Automobile torque monitoring fault diagnosis processing method, system, device and medium

Abstract

The present application belongs to the field of automobile driving safety, and relates to a method, system, device and medium for diagnosing and processing torque monitoring faults of an automobile. According to actual torque and torque demand, the present application divides fault levels into two levels. If the absolute value of the actual torque is greater than the absolute value of the torque demand, and the duration exceeds a first threshold time, then the present application determines that it is a first-level torque monitoring fault. If it is determined that it is a first-level torque monitoring fault, and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds a second threshold time, then the present application determines that it is a second-level torque monitoring fault. If it is determined that it is a first-level torque monitoring fault, if the vehicle speed is greater than or equal to a threshold speed, then the present application reduces the output torque according to a gradient, and if the vehicle speed is less than the threshold speed, then the present application prohibits torque output. If it is determined that it is a second-level torque monitoring fault, then the present application prohibits torque output. The present application can prevent the unexpected output of motor torque from being too large, and prevent the vehicle from suddenly losing power when driving at high speed due to fault protection.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of automobile driving safety, and relates to a vehicle torque monitoring fault diagnosis processing method, system, device and medium. BACKGROUND

[0002] With the rapid progress of science and technology and the high attention to sustainable development around the world, the automobile industry is undergoing unprecedented changes, among which the rapid development of intelligentization, electrification and automatic driving technology is particularly eye-catching, and the wave of software-defined vehicles is coming. The driving and operation of vehicles are all controlled by software programs inside ECUs (Engine Control Unit). The software programs inside ECUs are the core part of the electronic control system of vehicles, which are responsible for managing and controlling the operation of engines and other vehicle systems.

[0003] VCU (Vehicle Control Unit) and MCU (Motor Control Unit) are key components of the powertrain system of electric vehicles, which jointly control the torque output during the driving process of vehicles and are related to the safety of vehicles. As for torque monitoring faults, the industry generally follows the following practices: under normal circumstances, if the MCU strictly executes the requested torque of the VCU, considering the torque calculation and execution errors, the torque difference between the two should be very small. However, if the torque difference between the two exceeds a certain range and lasts for a period of time, the VCU can diagnose the torque monitoring fault and execute the action of immediately shutting down the power output. However, if the fault occurs when the vehicle is in a high-speed driving state, it will cause the vehicle to suddenly lose power and easily cause road safety accidents such as collision and rear-end collision. That is, the unexpected output of the motor system torque when the vehicle is in a high-speed driving state will cause the vehicle to suddenly lose power and cause accidents involving personal and vehicle safety. SUMMARY

[0004] In order to overcome the shortcomings of the prior art, the purpose of the present application is to provide a vehicle torque monitoring fault diagnosis processing method, system, device and medium. According to the absolute value of the actual torque and the absolute value of the torque demand, the fault level is divided into two levels, each fault level corresponds to different fault actions, which can prevent the unexpected output of the motor torque from being too large and prevent the vehicle from suddenly losing power when driving at high speed due to fault protection.

[0005] In order to achieve the above purpose, the technical scheme adopted by the present application is as follows:

[0006] In a first aspect, the present application provides a vehicle torque monitoring fault diagnosis processing method, comprising the following steps:

[0007] real-time acquisition of torque demand and actual torque of the vehicle;

[0008] If the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds the first threshold time, it is determined that a torque monitoring primary fault has occurred;

[0009] If it is determined that a torque monitoring primary fault has occurred and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds the second threshold time, it is determined that a torque monitoring secondary fault has occurred;

[0010] If it is determined that a torque monitoring primary fault has occurred, if the vehicle speed is greater than or equal to the threshold speed, the output torque is reduced according to a gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited;

[0011] If it is determined that a torque monitoring secondary fault has occurred, the torque output is prohibited.

[0012] In a second aspect, the present application provides a system for diagnosing and processing a torque monitoring fault of an automobile, comprising:

[0013] a data acquisition module for acquiring the torque demand and the actual torque of the automobile in real time;

[0014] a primary fault determination module for determining a torque monitoring primary fault, if the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds the first threshold time, it is determined that a torque monitoring primary fault has occurred;

[0015] a secondary fault determination module for determining a torque monitoring secondary fault, if it is determined that a torque monitoring primary fault has occurred and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds the second threshold time, it is determined that a torque monitoring secondary fault has occurred;

[0016] a primary fault processing module for processing a torque monitoring primary fault, if it is determined that a torque monitoring primary fault has occurred, if the vehicle speed is greater than or equal to the threshold speed, the output torque is reduced according to a gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited;

[0017] a secondary fault processing module for processing a torque monitoring secondary fault, if it is determined that a torque monitoring secondary fault has occurred, the torque output is prohibited.

[0018] In a third aspect, the present application provides an electronic device, comprising a processor, a memory for storing computer program instructions, and a program for implementing the steps of the method for diagnosing and processing a torque monitoring fault of an automobile when the computer program instructions are executed.

[0019] In a fourth aspect, the present application provides a storage medium storing computer program instructions, wherein the processor executes the method for diagnosing and processing a torque monitoring fault of an automobile when the computer program instructions are loaded and run.

[0020] Compared with the prior art, the present application has the following beneficial effects:

[0021] 1、The present application divides the fault level into two levels according to the absolute value of the actual torque and the absolute value of the torque demand, which is convenient for the fine processing of the vehicle fault. After the occurrence of the torque monitoring first fault, the torque output is only prohibited when the vehicle speed is relatively low, which prevents the vehicle from suddenly losing power at high speed and causing road safety accidents. The torque output is prohibited after the occurrence of the torque monitoring second fault. Each fault level corresponds to different fault actions, which prevents the unexpected output of the motor torque from being too large, prevents the vehicle from suddenly losing power when driving at high speed due to fault protection, and reduces the occurrence of road safety accidents as much as possible.

[0022] 2、The system of the present application includes a data acquisition module, a first fault judgment module, a second fault judgment module, a first fault processing module and a second fault processing module. The data acquisition module is used to acquire the torque demand and the actual torque of the vehicle in real time. The first fault judgment module is used to judge the torque monitoring first fault. If the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds the first threshold time, it is judged as the torque monitoring first fault. The second fault judgment module is used to judge the torque monitoring second fault. If it is judged as the torque monitoring first fault and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds the second threshold time, it is judged as the torque monitoring second fault. The first fault processing module is used to process the torque monitoring first fault. If the vehicle speed is greater than or equal to the threshold speed after the torque monitoring first fault is judged, the output torque is reduced according to the gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited. The second fault processing module is used to process the torque monitoring second fault. If the torque monitoring second fault is judged, the torque output is prohibited. The modules of the system of the present application cooperate with each other, can divide the fault level into two levels according to the absolute value of the actual torque and the absolute value of the torque demand, each fault level corresponds to different fault actions, can prevent the unexpected output of the motor torque from being too large, and prevent the vehicle from suddenly losing power when driving at high speed due to fault protection.

[0023] 3、The device and the medium of the present application can also divide the fault level into two levels according to the absolute value of the actual torque and the absolute value of the torque demand, each fault level corresponds to different fault actions, can prevent the unexpected output of the motor torque from being too large, and prevent the vehicle from suddenly losing power when driving at high speed due to fault protection. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a hardware connection relationship diagram of the embodiment of the present application;

[0025] Figure 2 It is a fault diagnosis strategy diagram of the embodiment of the present application;

[0026] Figure 3 Flow chart of fault processing mechanism of the embodiment of the present application;

[0027] Figure 4 Flow chart of the method of the present application;

[0028] Figure 5 Module diagram of the method system of the present application. DETAILED DESCRIPTION

[0029] In order to make the personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0031] The present application will be described in further detail below in conjunction with the drawings:

[0032] Referring to Figure 4 The present application discloses a vehicle torque monitoring fault diagnosis and processing method, comprising the following steps:

[0033] S1. Real-time acquisition of torque demand and actual torque of the vehicle;

[0034] S2. If the absolute value of the actual torque is greater than the absolute value of the torque demand, and the duration exceeds the first threshold time, it is determined that there is a torque monitoring first-level fault, and the details are as follows:

[0035] After the vehicle power-on initialization is completed and the vehicle is not activated, if the actual torque is greater than zero at this time, and the duration exceeds the first threshold time, it is determined that there is a torque monitoring first-level fault;

[0036] If the vehicle is activated, if the absolute value of the actual torque is greater than the absolute value of the torque demand, and the duration exceeds the first threshold time, it is determined that the torque monitoring is a first fault.

[0037] Preferably, the absolute value of the actual torque is greater than the absolute value of the torque demand as follows:

[0038] |Tvcu|≤|Tmcu|-Δ1

[0039] Wherein, |Tvcu| is the absolute value of the actual torque, |Tmcu| is the absolute value of the torque demand, Δ1 is the difference between the absolute value of the actual torque and the absolute value of the torque demand, when the absolute value of the actual torque is less than the threshold value, the difference Δ1 is a constant, when the absolute value of the actual torque is greater than or equal to the threshold value, the difference Δ1 is a variable that increases with the increase of the absolute value of the actual torque.

[0040] Preferably, the threshold value of the absolute value of the actual torque is 20 NM, that is, when the absolute value of the actual torque is greater than or equal to 20 NM, the difference Δ1 is a variable that increases with the increase of the absolute value of the actual torque.

[0041] S3. If it is determined that the torque monitoring is a first fault, and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds the second threshold time, it is determined that the torque monitoring is a second fault.

[0042] Preferably, after determining that the torque monitoring is a first fault, if the vehicle speed is greater than or equal to the threshold speed, the method of reducing the output torque according to the gradient is as follows:

[0043] After determining that the torque monitoring is a first fault, if the WCBS vehicle speed is greater than or equal to the WCBS threshold speed or the motor speed is greater than or equal to the motor threshold speed, the output torque is reduced according to the gradient, and the vehicle speed is reduced.

[0044] Preferably, the method of prohibiting torque output when the vehicle speed is less than the threshold speed is as follows:

[0045] After determining that the torque monitoring is a first fault, if the WCBS vehicle speed is less than the WCBS threshold speed or the motor speed is less than the motor threshold speed, the torque output is prohibited, the READY light is turned off, the battery relay is disconnected, and the immediate high voltage action is performed.

[0046] Preferably, the WCBS threshold speed is 3 km / h, and the motor threshold speed is 285 r / min.

[0047] S4. After determining that the torque monitoring is a first fault, if the vehicle speed is greater than or equal to the threshold speed, the output torque is reduced according to the gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited.

[0048] S5. If the torque monitoring secondary fault is determined, the torque output is prohibited, specifically as follows:

[0049] If the torque monitoring secondary fault is determined, the torque output is immediately prohibited, the WCBS is requested to perform brake compensation, until the vehicle speed is less than the threshold speed, the READY lamp is turned off, the battery relay is disconnected, and the immediate high voltage action is performed.

[0050] Referring to Figure 4 In another possible embodiment of the present application, the following is adaptively modified according to the situation. The torque demand and the actual torque of the vehicle are obtained in real time; if the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds a first threshold time, the torque monitoring primary fault is determined; if the torque monitoring primary fault is determined and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger and the duration exceeds a second threshold time, the torque monitoring secondary fault is determined. The present application divides the fault levels into two levels according to the absolute value of the actual torque and the absolute value of the torque demand, facilitating the fine processing of the vehicle faults. After the torque monitoring primary fault is determined, if the vehicle speed is greater than or equal to a threshold speed, the output torque is reduced according to a gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited. That is, after the torque monitoring primary fault occurs, the torque output is prohibited only when the vehicle speed is relatively low, preventing the vehicle from suddenly losing power at high speed and causing road safety accidents. If the torque monitoring secondary fault is determined, the torque output is prohibited. By generating two levels of fault, each fault level corresponds to different fault actions, preventing the unexpected output of the motor torque from being too large, preventing the vehicle from suddenly losing power when driving at high speed due to fault protection, and minimizing the occurrence of road safety accidents.

[0051] Embodiment:

[0052] Referring to Figure 4 The present embodiment provides a vehicle torque monitoring fault diagnosis processing method, which generates two levels of faults by monitoring the torque requested by the vehicle controller VCU and the actual feedback torque of the MCU, each fault level corresponds to different fault actions, prevents the unexpected output of the motor torque from being too large, prevents the vehicle from suddenly losing power when driving at high speed due to fault protection, and minimizes the occurrence of road safety accidents, including the following steps:

[0053] As Figure 1 shown, the system of the present application mainly consists of a vehicle controller VCU, a motor controller MCU and a line control braking system WCBS, which are connected through a CANFD bus.

[0054] In the present application, the vehicle controller VCU is mainly responsible for converting the driver's driving intention into torque request and sending it to the MCU through the CANFD bus, synchronously monitoring the execution torque value fed back by the MCU in real time, performing torque monitoring, controlling the lighting or extinguishing of the vehicle READY lamp, and controlling the vehicle power output. The MCU is mainly responsible for strictly executing the torque request of the vehicle controller VCU and driving the vehicle. The WCBS is mainly responsible for receiving the brake request of the vehicle controller VCU and performing brake intervention.

[0055] Regarding torque monitoring faults, the industry generally does the following: under normal circumstances, if the MCU strictly executes the torque request of the vehicle controller VCU, considering the torque calculation and execution error, the torque difference between the two should be very small. However, if the torque difference between the two exceeds a certain range and lasts for a period of time, the vehicle controller VCU can diagnose torque monitoring fault and execute the action of immediately shutting down the power output. However, if the fault occurs when the vehicle is in a high-speed driving state, it will cause the vehicle to suddenly lose power, which is easy to cause road safety accidents such as collision and rear-end collision.

[0056] As shown in Figure 2 , it is the diagnosis process of the torque monitoring fault of the present application:

[0057] S1, after the vehicle power-on initialization is completed, the torque instruction sent by the vehicle controller VCU is 0 before the vehicle is READY, if the absolute value of the torque feedback by the MCU is ≥ a certain value Δ0 at this time, and the duration exceeds t0, the vehicle controller VCU judges that it is a torque monitoring primary fault, at this time, because the vehicle is in static state, the vehicle speed is 0, the vehicle controller VCU directly prohibits torque output and cuts off the battery relay.

[0058] S2, after the vehicle is READY, the vehicle controller VCU calculates the torque demand of the driver in real time according to the throttle opening, driving mode, brake pedal, vehicle speed and other signals, the vehicle controller VCU sends the absolute value of this torque demand |Tvehicle controller VCU| to the MCU, and receives the actual torque absolute value |Tmcu| of the motor fed back by the MCU in real time to compare the difference. When |Tvehicle controller VCU| ≤ |Tmcu| - Δ1 and the duration ≥ t1, the vehicle controller VCU diagnoses that it is a torque monitoring primary fault.

[0059] When the vehicle controller VCU diagnoses that the torque monitoring primary fault occurs, the vehicle controller VCU first requests the MCU to reduce the torque by gradient. When the requested torque Tvehicle controller VCU of the vehicle controller VCU decreases, the actual torque Tmcu of the MCU should follow Tvehicle controller VCU to decrease. If the difference between |Tmcu| and |Tvehicle controller VCU| still shows an expanding trend at this time, and the duration ≥ t2, the vehicle controller VCU diagnoses that it is a torque monitoring secondary fault.

[0060] As shown in Figure 3 , the processing mechanism for torque monitoring fault. After the vehicle controller VCU, MCU, WCBS initialization is completed, real-time judgment torque monitoring fault exists. If the vehicle controller VCU confirmed torque monitoring primary fault, the vehicle controller VCU first according to WCBS vehicle speed or MCU motor speed to judge the actual vehicle speed, if the vehicle speed is low, that is, WCBS vehicle speed < A or motor speed < B, the vehicle controller VCU directly prohibits MCU torque output, extinguish READY light, open the battery relay, execute immediately down high pressure action. When the actual vehicle speed is relatively high, that is, WCBS vehicle speed ≥ A or motor speed ≥ B, the vehicle controller VCU first requests MCU to reduce torque by gradient, so that the vehicle speed is reduced, until the vehicle speed is low, the vehicle controller VCU directly prohibits MCU torque output, extinguish READY light, open the battery relay, execute immediately down high pressure action. If the vehicle controller VCU confirmed torque monitoring secondary fault, the vehicle controller VCU immediately prohibits MCU torque output, requests WCBS to brake compensation, until the vehicle speed is low, the vehicle controller VCU extinguish READY light, open the battery relay.

[0061] Example two:

[0062] Referring to Figure 4 , the embodiment provides a kind of automobile torque monitoring fault diagnosis processing method, comprising the following steps:

[0063] S1, after vehicle power initialization is completed, vehicle has no READY before, torque instruction sent by VCU is 0, if the absolute value of torque feedback by MCU is ≥ a certain value Δ0 at this time, and the duration exceeds t0, VCU judges as torque monitoring primary fault, at this time, because vehicle is in static, vehicle speed is 0, VCU directly prohibits torque output, and cuts off battery relay.

[0064] Cut off battery relay is to cut off the power source of MCU system, prevent vehicle from flying due to torque monitoring fault continuous occurrence.

[0065] S2, after vehicle READY, VCU calculates the torque demand of driver in real time according to throttle opening, driving mode, brake pedal, vehicle speed and other signals, VCU sends the absolute value of this torque demand |Tvcu| to MCU, and receives the actual torque absolute value |Tmcu| of motor feedback by MCU in real time to compare difference.When |Tvcu| ≥ |Tmcu|, that is, the torque actually output by MCU is less than the torque requested by VCU, vehicle flying out of control and other functional safety failure will not occur, so VCU does not diagnose torque inconsistency fault under this condition. When |Tvcu| ≤ |Tmcu|- Δ1 and the duration ≥ t1, VCU confirms torque monitoring primary fault.

[0066] Δ1 is not a constant value, but a variable value according to the current request torque |Tvcu|, the general principle is that |Tvcu| is small, Δ1 takes a reasonable constant value; when |Tvcu| is large, Δ1 is a variable that increases with the increase of |Tvcu|.

[0067] S3, when the VCU confirms the occurrence of the first level torque monitoring fault, the VCU first judges the actual vehicle speed according to the WCBS vehicle speed or the MCU motor speed, if the vehicle speed is low (WCBS vehicle speed < A or motor speed < B), the VCU directly prohibits the MCU torque output, turns off the READY lamp, disconnects the battery relay, and executes the immediate high voltage lowering action. When the actual vehicle speed is relatively high (WCBS vehicle speed ≥ A or motor speed ≥ B), the VCU first requests the MCU to reduce the torque by gradient, that is, the current VCU request torque Tvcu is reduced to 0 at a rate gradient of 5 Nm / s. When the VCU request torque Tvcu decreases, the actual torque Tmcu of the MCU should follow Tvcu to decrease, and then the vehicle speed will decrease, when the vehicle speed is low (WCBS vehicle speed < A or motor speed < B), the VCU directly prohibits the MCU torque output, turns off the READY lamp, disconnects the battery relay, and executes the immediate high voltage lowering action.

[0068] When the first level torque monitoring fault occurs, only when the vehicle speed is low, the READY lamp is turned off and the battery relay is disconnected, because if the vehicle suddenly loses power at high speed, it is easy to cause road safety accidents.

[0069] S4, when the VCU confirms the first level torque monitoring fault, and the VCU request torque Tvcu decreases by gradient, the actual torque Tmcu of the MCU should follow Tvcu to decrease. If the difference |Tmcu|-|Tvcu| still shows an expanding trend, and the duration is ≥t2 and the first level torque monitoring fault currently exists, the VCU confirms the second level torque monitoring fault. The specific strategy is as follows: the VCU calculates the difference |Tmcu|-|Tvcu| in real time, and compares the change trend of the torque difference at different times, if the torque difference at the current time is greater than the torque difference at the last time, and the torque difference at the current time is greater than the torque difference at the last time for ten consecutive sampling periods (i.e. t2 time), then it is judged that the second level torque monitoring fault is confirmed.

[0070] If the VCU confirms the secondary torque monitoring fault, the VCU immediately prohibits the MCU torque output, requests the WCBS to compensate the braking force, and until the vehicle speed is low (WCBS vehicle speed < A or motor speed < B), the VCU extinguishes the READY lamp and disconnects the battery relay. The READY lamp needs to be associated with the vehicle speed, because the whole vehicle steering function needs to be in the READY state to normally assist the work, and only when the vehicle speed is relatively low, the READY lamp is extinguished, and the battery relay is disconnected, which is a safe fault processing mechanism.

[0071] Based on the above method, the application discloses a vehicle torque monitoring fault diagnosis and processing system, see Figure 5 , comprising:

[0072] The data acquisition module is used for acquiring the torque demand and the actual torque of the vehicle in real time.

[0073] The first fault determination module is used for determining the first torque monitoring fault, and if the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds the first threshold time, the first torque monitoring fault is determined.

[0074] The second fault determination module is used for determining the second torque monitoring fault, and if the first torque monitoring fault is determined and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger and the duration exceeds the second threshold time, the second torque monitoring fault is determined.

[0075] The first fault processing module is used for processing the first torque monitoring fault, and if the vehicle speed is greater than or equal to the threshold speed after the first torque monitoring fault is determined, the output torque is reduced according to the gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited.

[0076] The second fault processing module is used for processing the second torque monitoring fault, and if the second torque monitoring fault is determined, the torque output is prohibited.

[0077] The modules of the system cooperate with each other, can divide the fault level into two levels according to the absolute value of the actual torque and the absolute value of the torque demand, each fault level corresponds to different fault actions, can prevent the unexpected large output of the motor torque, and prevent the vehicle from suddenly losing power when driving at high speed due to fault protection.

[0078] An electronic device comprises a processor, a memory for storing computer program instructions, and a step for implementing the vehicle torque monitoring fault diagnosis and processing method when the computer program is executed.

[0079] A storage medium stores computer program instructions, and when the computer program instructions are loaded and run by a processor, the processor executes the vehicle torque monitoring fault diagnosis and processing method.

[0080] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0081] The present application is described in reference to the flowchart illustrations and / or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0082] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the flowchart illustrations and / or block diagrams block or blocks. Figure 1 one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks. Figure 1 means for carrying out each of the one or more functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0084] The above merely provides the technical idea of the present application and cannot limit the protection scope of the present application. Any modification made according to the technical idea of the present application on the basis of the technical solution shall fall within the protection scope of the claims of the present application.

Claims

1. A method of diagnosing a fault in a vehicle torque monitoring system, the method comprising: The method comprises the following steps: Real-time acquisition of torque demand and actual torque of the vehicle; If the absolute value of the actual torque is greater than the absolute value of the torque demand, and the duration exceeds a first threshold time, it is determined that a torque monitoring primary fault has occurred; If it is determined that a torque monitoring primary fault has occurred, and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger, and the duration exceeds a second threshold time, it is determined that a torque monitoring secondary fault has occurred; After it is determined that a torque monitoring primary fault has occurred, if the vehicle speed is greater than or equal to a threshold speed, the output torque is reduced according to a gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited; If it is determined that a torque monitoring secondary fault has occurred, the torque output is prohibited.

2. The automotive torque monitoring fault diagnosis process method according to claim 1, characterized in that, The method for determining that a torque monitoring primary fault has occurred if the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds a first threshold time is as follows: After the vehicle is powered on and initialized and the vehicle is not activated, if the actual torque is greater than zero at this time and the duration exceeds a first threshold time, it is determined that a torque monitoring primary fault has occurred; If the vehicle is activated, if the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds a first threshold time, it is determined that a torque monitoring primary fault has occurred.

3. The automotive torque monitoring fault diagnosis process method according to claim 1 or 2, characterized in that, The absolute value of the actual torque is greater than the absolute value of the torque demand as follows: |Tvcu|≤|Tmcu|-Δ1 Wherein, |Tvcu| is the absolute value of the actual torque, |Tmcu| is the absolute value of the torque demand, and Δ1 is the difference between the absolute value of the actual torque and the absolute value of the torque demand. When the absolute value of the actual torque is less than a threshold value, the difference Δ1 is a constant value. When the absolute value of the actual torque is greater than or equal to the threshold value, the difference Δ1 is a variable that increases with the increase of the absolute value of the actual torque.

4. The automotive torque monitoring fault diagnosis process method of claim 1, wherein, The method for reducing the output torque according to a gradient if the vehicle speed is greater than or equal to a threshold speed after it is determined that a torque monitoring primary fault has occurred is as follows: After it is determined that a torque monitoring primary fault has occurred, if the WCBS vehicle speed is greater than or equal to a WCBS threshold speed or the motor speed is greater than or equal to a motor threshold speed, the output torque is reduced according to a gradient to reduce the vehicle speed.

5. The automotive torque monitoring fault diagnostic process method of claim 1, wherein, The method for prohibiting the torque output if the vehicle speed is less than a threshold speed is as follows: After it is determined that a torque monitoring primary fault has occurred, if the WCBS vehicle speed is less than a WCBS threshold speed or the motor speed is less than a motor threshold speed, the torque output is prohibited, the READY light is turned off, the battery relay is disconnected, and an immediate high-voltage drop action is performed.

6. The automotive torque monitoring fault diagnosis process method according to claim 4 or 5, characterized in that, The WCBS threshold speed is 3 km / h, and the motor threshold speed is 285 r / min.

7. The automotive torque monitoring fault diagnostic process method of claim 1, wherein, The method for prohibiting the torque output if it is determined that a torque monitoring secondary fault has occurred is as follows: If it is determined that a torque monitoring secondary fault has occurred, the torque output is immediately prohibited, the WCBS is requested to perform brake compensation, and the READY light is turned off, the battery relay is disconnected, and an immediate high-voltage drop action is performed until the vehicle speed is less than a threshold speed.

8. A vehicle torque monitoring fault diagnosis processing system for implementing the method of any one of claims 1 to 7, characterized by The method comprises the following steps: A data acquisition module is configured to acquire the torque demand and the actual torque of the vehicle in real time. A first fault determination module is configured to determine a first torque monitoring fault. If the absolute value of the actual torque is greater than the absolute value of the torque demand and the duration exceeds a first threshold time, the first torque monitoring fault is determined. A second fault determination module is configured to determine a second torque monitoring fault. If the first torque monitoring fault is determined and the difference between the absolute value of the actual torque and the absolute value of the torque demand becomes larger and the duration exceeds a second threshold time, the second torque monitoring fault is determined. A first fault processing module is configured to process the first torque monitoring fault. If the first torque monitoring fault is determined and the vehicle speed is greater than or equal to a threshold speed, the output torque is reduced according to a gradient, and if the vehicle speed is less than the threshold speed, the torque output is prohibited. A second fault processing module is configured to process the second torque monitoring fault. If the second torque monitoring fault is determined, the torque output is prohibited.

9. An electronic device comprising: The processor; a memory, the electronic device is used to store computer program instructions; characterized in that, when the computer program is executed, the steps of the automobile torque monitoring fault diagnosis processing method in any one of claims 1-7 are implemented.

10. A storage medium storing computer program instructions, characterized in that, When the computer program instructions are loaded and run by the processor, the processor executes the automobile torque monitoring fault diagnosis processing method in any one of claims 1-7.

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