Vehicle torque control system, vehicle torque control method, and vehicle

Abstract

The application provides a vehicle torque control system, a vehicle torque control method and a vehicle. In the vehicle torque control system, a torque function module is responsible for calculating a torque request value, a torque monitoring module is responsible for checking the torque request value calculated by the torque function module to determine the reasonableness of the torque request value, and the torque function module requests a suitable torque output from a motor controller according to the checking result. Meanwhile, the torque function module and the torque monitoring module send count signals to each other to confirm whether the software operation of the other party is abnormal, and request zero torque output from the motor controller when confirming that the software operation of the other party is abnormal. In this way, when an abnormality occurs in any one module, the other module can timely confirm the abnormal state of the other party and take effective torque reduction measures, thereby effectively avoiding dangerous situations caused by abnormal torque requests of the vehicle and improving the driving safety of the vehicle.

Description

TECHNICAL FIELD

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

[0002] The driving safety of an automobile is usually the first consideration of consumers when choosing a car, therefore, with the increasing popularity of new energy vehicles, more and more automobile manufacturers begin to focus on the torque safety control of new energy vehicles in order to further strengthen the driving safety of new energy vehicles. The vehicle controller of a new energy vehicle is responsible for the calculation of driving demand torque and the request of motor torque, and from the perspective of vehicle system safety, it must ensure to accurately and reliably calculate and execute the torque request of the driver.

[0003] The existing torque control method of an automobile mainly checks the torque request value calculated by the torque function module in the vehicle controller by the torque monitoring module, so as to determine whether the torque output is reasonable, and then takes fault handling measures when the torque output is determined to be unreasonable. However, this method cannot determine whether the torque is abnormal in the torque function module or the checking is abnormal in the torque monitoring module, thus easily leading to the fact that the vehicle controller cannot take effective torque reduction measures in time, and the vehicle is in a dangerous state. SUMMARY

[0004] The purpose of the present application is to provide a vehicle torque control system, a vehicle torque control method and a vehicle, which aims to solve the problem in the related art that the existing torque control method of an automobile easily leads to the fact that the vehicle controller cannot take effective torque reduction measures in time, and the vehicle is in a dangerous state.

[0005] In a first aspect, the present application provides a vehicle torque control system applied to a vehicle controller of a vehicle; the vehicle torque control system comprises a torque function module and a torque monitoring module; wherein: the torque function module is configured to calculate a torque request value, and when a torque inhibition request from the torque monitoring module is not received, control the output torque of a motor according to the torque request value, and when the torque inhibition request is received, control the output torque of the motor to be zero; the torque monitoring module is configured to check the torque request value, and when an abnormality is checked, send the torque inhibition request to the torque function module; the torque function module is further configured to determine whether the running state of the torque monitoring module is abnormal according to a first counting signal periodically sent by the torque monitoring module, and when the determination result is yes, control the output torque of the motor to be zero; and the torque monitoring module is further configured to determine whether the running state of the torque function module is abnormal according to a second counting signal periodically sent by the torque function module, and when the determination result is yes, control the output torque of the motor to be zero.

[0006] In the implementation process, a vehicle torque control system applied to a vehicle controller is provided, in which a torque function module is responsible for calculating a torque request value, a torque monitoring module is responsible for checking the torque request value calculated by the torque function module to determine the reasonableness of the torque request value, and the torque function module requests a suitable torque output from a motor controller according to the checking result, while the torque function module and the torque monitoring module send count signals to each other to confirm whether the software of the other party is abnormal, and request zero torque output from the motor controller when it is confirmed that the software of the other party is abnormal. In this way, when an abnormality occurs in any one module, the other module can timely confirm the abnormal state of the other party and take effective torque reduction measures, thereby effectively avoiding dangerous situations caused by abnormal torque requests of the vehicle and improving the driving safety of the vehicle.

[0007] Further, in some examples, the vehicle controller includes a first core and a second core; the torque function module runs in the first core; and the torque monitoring module runs in the second core.

[0008] In the implementation process, the torque function module and the torque monitoring module run on two independent cores, so that when any one core has a problem or a software function abnormality, the other core can timely request zero torque output, thereby effectively improving the safety of vehicle driving.

[0009] Further, in some examples, the torque function module is configured to: collect peripheral input signals of the vehicle controller, and send the peripheral input signals, target interface signals, and function interaction signals to the torque monitoring module through an API provided by RTE; and the torque monitoring module is configured to: check the torque request value according to the peripheral input signals, the target interface signals, and the function interaction signals.

[0010] In the implementation process, the torque function module sends the peripheral input signals, the target interface signals, and the function interaction signals to the torque monitoring module, so that the torque monitoring module can use these signals to check the reasonableness of the torque request value.

[0011] Further, in some examples, the torque monitoring module is specifically configured to: calculate a torque request verification value according to the peripheral input signals, the target interface signals, and the function interaction signals, and determine whether the torque request value is abnormal according to a difference between the torque request value and the torque request verification value.

[0012] In the implementation process, a specific way of checking the torque request value is provided.

[0013] Further, in some examples, the first count signal is sent by the torque monitoring module to the torque function module at a preset time period after the vehicle is powered on, and the second count signal is sent by the torque function module to the torque monitoring module at the preset time period after the vehicle is powered on.

[0014] In the above implementation process, after the vehicle is powered on, the torque function module and the torque monitoring module automatically start to send count signals to each other to confirm whether the running state of the other party is abnormal, and the two modules send count signals to each other at the same time period, so that the count signals are more orderly and stable in the transmission process, and the conflict of signals on the internal bus or shared resources is avoided.

[0015] Further, in some examples, the first count signal and the second count signal are both incremented by one after each transmission, and when the next count is incremented by one, the initial value is reset and the cycle continues after reaching the target value.

[0016] In the above implementation process, the torque function module and the torque monitoring module accumulate and reset the count signal in the range from the initial value to the target value, so as to avoid the case that too much memory space is occupied due to the too large value of the count signal.

[0017] Further, in some examples, the torque function module is specifically configured to: if the currently received first count signal is the initial value and the last received first count signal is not the target value, determine that the running state of the torque monitoring module is abnormal; if the currently received first count signal is not the initial value and the difference between the currently received first count signal and the last received first count signal is not one, determine that the running state of the torque monitoring module is abnormal; and the torque monitoring module is specifically configured to: if the currently received second count signal is the initial value and the last received second count signal is not the target value, determine that the running state of the torque function module is abnormal; if the currently received second count signal is not the initial value and the difference between the currently received second count signal and the last received second count signal is not one, determine that the running state of the torque function module is abnormal.

[0018] In the above implementation process, a specific way of confirming whether the running state of the other party is abnormal according to the count signal is provided.

[0019] Further, in some examples, the torque function module is further configured to: if the time difference between the current time and the time when the last received first count signal exceeds a preset time interval, control the output torque of the motor to be zero; and the torque monitoring module is further configured to: if the time difference between the current time and the time when the last received second count signal exceeds a preset time interval, control the output torque of the motor to be zero.

[0020] In the implementation process, when the torque function module or the torque monitoring module does not receive the count signal sent by the other party within a preset time interval, it indicates that the running state of the other party is abnormal, at this time, the motor controller can be requested to output zero torque, thereby effectively avoiding the vehicle from being in a dangerous state due to the abnormal request of the other party.

[0021] In a second aspect, the application provides a vehicle torque control method applied to a vehicle controller of a vehicle; the vehicle controller comprises a first core and a second core; a torque function module runs on the first core; a torque monitoring module runs on the second core; the method comprises: calculating a torque request value by the torque function module; checking the torque request value by the torque monitoring module, and sending the torque function module the torque request inhibition when an exception is checked; controlling the output torque of the motor according to the torque request value by the torque function module when the torque monitoring module does not receive the torque request inhibition, and controlling the output torque of the motor to be zero when the torque request inhibition is received; the method further comprises: periodically sending a second count signal to the torque monitoring module by the torque function module, and periodically sending a first count signal to the torque function module by the torque monitoring module; judging whether the running state of the torque monitoring module is abnormal according to the first count signal by the torque function module, and controlling the output torque of the motor to be zero when the result of the judgment is yes; judging whether the running state of the torque function module is abnormal according to the second count signal by the torque monitoring module, and controlling the output torque of the motor to be zero when the result of the judgment is yes.

[0022] In a third aspect, the application provides a vehicle, wherein the vehicle controller of the vehicle comprises the vehicle torque control system according to any one of the first aspect.

[0023] Other features and advantages of the application will be described in the following description, or can be learned or determined from the description, or can be known or determined without any doubt by implementing the above-mentioned technology disclosed in the application.

[0024] In order to make the above-mentioned purposes, features and advantages of the application more obvious and easy to understand, the following preferred embodiments are specifically described, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. It should be understood that the following drawings only show some of the embodiments of the present application, and therefore should not be regarded as a limitation on the scope, and for those of ordinary skill in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 A schematic diagram of a vehicle torque control system provided by an embodiment of the present application is shown in FIG. 1.

[0027] Figure 2 A schematic diagram of a split-core monitoring architecture adopted by a whole vehicle controller torque split-core monitoring scheme provided by an embodiment of the present application is shown in FIG. 2.

[0028] Figure 3 A flowchart of a vehicle torque control method provided by an embodiment of the present application is shown in FIG. 3. DETAILED DESCRIPTION

[0029] The technical solutions in the embodiments of the present application will be described in detail below with reference to the drawings in the embodiments of the present application.

[0030] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. Meanwhile, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing description, and cannot be understood as indicating or implying relative importance.

[0031] As described in the background, the vehicle torque control method in the related art has the problem that it is easy to cause the whole vehicle controller to fail to take effective torque reduction measures in time, and thus the vehicle is in a dangerous state. Based on this, the embodiments of the present application provide a new vehicle torque control scheme to solve the above problem.

[0032] Next, the embodiments of the present application will be introduced:

[0033] As shown in FIG. 1, Figure 1 Figure 1 ​is a schematic diagram of a vehicle torque control system provided by an embodiment of the present application. The vehicle torque control system 10 is applied to a vehicle controller 11 of a vehicle. The vehicle torque control system 10 comprises a torque function module 12 and a torque monitoring module 13; wherein; the torque function module 12 is configured to calculate a torque request value, and when no torque request inhibition is received from the torque monitoring module 13, control the output torque of a motor 14 according to the torque request value, and when the torque request inhibition is received, control the output torque of the motor 14 to be zero; the torque monitoring module 13 is configured to check the torque request value, and when an abnormality is found, send the torque request inhibition to the torque function module 12; the torque function module 12 is further configured to determine whether the running state of the torque monitoring module 13 is abnormal according to a first count signal periodically sent by the torque monitoring module 13, and when the determination result is yes, control the output torque of the motor 14 to be zero; the torque monitoring module 13 is further configured to determine whether the running state of the torque function module 12 is abnormal according to a second count signal periodically sent by the torque function module 12, and when the determination result is yes, control the output torque of the motor 14 to be zero.

[0034] The vehicle torque control system provided by the embodiment comprises a torque function module and a torque monitoring module. The two modules can be regarded as two threads on a vehicle controller (VCU). The vehicle can be a new energy vehicle or other types of vehicles. The two modules have their own responsibilities in the vehicle torque control process. The torque function module is responsible for calculating a torque request value that meets the driving demand. The torque monitoring module is responsible for checking the torque request value calculated by the torque function module to determine the reasonableness of the torque request value. When the checking is normal, the torque monitoring module does not send a torque request inhibition. Then the torque function module sends the torque request value to a motor controller through a CAN bus, so that the motor controller controls the motor to output corresponding torque. When the checking is abnormal, the torque monitoring module sends a torque request inhibition. Then the torque function module sends a motor torque request equal to zero to the motor controller through the CAN bus, so that the motor outputs zero torque.

[0035] In some embodiments, the torque function module is configured to: collect peripheral input signals of the vehicle control unit, and send the peripheral input signals, target interface signals and function interaction signals to the torque monitoring module through an API provided by RTE; and the torque monitoring module is configured to: check the torque request value according to the peripheral input signals, the target interface signals and the function interaction signals. That is, when torque control is implemented, the torque function module can collect peripheral input signals of the VCU, such as hard-wired signals, CAN communication signals and the like, and then send the collected peripheral input signals and interface signals and function interaction signals required by the torque monitoring module to the torque monitoring module through an API provided by RTE (Runtime Environment), so that the torque monitoring module can use these signals to check the reasonableness of the torque request value.

[0036] Further, in some embodiments, the torque monitoring module is specifically configured to: calculate a torque request verification value according to the peripheral input signals, the target interface signals and the function interaction signals, and then determine whether the torque request value is abnormal according to a difference between the torque request value and the torque request verification value. That is, the torque monitoring algorithm used by the torque monitoring module can be a redundant calculation module that calculates a torque request verification value, and then calculates a difference between the torque request value calculated by the torque function module and the torque request verification value calculated by the calculation module itself, and determines whether the torque request value is abnormal according to whether the difference is within an allowable error range. Of course, in other embodiments, the torque monitoring module can also use other torque monitoring algorithms according to the needs of specific scenarios, such as checking through the relationship between torque and acceleration, and the like, which are not limited in the present application.

[0037] In the embodiment, the torque function module and the torque monitoring module send count signals to each other to confirm whether the running of the other party is abnormal. When the torque function module confirms that the running state of the torque monitoring module is abnormal, the torque function module requests zero torque output from the motor controller. When the torque monitoring module confirms that the running state of the torque function module is abnormal, the torque monitoring module replaces the torque function module to request zero torque output from the motor controller. In this way, when an abnormality occurs in any one module, the other module can timely confirm the abnormal state of the other party and take effective torque reduction measures, so that the vehicle is in a safe state, and the dangerous situation caused by abnormal torque request is effectively avoided.

[0038] In some embodiments, the vehicle control unit comprises a first core and a second core; the torque function module runs in the first core; and the torque monitoring module runs in the second core. Core, also known as kernel, is the most important component of CPU (Central Processing Unit). All the tasks of CPU, such as calculation, command receiving / storage, data processing, etc. are executed by the core. That is, the VCU of the vehicle can adopt a dual-core or multi-core processor, and the torque function module and the torque monitoring module run in two independent cores. In this way, when any one core has a problem or abnormal software function, the other core can request zero torque output in time, thereby effectively improving the safety of vehicle driving.

[0039] In some embodiments, the first counting signal is sent by the torque monitoring module to the torque function module according to a preset time period after the vehicle is powered on; and the second counting signal is sent by the torque function module to the torque monitoring module according to the preset time period after the vehicle is powered on. That is, after the vehicle is powered on, the torque function module and the torque monitoring module automatically start to send counting signals to each other to confirm whether the running state of the other party is abnormal. In addition, the torque function module and the torque monitoring module can send counting signals to each other according to the same time period, so that the counting signals are more orderly and stable in the transmission process, and the conflict of signals on the internal bus or shared resources is avoided. Optionally, the preset time period can be 10 ms. Of course, in other embodiments, according to the needs of specific scenarios, the preset time period can also be set to other time values, or the torque function module and the torque monitoring module can send counting signals to each other according to different time periods.

[0040] In some embodiments, the first count signal and the second count signal are both incremented by one after each transmission, and after reaching a target value, the next increment resets to an initial value and continues to cycle. That is, the two count signals, the first count signal and the second count signal, follow the same counting rules. Taking the first count signal as an example, the torque function module sets the value of the first count signal according to the value of an internal counter. After the first count signal is transmitted, the counter is automatically incremented by one. The maximum value of the counter is the target value. When the counter reaches the target value, the next increment triggers a reset operation, i.e., the value of the counter is reset to the initial value, and the cycle continues. In this way, the torque function module and the torque monitoring module accumulate and reset the count signal within the range of the initial value to the target value, thereby avoiding the situation of occupying too much memory space due to the large value of the count signal. Optionally, the initial value can be 0 and the target value can be 15. Through this setting, the memory occupation can be reduced while effectively avoiding the situation of adversely affecting the system performance due to frequent resetting of the counter.

[0041] Further, in some embodiments, the torque function module is specifically configured to: if the currently received first count signal is the initial value and the last received first count signal is not the target value, determine that the running state of the torque monitoring module is abnormal; if the currently received first count signal is not the initial value and the difference between the currently received first count signal and the last received first count signal is not one, determine that the running state of the torque monitoring module is abnormal; and the torque monitoring module is specifically configured to: if the currently received second count signal is the initial value and the last received second count signal is not the target value, determine that the running state of the torque function module is abnormal; if the currently received second count signal is not the initial value and the difference between the currently received second count signal and the last received second count signal is not one, determine that the running state of the torque function module is abnormal. That is, according to the established counting rules, the torque function module and the torque monitoring module can quickly determine whether the running state of the other party is abnormal according to the value of the count signal sent by the other party. Taking the initial value equal to 0 and the target value equal to 15 as an example, in the case that the value of the currently received count signal is 0, due to the counter reset, if the value of the last received count signal is not 15, it is determined that the running state of the other party is abnormal; in the case that the value of the currently received count signal is not 0, if the difference between the two received count signals is not 1, it is determined that the running state of the other party is abnormal. In this way, when the software function of any one of the torque function module and the torque monitoring module is abnormal, the other party can timely discover and take processing measures, effectively ensuring the safety of the vehicle.

[0042] Also, in some embodiments, the torque function module is further configured to control the output torque of the motor to be zero if a time difference between a current time and a time when the first count signal is last received exceeds a preset time interval; and the torque monitoring module is further configured to control the output torque of the motor to be zero if a time difference between a current time and a time when the second count signal is last received exceeds the preset time interval. That is, when the torque function module or the torque monitoring module has not received the count signal sent by the other party for a preset time interval, it indicates that the running state of the other party is abnormal, and at this time, the zero torque output can be requested from the motor controller, thereby effectively avoiding the vehicle from being in a dangerous state due to the abnormal request of the other party.

[0043] The vehicle torque control system applied to the vehicle controller of the vehicle is provided in the embodiments of the present application. In the vehicle torque control system, the torque function module is responsible for calculating a torque request value, the torque monitoring module is responsible for checking the torque request value calculated by the torque function module to determine the reasonableness of the torque request value, the torque function module requests a suitable torque output from the motor controller according to the checking result, and meanwhile, the torque function module and the torque monitoring module send count signals to each other to confirm whether the software running of the other party is abnormal, and request zero torque output from the motor controller when confirming that the software running of the other party is abnormal. In this way, when any one of the modules is abnormal, the other module can timely confirm the abnormal state of the other party and take effective torque reduction measures, thereby effectively avoiding the dangerous situation of the vehicle due to the abnormal torque request and improving the driving safety of the vehicle.

[0044] To make the scheme of the present application more detailed, a specific embodiment is introduced as follows:

[0045] The torque split kernel monitoring scheme of the vehicle controller is provided in the embodiments. The split kernel monitoring architecture adopted in the embodiments is shown in Figure 2 The MCU of the vehicle controller includes two cores, Core_C1 (21 in the figure) and Core_C0 (22 in the figure), in the split kernel monitoring architecture. The torque function module 12 runs in Core_C1, and the torque monitoring module 13 runs in Core_C0. The torque function module 12 and the torque monitoring module 13 communicate through the RTE interface 23.

[0046] The torque function module 12 and the torque monitoring module 13 run according to the following mechanism:

[0047] The torque function module 12 is responsible for calculating the torque request value and collecting peripheral input signals of the vehicle controller, such as hard-wired signals, CAN communication signals, etc. The collected peripheral input signals and the interface signals and function interaction signals required by the torque monitoring module 13 are sent to the torque monitoring module 13 through the RTE interface 23.

[0048] The torque monitoring module 13 is responsible for checking the torque request value of the torque function module 12 through a torque monitoring algorithm, and sending a torque request inhibition to the torque function module 12 when an exception is found. The torque monitoring algorithm can be a method of checking through the relationship between torque and acceleration, or a method of checking through setting redundant calculation modules;

[0049] The torque function module 12 is also responsible for calling the first communication module Com_C1 (number 24 in the figure) to send a motor torque request to the motor controller when no torque request inhibition is received from the torque monitoring module 13, and the motor torque request carries the torque request value, or calling Com_C1 to request zero torque output from the motor controller when receiving the torque request inhibition from the torque monitoring module 13;

[0050] The torque function module 12 sends a Counter_VCU signal to the torque monitoring module 13 every 10 ms, and the Counter_VCU signal is counted by one after each transmission, with a count range of 0-15. The value of the Counter_VCU signal is reset to 0 after reaching 15. The torque monitoring module 13 sends a Counter_MON signal to the torque function module 12 every 10 ms, and the Counter_MON signal is counted by one after each transmission, with a count range of 0-15. The value of the Counter_MON signal is reset to 0 after reaching 15.

[0051] The torque function module 12 is also responsible for confirming whether the running state of the torque monitoring module 13 is abnormal according to the Counter_MON signal. Specifically, when the currently received Counter_MON signal is 0, if the last received Counter_MON signal is not 15, it is confirmed that the running state of the torque monitoring module 13 is abnormal. When the currently received Counter_MON signal is not 0, if the difference between the currently received Counter_MON signal and the last received Counter_MON signal is not 1, it is confirmed that the running state of the torque monitoring module 13 is abnormal. The torque function module 12 calls Com_C1 to request zero torque output from the motor controller after confirming that the running state of the torque monitoring module 13 is abnormal.

[0052] The torque monitoring module 13 is also responsible for confirming whether the running state of the torque function module 12 is abnormal according to the Counter_VCU signal. Specifically, when the currently received Counter_VCU signal is 0, if the last received Counter_VCU signal is not 15, it is confirmed that the running state of the torque function module 12 is abnormal; when the currently received Counter_VCU signal is not 0, if the difference between the currently received Counter_VCU signal and the last received Counter_VCU signal is not 1, it is confirmed that the running state of the torque function module 12 is abnormal; after confirming that the running state of the torque function module 12 is abnormal, the torque monitoring module 13 calls the second communication module Com_C0 (the number 25 in the figure) to request zero torque output from the motor controller.

[0053] In the embodiment, the torque function module and the torque monitoring module run on two independent cores respectively, and function as mutual monitoring and verification. When any one of the cores has a problem or software function abnormality, the other core can request zero torque output in time, so that the vehicle is in a safe state, and the vehicle is prevented from being in danger due to abnormal torque request.

[0054] Corresponding to the foregoing embodiment of the system, the application further provides an embodiment of a vehicle torque control method:

[0055] As shown in Figure 3 , Figure 3 is a block diagram of a vehicle torque control method provided by an embodiment of the application, and the method is applied to a vehicle controller of a vehicle; the vehicle controller comprises a first core and a second core; a torque function module runs on the first core; a torque monitoring module runs on the second core; and the method comprises the following steps:

[0056] S301, calculating a torque request value by the torque function module;

[0057] S302, verifying the torque request value by the torque monitoring module, and sending the torque function module the torque request prohibition when an abnormality is verified;

[0058] S303, controlling the output torque of a motor according to the torque request value by the torque function module when the torque monitoring module does not send the torque request prohibition, and controlling the output torque of the motor to be zero when the torque request prohibition is received;

[0059] The method further comprises the following steps:

[0060] S304, periodically sending a second counting signal from the torque function module to the torque monitoring module, and periodically sending a first counting signal from the torque monitoring module to the torque function module.

[0061] S305, judging, by the torque function module, whether the running state of the torque monitoring module is abnormal according to the first counting signal, and controlling the output torque of the motor to be zero when the judging result is yes;

[0062] S306, judging, by the torque monitoring module, whether the running state of the torque function module is abnormal according to the second counting signal, and controlling the output torque of the motor to be zero when the judging result is yes.

[0063] The implementation process of each step in the above method is specifically described in the implementation process of the functions and roles of the corresponding modules in the above system, which will not be repeated here.

[0064] The application also provides a vehicle, wherein the vehicle controller of the vehicle comprises the vehicle torque control system according to any one of the preceding embodiments.

[0065] The above merely provides embodiments of the application and is not used to limit the protection scope of the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0066] The above merely provides embodiments of the application and is not used to limit the protection scope of the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0067] It should be noted that, in the present document, the terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

Claims

1. A vehicle torque control system, characterized in that: A vehicle controller applied to a vehicle; the vehicle torque control system includes a torque function module and a torque monitoring module; wherein: The torque function module is used to calculate a torque request value, and when not receiving a disable torque request from the torque monitoring module, control the output torque of the motor according to the torque request value, and when receiving the disable torque request, control the output torque of the motor to zero; The torque monitoring module is used to verify the torque request value and send the prohibit torque request to the torque function module when an abnormality is detected; The torque function module is further configured to determine whether the operating state of the torque monitoring module is abnormal based on the first counting signal periodically sent by the torque monitoring module, and control the output torque of the motor to zero if the determination result is yes; The torque monitoring module is further configured to determine whether the operating state of the torque function module is abnormal based on the second counting signal periodically sent by the torque function module, and control the output torque of the motor to zero if the determination result is yes; The first counting signal is sent by the torque monitoring module to the torque function module according to a preset time period after the vehicle is powered on; the second counting signal is sent by the torque function module to the torque monitoring module according to the preset time period after the vehicle is powered on; The first counting signal and the second counting signal are both counted up by one after each transmission, and after reaching the target value, are reset to the initial value when the count is incremented by one next time and the cycle continues; The torque function module is specifically configured to: determine that the operating state of the torque monitoring module is abnormal if the currently received first count signal is the initial value and the first count signal received last time is not the target value; and determine that the operating state of the torque monitoring module is abnormal if the currently received first count signal is not the initial value and the difference between the currently received first count signal and the first count signal received last time is not one; The torque monitoring module is specifically used to: if the currently received second counting signal is the initial value and the second counting signal received last time is not the target value, determine that the operating state of the torque function module is abnormal; if the currently received second counting signal is not the initial value and the difference between the currently received second counting signal and the second counting signal received last time is not one, determine that the operating state of the torque function module is abnormal.

2. The vehicle torque control system according to claim 1, characterized in that: The vehicle controller includes a first core and a second core; the torque function module runs in the first core; and the torque monitoring module runs in the second core.

3. The vehicle torque control system according to claim 1, characterized in that: The torque function module is used to collect the peripheral input signals of the vehicle controller and send the peripheral input signals, target interface signals and function interaction signals to the torque monitoring module through the API provided by the RTE; The torque monitoring module is used to calibrate the torque request value according to the peripheral input signal, the target interface signal and the functional interaction signal.

4. The vehicle torque control system according to claim 3, characterized in that: The torque monitoring module is specifically configured to calculate a torque request verification value based on the peripheral input signal, the target interface signal, and the functional interaction signal, and then determine whether the torque request value is abnormal based on a difference between the torque request value and the torque request verification value.

5. The vehicle torque control system according to claim 1, characterized in that: The torque function module is further configured to: if the time difference between the current time and the time when the first counting signal was last received exceeds a preset time interval, control the output torque of the motor to be zero; The torque monitoring module is further configured to control the output torque of the motor to be zero if a time difference between a current time and a time when the second counting signal was last received exceeds a preset time interval.

6. A vehicle torque control method, characterized in that: A vehicle controller applied to a vehicle; the vehicle controller includes a first core and a second core; a torque function module runs on the first core; A torque monitoring module is running on the second core; and the method comprises: Calculating a torque request value by the torque function module; Verifying the torque request value through the torque monitoring module and sending a prohibit torque request to the torque function module when an abnormality is detected; controlling the output torque of the motor according to the torque request value by the torque function module when no inhibit torque request is received from the torque monitoring module, and controlling the output torque of the motor to be zero when the inhibit torque request is received; The method further comprises: periodically sending a second counting signal to the torque monitoring module through the torque function module, and periodically sending a first counting signal to the torque function module through the torque monitoring module; determining, by the torque function module, whether the operating state of the torque monitoring module is abnormal according to the first counting signal, and controlling the output torque of the motor to be zero if the determination result is yes; determining, by the torque monitoring module, whether the operating state of the torque function module is abnormal according to the second counting signal, and controlling the output torque of the motor to be zero if the determination result is yes; Wherein, the first counting signal is sent by the torque monitoring module to the torque function module according to a preset time period after the vehicle is powered on; the second counting signal is sent by the torque function module to the torque monitoring module according to the preset time period after the vehicle is powered on; The first counting signal and the second counting signal are both counted up by one after each transmission, and after reaching the target value, are reset to the initial value when the count is incremented by one next time and the cycle continues; The step of determining, by the torque function module according to the first counting signal, whether the operating state of the torque monitoring module is abnormal includes: If the currently received first count signal is the initial value and the last received first count signal is not the target value, the torque function module determines that the operating state of the torque monitoring module is abnormal; if the currently received first count signal is not the initial value and the difference between the currently received first count signal and the last received first count signal is not one, the torque function module determines that the operating state of the torque monitoring module is abnormal; The step of determining, by the torque monitoring module according to the second counting signal, whether the operating state of the torque function module is abnormal includes: If the second counting signal currently received is the initial value and the second counting signal last received is not the target value, the torque monitoring module determines that the operating state of the torque function module is abnormal; if the second counting signal currently received is not the initial value and the difference between the second counting signal currently received and the second counting signal last received is not one, the torque monitoring module determines that the operating state of the torque function module is abnormal.

7. A vehicle, characterized in that: The vehicle controller of the vehicle includes the vehicle torque control system according to any one of claims 1 to 5.

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