limitations.

[0139] For example, a "module" can be a software program, hardware circuit, or a combination of both that implements the above functions. Hardware circuits may include application-specific integrated circuits (ASICs), electronic circuits, processors (e.g., shared processors, proprietary processors, or group processors) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functions.

[0140] Therefore, the units of the various examples described in the embodiments of this application can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0141] Figure 5 This is a schematic diagram of the structure of a vehicle provided in an embodiment of this application.

[0142] For example, such as Figure 5 As shown, the vehicle 500 includes a memory 510 and a processor 520, wherein the memory 510 stores executable program code 530, and the processor 520 is used to call and execute the executable program code 530 to perform a vehicle control method.

[0143] For example, the memory 510 can be used to store related programs of the vehicle control method provided in the embodiments of this application; the processor 520 can call the related programs of the vehicle control method stored in the memory 510 to execute the vehicle control method of the embodiments of this application; for example, obtaining the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle; obtaining the upper and lower limits of motor torque and engine torque based on the motor torque request and engine torque request; if the filtered motor torque request is outside the upper and lower limits of motor torque, controlling the motor torque to be cleared to zero; if the filtered engine torque request is outside the upper and lower limits of engine torque, controlling the engine torque to be cleared to zero.

[0144] This embodiment can divide the device into functional modules based on the above method example. For example, each module can correspond to a separate function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0145] When each functional module is divided according to its corresponding function, the device may further include a data acquisition module, a data calculation module, a first control module, and a second control module. It should be noted that all relevant content regarding the steps involved in the above method embodiments can be referenced to the functional descriptions of the corresponding functional modules, and will not be repeated here.

[0146] It should be understood that the device provided in this embodiment is used to execute the above-described vehicle control method, and therefore can achieve the same effect as the above-described implementation method.

[0147] When using an integrated unit, the device may include a processing module and a storage module. When the device is applied to a vehicle, the processing module can be used to control and manage the vehicle's movements. The storage module can be used to support the vehicle in executing program code, etc.

[0148] The processing module may be a processor or a controller, which can implement or execute various exemplary logic blocks, modules, and circuits shown in conjunction with the disclosure of this application. The processor may also be a combination of functions that implement computing capabilities, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc., and the storage module may be a memory.

[0149] In addition, the device provided in the embodiments of this application may specifically be a chip, component or module. The chip may include a connected processor and a memory. The memory is used to store instructions. When the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiments.

[0150] This application also provides a computer-readable storage medium storing computer program code, which, when run on a computer, causes the computer to execute the aforementioned method steps to implement a vehicle control method provided in the above embodiments. The computer-readable storage medium may include, but is not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives, and magneto-optical disks, read-only memory (ROMs), random access memory (RAMs), erasable programmable read-only memory (EPROMs), electrically erasable programmable read-only memory (EEPROMs), dynamic random access memory (DRAMs), video random access memory (VRAMs), flash memory devices, magnetic cards or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and / or data.

[0151] This application also provides a computer program product that, when run on a computer, causes the computer to perform the aforementioned related steps to implement a vehicle control method provided in the above embodiments.

[0152] The vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods provided above, and will not be repeated here.

[0153] Through the above description of the embodiments, those skilled in the art will understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0154] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0155] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A vehicle control method characterized by, Applied to a vehicle controller, the method includes: The system acquires the motor torque request, engine torque request, filtered motor torque request, and filtered engine torque request from the target vehicle. The motor torque request includes the front motor torque request and the rear motor torque request, and the filtered motor torque request includes the filtered front motor torque request and the filtered rear motor torque request. Based on the motor torque request and the engine torque request, the upper and lower limits of motor torque and engine torque are obtained; If the filtered motor torque request is outside the upper and lower limits of the motor torque, control the motor torque to be cleared to zero; If the filtered engine torque request is outside the upper and lower limits of the engine torque, control the engine torque to be cleared to zero. The step of obtaining the upper and lower limits of motor torque and engine torque based on the motor torque request and the engine torque request includes: The front motor torque request and the rear motor torque request are subjected to a first filtering process to obtain the upper and lower limits of the front motor torque and the upper and lower limits of the rear motor torque. The engine torque request is subjected to the first filtering process to obtain the upper and lower limits of the engine torque. If the filtered motor torque request is outside the upper and lower limits of the motor torque, the motor torque is controlled to be cleared to zero, including: If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, control the front motor torque to be cleared to zero. If the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the rear motor torque is controlled to be cleared to zero.

2. The method of claim 1, wherein, If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor torque is controlled to be cleared to zero, including: If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, activate the front motor fault flag bit to clear the front motor torque to zero. If the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the rear motor torque is controlled to be cleared to zero, including: If the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, activate the rear motor fault flag to clear the rear motor torque to zero.

3. The method of claim 1, wherein, If the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is controlled to be cleared to zero, including: If the requested engine torque is outside the upper and lower limits of the engine torque, activate the engine fault flag to reset the engine torque to zero.

4. The method according to claim 1, characterized in that, The method further includes: The torque request of the driver is allocated to generate the motor torque request and the engine torque request. The motor torque request and the engine torque request are subjected to a second filtering process to generate the filtered motor torque request and the filtered engine torque request.

5. The method according to claim 1, characterized in that, Also includes: If the filtered motor torque request is outside the upper and lower limits of the motor torque, a motor prompt message is output; wherein, the motor prompt message is used to indicate that there is an abnormality in the motor; If the filtered engine torque request is outside the upper and lower limits of the engine torque, an engine warning message is output; wherein, the engine warning message is used to indicate that there is an engine abnormality.

6. The method according to claim 1, characterized in that, The vehicle controller includes a monitoring layer and a functional layer; The acquisition of the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle includes: The monitoring layer obtains the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request sent by the functional layer. The step of obtaining the upper and lower limits of motor torque and engine torque based on the motor torque request and the engine torque request includes: The monitoring layer obtains the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request.

7. A vehicle control device, characterized in that, Configured in the vehicle controller, the device includes: The data acquisition module is used to acquire the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle. The motor torque request includes the front motor torque request and the rear motor torque request, and the filtered motor torque request includes the filtered front motor torque request and the filtered rear motor torque request. The data calculation module is used to obtain the upper and lower limits of motor torque and engine torque based on the motor torque request and the engine torque request; The first control module is used to control the motor torque to be cleared to zero if the filtered motor torque request is outside the upper and lower limits of the motor torque. The second control module is used to control the engine torque to be cleared to zero if the filtered engine torque request is outside the upper and lower limits of the engine torque. The data calculation module is specifically used to: perform a first filtering process on the front motor torque request and the rear motor torque request to obtain the upper and lower limits of the front motor torque and the rear motor torque; and perform the first filtering process on the engine torque request to obtain the upper and lower limits of the engine torque. The first control module is specifically used to: if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, control the front motor torque to be cleared to zero; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, control the rear motor torque to be cleared to zero.

8. A vehicle, characterized in that, The vehicles include: Memory, used to store executable program code; A processor is configured to call and run the executable program code from the memory, causing the vehicle to perform the vehicle control method as described in any one of claims 1 to 6.

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