A torque output method, device, vehicle and storage medium

Abstract

The present application provides a torque output method, device, vehicle and storage medium, which is applied to the field of vehicles, and includes: when it is determined that the vehicle needs to be subjected to torque-increasing intervention, obtaining the target torque-increasing torque value calculated by the electronic body stability system; judging whether to activate the preset safety state based on the target torque-increasing torque value and the actual torque-increasing torque value calculated by the functional layer; when it is determined that the preset safety state is in the activated state, processing the first torque request value of the engine calculated by the functional layer to obtain the first target torque request value of the engine, and processing the second torque request value of the motor calculated by the functional layer to obtain the second target torque request value of the motor; outputting the first target torque request value and the second target torque request value. The method can ensure the normal output of the vehicle's driving torque, avoid excessive response, and enhance the user's car experience.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and more specifically, to a method, a device, a vehicle and a storage medium for outputting torque in the field of vehicles. Background Art

[0002] With the development of electronic control technology for new energy vehicles, in order to enhance the driver's driving experience and improve vehicle stability, the Electronic Stability Program (ESP) is increasingly being used in vehicles. When the vehicle slips and becomes unstable due to braking or acceleration during a turn, the ESP will be activated to increase or reduce the torque of the vehicle to restore the vehicle to a stable state. Usually, the ESP will send a torque increase or reduction intervention request to the vehicle control unit (VCU). The VCU adjusts the torque according to the received torque increase or reduction intervention request to keep the vehicle body stable. Therefore, it is particularly important whether the VCU can correctly respond to the ESP's intervention request.

[0003] At present, a strict monitoring strategy has been designed inside the VCU. When the VCU fails to correctly respond to the ESP intervention request, the VCU monitoring layer will trigger a safe state and reset the torque to zero, thereby preventing the output of unexpectedly excessive driving torque or unexpectedly small braking torque. In actual applications, if the vehicle activates ESP torque increase intervention during braking, the VCU monitoring layer will usually trigger a safe state when it detects an unexpectedly small braking force request. However, the VCU resets the torque to zero, which not only avoids unexpectedly small braking force requests, but also prohibits the occurrence of driving force, resulting in excessive response, which makes the user's car experience poor. Summary of the invention

[0004] The present application provides a torque output method, device, vehicle and storage medium, which can ensure the normal output of the vehicle's driving torque, avoid excessive response, and enhance the user's car experience.

[0005] In a first aspect, a torque output method is provided, the method comprising: when it is determined that torque-increasing intervention is required for the vehicle, obtaining a target torque-increasing torque value calculated by an electronic body stability system; judging whether to activate a preset safety state based on the target torque-increasing torque value and an actual torque-increasing torque value calculated by a functional layer; when it is determined that the preset safety state is activated, processing a first torque request value of the engine calculated by the functional layer to obtain a first target torque request value of the engine, and processing a second torque request value of the motor calculated by the functional layer to obtain a second target torque request value of the motor; wherein the first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero; and outputting the first target torque request value and the second target torque request value.

[0006] The above technical solution, when it is determined that the vehicle needs to be subjected to torque intervention, obtains the target torque value calculated by the electronic body stability system, and compares it with the actual torque value calculated by the functional layer, so as to timely find out the difference in torque, thereby determining whether there is an abnormal risk in the torque state of the vehicle, and can quickly activate the preset safety state when there is an abnormal risk, ensuring that measures can be taken quickly in abnormal situations. After the preset safety state is activated, the torque request values ​​of the engine and the motor are processed in a targeted manner to obtain a first target torque request value of the engine greater than or equal to zero and a second target torque request value of the motor greater than or equal to zero, and output the first target torque request value and the second target torque request value. By reasonably adjusting the output torque, it is realized that the output of positive driving torque is no longer prohibited, and the normal output of the driving torque of the vehicle is guaranteed when the actual torque value calculated by the functional layer is unexpectedly too small, preventing the vehicle from being unable to drive normally due to limiting the driving force, and improving the user's car experience.

[0007] In combination with the first aspect, in certain implementations of the first aspect, the first torque request value of the engine calculated by the functional layer is processed to obtain the first target torque request value of the engine, and the second torque request value of the motor calculated by the functional layer is processed to obtain the second target torque request value of the motor, including: comparing the first torque request value and the first preset torque limit value to obtain the larger value between the first torque request value and the first preset torque limit value, and determining the larger value as the first target torque request value; comparing the second torque request value and the second preset torque limit value to obtain the larger value between the second torque request value and the second preset torque limit value, and determining the larger value as the second target torque request value.

[0008] The above technical solution, by comparing the first torque request value and the first preset torque limit value, determines the larger value obtained by comparison as the first target torque request value, and can limit the output first target torque request value, such as setting the first preset torque limit value to zero, so that the output first target torque request value can be limited to be greater than or equal to zero; similarly, by comparing the second torque request value and the second preset torque limit value, determines the larger value obtained by comparison as the second target torque request value, and can also limit the output second target torque request value, such as setting the second preset torque limit value to zero, so that the output second target torque request value can be limited to be greater than or equal to zero. Through the above processing, it is possible to avoid the engine and the motor from outputting inappropriate torque, thereby avoiding the vehicle from causing a safety accident due to unexpected braking. At the same time, the larger value in the comparison process is determined as the final output torque, which ensures the output of positive torque, that is, driving torque, and avoids affecting the normal driving of the vehicle, which can improve the user's car experience.

[0009] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, whether to activate the preset safety state is determined based on the target torque increase torque value and the actual torque increase torque value calculated by the functional layer, including: based on the target torque increase torque value and the actual torque increase torque value calculated by the functional layer, determining whether the functional layer has a fault; and when it is determined that the functional layer has a fault, determining to activate the preset safety state.

[0010] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, based on the target torque-increasing torque value and the actual torque-increasing torque value calculated by the functional layer, it is determined whether the functional layer has a fault, including: determining whether the actual torque-increasing torque value is less than the target torque-increasing torque value; and determining that the functional layer has a fault when it is determined that the actual torque-increasing torque value is less than the target torque-increasing torque value.

[0011] The above technical solution can monitor in real time whether the working state of the functional layer meets expectations by comparing the target torque value and the actual torque value calculated by the functional layer. Once there is a difference between the target torque value and the actual torque value, especially when the actual torque value is less than the target torque value, it means that the functional layer may fail. Then the preset safety state can be activated immediately to limit the output torque to avoid the vehicle from losing control due to improper torque output, which can ensure the safety of the occupants in the vehicle in a timely manner and improve the safety of the vehicle.

[0012] In combination with the first aspect and the above-mentioned implementations, in certain implementations of the first aspect, the method further includes: when determining that the preset safety state is in an activated state, maintaining the preset safety state in an activated state until the vehicle is powered off and powered on again.

[0013] The above technical solution, by keeping the preset safety state activated until the vehicle is powered off and then powered on again, can ensure that during the entire power-on cycle, the vehicle always operates according to the rules set in the safety state, avoiding safety issues related to vehicle loss of control caused by sudden resumption of normal operating mode due to unresolved faults, and can further improve the safety of the vehicle.

[0014] In combination with the first aspect and the above-mentioned implementation methods, in certain implementation methods of the first aspect, the actual torque value is calculated in the following manner: obtaining the vehicle's current speed, the current throttle opening and the target torque value calculated by the electronic body stability system; determining the driver's required torque value based on the current vehicle speed and the current throttle opening; and determining the larger value between the driver's required torque value and the target torque value as the actual torque value.

[0015] In combination with the first aspect and the above-mentioned implementations, in certain implementations of the first aspect, the method further includes: when it is determined that the preset safety state is in an inactive state, outputting a first torque request value of the engine and a second torque request value of the motor.

[0016] In a second aspect, a torque output device is provided, which includes: an acquisition module, which is used to acquire a target torque increase torque value calculated by an electronic body stability system when it is determined that torque increase intervention is required for the vehicle; a judgment module, which is used to judge whether to activate a preset safety state based on the target torque increase torque value and the actual torque increase torque value calculated by the functional layer; a processing module, which is used to process a first torque request value of the engine calculated by the functional layer to obtain a first target torque request value of the engine, and to process a second torque request value of the motor calculated by the functional layer to obtain a second target torque request value of the motor when it is determined that the preset safety state is in an activated state; wherein the first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero; and an output module, which is used to output the first target torque request value and the second target torque request value.

[0017] In combination with the second aspect, in certain implementations of the second aspect, the processing module is specifically used to: compare the first torque request value and the first preset torque limit value to obtain the larger value of the first torque request value and the first preset torque limit value, and determine the larger value as the first target torque request value; compare the second torque request value and the second preset torque limit value to obtain the larger value of the second torque request value and the second preset torque limit value, and determine the larger value as the second target torque request value.

[0018] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the judgment module is specifically used to: judge whether there is a fault in the functional layer based on the target torque increase value and the actual torque increase value calculated by the functional layer; if it is determined that there is a fault in the functional layer, determine to activate the preset safety state.

[0019] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the judgment module includes a judgment unit, which is specifically used to: judge whether the actual torque increase value is less than the target torque increase value; if it is determined that the actual torque increase value is less than the target torque increase value, determine that there is a fault in the functional layer.

[0020] In combination with the second aspect and the above-mentioned implementation methods, in some implementation methods of the second aspect, the device also includes a maintaining module, which is specifically used to: when it is determined that the preset safety state is in an activated state, maintain the preset safety state in an activated state until the vehicle is powered off and powered on again.

[0021] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the device also includes an actual torque value calculation module, which is specifically used to: obtain the vehicle's current speed, current throttle opening and target torque value calculated by the electronic body stability system; determine the driver's required torque value based on the current vehicle speed and the current throttle opening; determine the larger value between the driver's required torque value and the target torque value as the actual torque value.

[0022] In combination with the second aspect and the above-mentioned implementation methods, in certain implementation methods of the second aspect, the device also includes a second output module, which is specifically used to: when it is determined that the preset safety state is in an inactive state, output the first torque request value of the engine and the second torque request value of the motor.

[0023] In a third aspect, a vehicle is provided, comprising a memory and a processor. 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, so that the vehicle executes the torque output method in the first aspect and any possible implementation of the first aspect.

[0024] In a fourth aspect, a computer program product is provided, comprising: a computer program code, which, when executed on a computer, enables the computer to execute the torque output method in the above-mentioned first aspect and any possible implementation of the first aspect.

[0025] In a fifth aspect, a computer-readable storage medium is provided, which stores a computer program code. When the computer program code runs on a computer, the computer executes the torque output method in the above-mentioned first aspect and any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic flow chart of a torque output method provided in an embodiment of the present application;

[0027] Figure 2 This is a torque output principle block diagram provided by an embodiment of the present application;

[0028] Figure 3 is a structural schematic diagram of a torque output device provided in an embodiment of the present application;

[0029] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] The technical solution in the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B: "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0031] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying 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 the features.

[0032] With the development of electronic control technology for new energy vehicles, ESP is increasingly being used in vehicles to enhance the driver's driving experience and improve vehicle stability. When a vehicle skids or becomes unstable due to braking or acceleration during a turn, ESP will be activated to increase or reduce the torque path of the vehicle to restore the vehicle to a stable state.

[0033] In new energy vehicles, when the vehicle's wheels slip due to braking, ESP will output a torque increase intervention request based on the wheel slip rate, and VCU will respond to the torque increase intervention request to reduce the braking force output; when the vehicle's wheels slip due to acceleration, ESP will output a torque reduction intervention request based on the wheel slip rate, and VCU will respond to the torque reduction intervention request to reduce the driving force output. By adjusting the torque by VCU, the wheel slip rate is reduced to keep the vehicle body stable. Therefore, it is particularly important whether VCU can correctly respond to ESP's intervention request. Once VCU fails to correctly respond to ESP's intervention request, it may cause vehicle instability or even cause the vehicle to roll over.

[0034] At present, a strict monitoring strategy has been designed inside the VCU. When the VCU fails to respond correctly to the ESP's intervention request, the VCU's monitoring layer will trigger a safe state and clear the torque to zero, thereby preventing the output of unexpectedly excessive driving torque or unexpectedly small braking torque.

[0035] In actual applications, if the vehicle activates ESP torque intervention during braking, the VCU's monitoring layer will usually trigger a safe state when it detects an unexpectedly small braking force request. However, the VCU resets the torque to zero, which not only avoids unexpectedly small braking force requests, but also prohibits the occurrence of driving force, resulting in an excessive response that will reduce the driver's driving experience.

[0036] In order to solve the above technical problems, an embodiment of the present application provides a torque output method, and the executor of the method is a vehicle, specifically a vehicle control unit (VCU) in the vehicle.

[0037] Figure 1 It is a schematic flow chart of a torque output method provided in an embodiment of the present application.

[0038] For example, Figure 1 As shown, the method 100 includes:

[0039] S101, when it is determined that a torque-increasing intervention is required for the vehicle, a target torque-increasing torque value calculated by an electronic vehicle stability system is obtained.

[0040] S102: Based on the target torque value and the actual torque value calculated by the functional layer, it is determined whether to activate a preset safety state.

[0041] S103, when it is determined that the preset safety state is in an activated state, the first torque request value of the engine calculated by the functional layer is processed to obtain the first target torque request value of the engine, and the second torque request value of the motor calculated by the functional layer is processed to obtain the second target torque request value of the motor.

[0042] The first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero.

[0043] S104 , outputting a first target torque request value and a second target torque request value.

[0044] Further, Figure 1 The torque output method shown can be based on Figure 2 The torque output principle block diagram is shown.

[0045] For example, Figure 2 As shown, the vehicle controller VCU may include: a CAN input module 201, a monitoring layer 202, a functional layer 203 and a CAN output module 204.

[0046] The monitoring layer 202 may include an input interface module 2021 , an ESP interference torque monitoring module 2022 and an arbitration module 2023 .

[0047] Specifically, the input interface module 2021 is used to receive external CAN input signals such as the ESP torque increase interference activation flag, the ESP torque increase interference torque (i.e., the above-mentioned target torque increase torque value), vehicle speed, accelerator pedal position, and KL15 from the CAN input module 201. It is also used to output external CAN input signals such as the ESP torque increase interference activation flag, the target torque increase torque value calculated by ESP, vehicle speed, accelerator pedal position, and KL15 to the ESP interference torque monitoring module 2022.

[0048] The ESP intervention torque monitoring module 2022 is used to receive the ESP torque increase intervention activation flag output by the input interface module 2021, the target torque increase torque value calculated by ESP, the vehicle speed, the accelerator pedal position, and external CAN input signals such as KL15.

[0049] The ESP intervention torque monitoring module 2022 is also used to receive the actual torque increase value calculated by the functional layer 203, and determine whether the actual torque increase value is unexpectedly too small. If it is determined that the actual torque increase value calculated by the functional layer 203 is unexpectedly too small, the preset safety state is activated and the ESP torque increase interference fault flag is sent to the arbitration module 2023.

[0050] The arbitration module 2023 is used to receive the ESP torque interference fault flag output by the ESP interference torque monitoring module 2022. The arbitration module 2023 is also used to receive the engine torque request value (i.e. the first torque request value) and the motor torque request value (i.e. the second torque request value) calculated by the functional layer 203.

[0051] When determining that the ESP torque increase interference fault flag is activated, the arbitration module 2023 processes the engine torque request value (i.e., the first torque request value) calculated by the functional layer 203 to obtain the first target torque request value of the engine, and processes the motor torque request value (i.e., the second torque request value) calculated by the functional layer 203 to obtain the second target torque request value of the motor. Then, the first target torque request value of the engine and the second target torque request value of the motor are output to the CAN output module 204.

[0052] When determining that the ESP torque increase interference fault flag is not activated, the arbitration module 2023 outputs the first torque request value and the second torque request value calculated by the functional layer 203 to the CAN output module 204 .

[0053] The functional layer 203 includes a torque function module 2031, which is used to receive external CAN input signals such as ESP torque increase intervention activation flag, ESP torque increase intervention torque (i.e. the above-mentioned target torque increase torque value), vehicle speed, accelerator pedal position and KL15 from the CAN input module 201.

[0054] The torque function module 2031 is also used to calculate the above-mentioned actual torque value based on the ESP torque increase intervention activation flag, the target torque value calculated by ESP, the vehicle speed and the accelerator pedal position, and send the calculated actual torque value to the ESP intervention torque monitoring module 2022.

[0055] The torque function module 2031 is further configured to determine the engine torque request value (i.e., the first torque request value) and the motor torque request value (i.e., the second torque request value) based on the actual torque increase torque value, and send the determined first torque request value and second torque request value to the arbitration module 2023 .

[0056] It can be seen that compared with the solution in the prior art that directly clears the output torque to zero when the monitoring layer detects that the actual torque increase value calculated by the functional layer is unexpectedly too small, the embodiment of the present application first activates the ESP torque increase interference fault flag when the monitoring layer detects that the actual torque increase value calculated by the functional layer is unexpectedly too small, and then performs targeted processing on the torque request values ​​of the engine and the motor respectively, to obtain a first target torque request value of the engine greater than or equal to zero and a second target torque request value of the motor greater than or equal to zero, and by reasonably adjusting the output torque, it is achieved that the output of the driving torque is no longer prohibited, and when the actual torque increase value calculated by the functional layer is unexpectedly too small, the normal output of the driving torque of the vehicle is guaranteed, thereby preventing the vehicle from being unable to drive normally due to limiting the driving force, and improving the user's car experience.

[0057] exist Figure 1 and Figure 2 In the embodiment shown, when it is determined that the vehicle needs to be subjected to torque intervention, the target torque value calculated by the electronic body stability system is obtained and compared with the actual torque value calculated by the functional layer, so that the difference in torque can be found in time, thereby determining whether there is an abnormal risk in the torque state of the vehicle, and the preset safety state can be quickly activated when there is an abnormal risk, ensuring that measures can be taken quickly in abnormal situations. After the preset safety state is activated, the torque request values ​​of the engine and the motor are processed in a targeted manner to obtain a first target torque request value of the engine greater than or equal to zero and a second target torque request value of the motor greater than or equal to zero, and output the first target torque request value and the second target torque request value. By reasonably adjusting the output torque, it is realized that the output of positive driving torque is no longer prohibited, and the normal output of the driving torque of the vehicle is guaranteed when the actual torque value calculated by the functional layer is unexpectedly too small, preventing the vehicle from being unable to drive normally due to limiting the driving force, and improving the user's car experience.

[0058] Combine the following Figure 2 ,right Figure 1 The specific implementation of each step in the embodiment shown is described as follows:

[0059] As for the above S101, it can be understood that the above torque-increasing intervention means that in certain circumstances, in order to improve the stability and handling of the vehicle, ESP actively increases the output torque of the engine or motor.

[0060] For example, when the vehicle is driving on a slippery road and the wheels slip, ESP will increase torque to restore grip; when the vehicle is turning at high speed or making an emergency avoidance maneuver, ESP will increase torque to help the vehicle restore stability; when the vehicle is going uphill or starting, ESP will increase torque to improve traction.

[0061] In some embodiments, the ESP system collects real-time data from the vehicle through various sensors in the vehicle (such as wheel speed sensors, steering angle sensors, yaw rate sensors, etc.), and then the algorithm inside the ESP determines whether torque intervention is needed based on the collected real-time data from the vehicle.

[0062] Furthermore, when it is determined that torque-increasing intervention is required for the vehicle, ESP will calculate a target torque-increasing torque value and send the target torque-increasing torque value to the VCU via the vehicle's controller area network (CAN).

[0063] Specifically, ESP can determine the target torque value required to achieve vehicle stability control based on the vehicle's real-time dynamic information (such as wheel speed information, yaw rate, steering angle, lateral acceleration, longitudinal acceleration and road condition information).

[0064] It can be understood that the above-mentioned target torque value can be determined based on the current actual driving state of the vehicle. For example, an accurate torque adjustment amount can be calculated based on the wheel speed, yaw rate, lateral acceleration, etc., and then the target torque value can be determined based on the torque adjustment amount and the current torque.

[0065] Furthermore, if Figure 2 As shown, when the VCU functional layer receives the torque increase intervention request sent by ESP (i.e., determines that the ESP torque increase intervention activation flag is in the activated state), it will also calculate the actual torque increase torque value based on the target torque increase torque value calculated by ESP, the vehicle speed and the accelerator pedal position.

[0066] In one possible implementation, the actual torque value is calculated in the following manner: obtaining the vehicle's current speed, current throttle opening, and target torque value calculated by the electronic body stability system; determining the driver's required torque value based on the current vehicle speed and the current throttle opening; and determining the larger value between the driver's required torque value and the target torque value as the actual torque value.

[0067] It can be understood that the above-mentioned current vehicle speed refers to the current driving speed of the vehicle, which can be obtained through the vehicle speed sensor; the above-mentioned current throttle opening refers to the degree to which the driver presses the accelerator pedal, that is, the accelerator pedal position mentioned above, usually expressed in the form of a percentage, which can be obtained through the accelerator pedal position sensor.

[0068] Further, after the current vehicle speed and the current throttle opening are acquired, the driver's required torque value may be determined based on the current vehicle speed and the current throttle opening.

[0069] Exemplarily, a predefined mapping relationship may be obtained, and based on the mapping relationship, the driver's required torque corresponding to two parameters, the current vehicle speed and the current throttle opening, may be determined.

[0070] It can be understood that the above-mentioned predefined mapping relationship may be a correspondence between the driving parameters (ie the above-mentioned vehicle speed and throttle opening) and the driver's required torque.

[0071] For example, the mapping relationship may be as shown in Table 1:

[0072] Table 1

[0073]

[0074] Furthermore, if the current vehicle speed is obtained to be 60 km / h and the current throttle opening is 50%, by querying the predefined mapping relationship, that is, the above-mentioned Table 1, it can be determined that the driver's required torque is 100 N·m.

[0075] Furthermore, after the driver's required torque is determined, the driver's required torque and the target torque-increasing value may be compared, and the larger of the two values ​​may be selected as the actual torque-increasing value.

[0076] For example, if the target torque value calculated by ESP is 120 N·m and the determined driver demand torque is 100 N·m, by comparison, the larger target torque value 120 N·m is determined as the actual torque value.

[0077] Regarding the above S102, it is understood that after the VCU functional layer calculates the above actual torque value, it can send the actual torque value to the monitoring layer. The monitoring layer can determine whether to activate the preset safety state based on the target torque value calculated by the ESP and the actual torque value calculated by the functional layer.

[0078] Exemplarily, the above-mentioned preset safety state may be an activation state of the ESP torque increase interference fault flag. If the preset safety state is an activation state, it means that the ESP torque increase interference fault flag is activated.

[0079] Furthermore, by activating the above-mentioned preset safety state, the torque output of the vehicle can be limited, and a reminder message can also be sent to the user of the vehicle so that the user can take emergency measures.

[0080] In one possible implementation, whether to activate a preset safety state is determined based on the target torque value and the actual torque value calculated by the functional layer, including: determining whether the functional layer has a fault based on the target torque value and the actual torque value calculated by the functional layer; and determining to activate the preset safety state when it is determined that the functional layer has a fault.

[0081] It can be understood that by comparing the target torque value calculated by ESP and the actual torque value calculated by the functional layer, it is determined whether there is a fault in the functional layer based on the relationship between the target torque value and the actual torque value.

[0082] For example, if the target torque value and the actual torque value are equal or the difference is within a reasonable range, it means that the functional layer is working normally; if the actual torque value differs too much from the target torque value and is not within a reasonable range, it means that there is an abnormality in the operation of the functional layer and there may be a fault.

[0083] When it is determined that there is a fault in the functional layer, in order to prevent the vehicle from losing control, the preset safety state can usually be activated so that the vehicle can operate in a relatively safe and stable mode, reducing the risks caused by the functional layer failure.

[0084] In one possible implementation, based on the target torque value and the actual torque value calculated by the functional layer, it is determined whether the functional layer has a fault, including: determining whether the actual torque value is less than the target torque value; and determining that the functional layer has a fault if it is determined that the actual torque value is less than the target torque value.

[0085] It is understandable that, as mentioned above, the functional layer determines the driver's required torque value based on the current vehicle speed and the current throttle opening, and determines the larger value between the driver's required torque value and the target torque value as the actual torque value. In general, the actual torque value calculated by the functional layer is greater than or equal to the target torque value calculated by ESP.

[0086] Based on this, if the actual torque value calculated by the functional layer is less than the target torque value calculated by ESP, it means that there is a fault in the functional layer.

[0087] For example, if the target torque value calculated by ESP is 20 N·m and the actual torque value calculated by the functional layer is 10 N·m, it is determined that the actual torque value is less than the target torque value, and thus it is determined that there is a fault in the functional layer.

[0088] Furthermore, when it is determined that a fault exists in the functional layer, a preset safety state is activated, that is, the ESP torque increase interference fault flag is activated.

[0089] The above method can monitor in real time whether the working state of the functional layer meets expectations by comparing the target torque value and the actual torque value calculated by the functional layer. Once there is a difference between the target torque value and the actual torque value, especially when the actual torque value is less than the target torque value, it means that the functional layer may fail. Then the preset safety state can be activated immediately to limit the output torque to avoid the vehicle from losing control due to improper torque output, which can ensure the safety of the occupants in the vehicle in a timely manner and improve the safety of the vehicle.

[0090] Regarding the above S103 and S104, it can be understood that when it is determined that the preset safety state is in an activated state, the monitoring layer will process the first torque request value of the engine calculated by the functional layer, and will also process the second torque request value of the motor calculated by the functional layer.

[0091] The first torque request value of the engine and the second torque request value of the motor may be determined based on an actual torque increase value calculated by the functional layer.

[0092] Exemplarily, after the functional layer calculates the actual torque value, the functional layer can determine the torque distribution strategy according to the current actual situation of the vehicle, and based on the torque distribution strategy, determine the first torque request value of the engine and the second torque request value of the motor.

[0093] As mentioned above, if the preset safety state is activated, the output torque is directly cleared to zero, which not only avoids unexpected braking force, but also prohibits the generation of driving force, affecting the normal driving of the vehicle.

[0094] It can be understood that a negative torque request generally corresponds to a situation where the vehicle generates a braking force; and a positive torque request generally corresponds to a situation where the vehicle generates a driving force.

[0095] The generation of unexpected braking force may cause unnecessary and unexpected braking of the vehicle. If negative torque requests are not prohibited, the motor or engine may accidentally output negative torque, which may cause unnecessary and unexpected braking of the vehicle, affecting the normal driving of the vehicle and may even cause danger. During normal driving, the vehicle mainly relies on positive torque to achieve power requirements such as acceleration and maintaining vehicle speed. If positive torque requests are prohibited, the vehicle will not be able to drive normally, resulting in a poor user experience.

[0096] Therefore, in order to minimize the impact on vehicle driving, only the braking force may be prohibited without prohibiting the driving force, that is, the generation of negative torque may be prohibited without prohibiting the generation of positive torque.

[0097] Based on this, the monitoring layer can process the first torque request value of the engine calculated by the functional layer to obtain a first target torque request value greater than or equal to zero, and process the second torque request value of the motor calculated by the functional layer to obtain a second target torque request value greater than or equal to zero, thereby prohibiting the engine and the motor from outputting negative torque.

[0098] In one possible implementation, the first torque request value of the engine calculated by the functional layer is processed to obtain the first target torque request value of the engine, and the second torque request value of the motor calculated by the functional layer is processed to obtain the second target torque request value of the motor, including: comparing the first torque request value and the first preset torque limit value to obtain the larger value of the first torque request value and the first preset torque limit value, and determining the larger value as the first target torque request value; comparing the second torque request value and the second preset torque limit value to obtain the larger value of the second torque request value and the second preset torque limit value, and determining the larger value as the second target torque request value.

[0099] It is understandable that the first preset torque limit and the second preset torque limit can be set according to actual needs, and the first preset torque limit can be equal to the second preset torque limit, or the first preset torque limit can be unequal to the second preset torque limit. This embodiment of the application does not limit this.

[0100] Exemplarily, the first preset torque limit and the second preset torque limit may both be set to 0 N·m. If the first torque request value of the engine calculated by the functional layer is -10 N·m, the first torque request value -10 N·m is compared with the first preset torque limit 0 N·m to obtain the larger value 0 N·m of the first torque request value and the first preset torque limit, then 0 N·m is determined as the first target torque request value.

[0101] If the second torque request value of the motor calculated by the functional layer is 20N·m, the second torque request value 20N·m is compared with the second preset torque limit value 0N·m to obtain the larger value 20N·m of the second torque request value and the second preset torque limit value, then 20N·m is determined as the second target torque request value.

[0102] The above method, by comparing the first torque request value and the first preset torque limit value, determines the larger value obtained by comparison as the first target torque request value, and can limit the output first target torque request value, such as setting the first preset torque limit value to zero, so that the output first target torque request value can be limited to be greater than or equal to zero; similarly, by comparing the second torque request value and the second preset torque limit value, determining the larger value obtained by comparison as the second target torque request value, the output second target torque request value can also be limited, such as setting the second preset torque limit value to zero, so that the output second target torque request value can be limited to be greater than or equal to zero. Through the above processing, it is possible to avoid the engine and the motor from outputting inappropriate torque, thereby avoiding the vehicle from causing a safety accident due to unexpected braking. At the same time, the larger value in the comparison process is determined as the final output torque, which ensures the output of positive torque, that is, driving torque, and avoids affecting the normal driving of the vehicle, which can improve the user's car experience.

[0103] Further, after determining the first target torque request value and the second target torque request value, the monitoring layer may output the first target torque request value and the second target torque request value through a CAN output module.

[0104] In a possible implementation, the method further includes: in a case where it is determined that the preset safety state is in an activated state, maintaining the preset safety state in an activated state until the vehicle is powered off and then powered on again.

[0105] It is understandable that once it is determined that the preset safety state is in the activated state, it indicates that there is a fault in the functional layer. To ensure the safety of the vehicle, the preset safety state may always be kept activated until the vehicle is completely powered off and powered on again.

[0106] The above-mentioned keeping the preset safety state in an activated state until the vehicle is powered off and then powered on again can be understood as: the safety state is locked and maintained until the next driving cycle and then restored.

[0107] In some embodiments, the monitoring layer can determine whether the vehicle is powered off and then powered on again by monitoring the changing trend of the KL15 signal in real time.

[0108] It is understandable that the above KL15 signal is used to indicate whether the vehicle's ignition switch is turned on. When the KL15 signal changes from a high level to a low level (there is a falling edge), it indicates that the vehicle has been powered off; when the KL15 signal changes from a low level to a high level again (there is a rising edge), it indicates that the vehicle has been powered on again.

[0109] Exemplarily, when the monitoring layer detects that the KL15 signal first has a falling edge and then a rising edge, it means that the vehicle is powered off and then powered on again, then the lock of the safety state can be released, that is, the preset safety state is controlled to be in an inactive state.

[0110] The above method, by keeping the preset safety state activated until the vehicle is powered off and then powered on again, can ensure that the vehicle always operates according to the rules set in the safety state during the entire power-on cycle, avoid safety issues related to vehicle loss of control caused by sudden resumption of normal operating mode due to unresolved faults, and can further improve the safety of the vehicle.

[0111] Further, if it is determined that there is no fault in the functional layer, there is no need to activate the preset safety state, that is, it is determined that the preset safety state is in an inactive state.

[0112] In a possible implementation, the method further includes: when it is determined that the preset safety state is in an inactive state, outputting a first torque request value of the engine and a second torque request value of the motor.

[0113] It can be understood that if the monitoring layer determines that the actual torque increase value calculated by the functional layer is greater than or equal to the target torque increase value calculated by ESP, it means that there is no fault in the functional layer, and there is no need to activate the preset safety state. The first torque request value of the engine and the second torque request value of the motor calculated by the functional layer can be directly output.

[0114] For example, assuming that the first torque request value of the engine calculated by the functional layer is 10N·m, and the second torque request value of the motor calculated by the functional layer is 5N·m, if it is determined that the preset safety state is in an inactive state, the first torque request value of the engine 10N·m and the second torque request value 5N·m of the motor are directly output.

[0115] Figure 3 It is a structural schematic diagram of a torque output device provided in an embodiment of the present application.

[0116] For example, Figure 3 As shown, the device 300 includes:

[0117] The acquisition module 301 is used to acquire the target torque increase value calculated by the electronic vehicle stability system when it is determined that torque increase intervention is required for the vehicle.

[0118] The judgment module 302 is used to judge whether to activate the preset safety state based on the target torque value and the actual torque value calculated by the functional layer.

[0119] The processing module 303 is used to process the first torque request value of the engine calculated by the functional layer to obtain the first target torque request value of the engine, and to process the second torque request value of the motor calculated by the functional layer to obtain the second target torque request value of the motor when it is determined that the preset safety state is in an activated state.

[0120] The first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero.

[0121] The output module 304 is configured to output the first target torque request value and the second target torque request value.

[0122] In one possible implementation, the processing module is specifically used to: compare the first torque request value and the first preset torque limit value to obtain the larger value of the first torque request value and the first preset torque limit value, and determine the larger value as the first target torque request value; compare the second torque request value and the second preset torque limit value to obtain the larger value of the second torque request value and the second preset torque limit value, and determine the larger value as the second target torque request value.

[0123] In one possible implementation, the judgment module is specifically used to: judge whether the functional layer has a fault based on the target torque value and the actual torque value calculated by the functional layer; if it is determined that the functional layer has a fault, determine to activate the preset safety state.

[0124] In one possible implementation, the judgment module includes a judgment unit, which is specifically used to: judge whether the actual torque increase value is less than the target torque increase value; if it is determined that the actual torque increase value is less than the target torque increase value, determine that there is a fault in the functional layer.

[0125] Optionally, the device further includes a maintaining module, which is specifically used to: when it is determined that the preset safety state is in an activated state, maintain the preset safety state in an activated state until the vehicle is powered off and then powered on again.

[0126] Optionally, the device also includes an actual torque value calculation module, which is specifically used to: obtain the vehicle's current speed, current throttle opening and target torque value calculated by the electronic body stability system; determine the driver's required torque value based on the current vehicle speed and the current throttle opening; and determine the larger value between the driver's required torque value and the target torque value as the actual torque value.

[0127] Optionally, the device further includes a second output module, and the second output module is specifically used to: when it is determined that the preset safety state is in an inactive state, output a first torque request value of the engine and a second torque request value of the motor.

[0128] Figure 4 It is a structural schematic diagram of a vehicle provided in an embodiment of the present application.

[0129] For example, Figure 4 As shown, the vehicle 400 includes: a memory 401 and a processor 402, wherein the memory 401 stores an executable program code 4011, and the processor 402 is used to call and execute the executable program code 4011 to perform a torque output method.

[0130] In addition, an embodiment of the present application also protects a device, which may include a memory and a processor, wherein the memory stores an executable program code, and the processor is used to call and execute the executable program code to perform a torque output method provided in an embodiment of the present application.

[0131] In this embodiment, the functional modules of the device can be divided according to the above method example. For example, each functional module can be corresponded, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0132] In the case of dividing each functional module according to each function, the device may also include an acquisition module, a judgment module, a processing module, an output module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here.

[0133] It should be understood that the device provided in this embodiment is used to execute the above-mentioned torque output method, and thus can achieve the same effect as the above-mentioned implementation method.

[0134] In the case of 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 may be used to control and manage the actions of the vehicle. The storage module may be used to support the vehicle in executing relevant program codes and data.

[0135] The processing module may be a processor or a controller, which may implement or execute various exemplary logic blocks, modules and circuits shown in combination with the contents disclosed in this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module may be a memory.

[0136] In addition, the device provided in the embodiments of the present application may specifically be a chip, a component or a module, and the chip may include a connected processor and a memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a torque output method provided in the above embodiments.

[0137] This embodiment also provides a computer-readable storage medium, in which a computer program code is stored. When the computer program code is executed on a computer, the computer executes the above-mentioned related method steps to implement a torque output method provided in the above embodiment.

[0138] This embodiment also provides a computer program product. When the computer program product is run on a computer, the computer is enabled to execute the above-mentioned related steps to implement a torque output method provided in the above embodiment.

[0139] Among them, the device, computer-readable storage medium, computer program product or chip provided in this embodiment is used to execute the corresponding method provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method provided above, and will not be repeated here.

[0140] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned 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.

[0141] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The above contents are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for outputting torque, characterized in that: The method comprises: When it is determined that a torque increase intervention is required for the vehicle, obtaining a target torque increase torque value calculated by an electronic vehicle stability system; Based on the target torque value and the actual torque value calculated by the functional layer, determining whether to activate a preset safety state; In the case where it is determined that the preset safety state is in the activated state, a first torque request value of the engine calculated by the functional layer and a first preset torque limit value are compared and processed to obtain a larger value between the first torque request value and the first preset torque limit value, and the larger value is determined as a first target torque request value of the engine; a second torque request value of the motor calculated by the functional layer and a second preset torque limit value are compared and processed to obtain a larger value between the second torque request value and the second preset torque limit value, and the larger value is determined as a second target torque request value of the motor; wherein the first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero; The first target torque request value and the second target torque request value are output.

2. The method according to claim 1, characterized in that The determining whether to activate a preset safety state based on the target torque value and the actual torque value calculated by the functional layer includes: Based on the target torque value and the actual torque value calculated by the functional layer, determining whether the functional layer has a fault; In the case where it is determined that a fault exists in the functional layer, it is determined to activate the preset safety state.

3. The method according to claim 2, characterized in that The determining whether the functional layer has a fault based on the target torque value and the actual torque value calculated by the functional layer includes: Determining whether the actual torque value is less than the target torque value; In the case where it is determined that the actual torque-adding torque value is less than the target torque-adding torque value, it is determined that a fault exists in the functional layer.

4. The method according to claim 1 or 2, characterized in that: The method further comprises: In the case where it is determined that the preset safety state is in the activated state, the preset safety state is kept in the activated state until the vehicle is powered off and then powered on again.

5. The method according to claim 1 or 2, characterized in that: The actual torque value is calculated by: Obtaining the current vehicle speed, the current throttle opening, and the target torque value calculated by the electronic vehicle stability system; Determining a driver required torque value based on the current vehicle speed and the current throttle opening; A larger value between the driver demand torque value and the target torque-increasing torque value is determined as the actual torque-increasing torque value.

6. The method according to claim 1, characterized in that The method further comprises: In a case where it is determined that the preset safety state is in an inactive state, a first torque request value of the engine and a second torque request value of the motor are output.

7. A torque output device, characterized in that: The device comprises: An acquisition module, used for acquiring a target torque increase value calculated by an electronic vehicle stability system when it is determined that torque increase intervention is required for the vehicle; A judgment module, used for judging whether to activate a preset safety state based on the target torque value and the actual torque value calculated by the functional layer; A processing module, configured to, when determining that the preset safety state is in an activated state, compare a first torque request value of the engine calculated by the functional layer with a first preset torque limit value, obtain a larger value between the first torque request value and the first preset torque limit value, and determine the larger value as a first target torque request value of the engine; compare a second torque request value of the motor calculated by the functional layer with a second preset torque limit value, obtain a larger value between the second torque request value and the second preset torque limit value, and determine the larger value as a second target torque request value of the motor; wherein the first target torque request value is greater than or equal to zero; and the second target torque request value is greater than or equal to zero; An output module is configured to output the first target torque request value and the second target torque request value.

8. A vehicle, characterized in that: The vehicle comprises: A memory for storing executable program codes; A processor, configured to call and run the executable program code from the memory, so that the vehicle executes the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the method according to any one of claims 1 to 6 is implemented.

Images