Vehicle driving monitoring method, controller, vehicle and storage medium

Abstract

The invention provides a vehicle driving monitoring method, a controller, a vehicle and a storage medium, and relates to the technical field of vehicle monitoring. The method comprises the steps that the torque direction of a rotating shaft in the vehicle is determined according to the actual torque of a motor; determining the actual moving direction of the vehicle according to the actual rotating speed of the motor on the rotating shaft, the actual rotating speed of the wheel corresponding to the motor and the vehicle body moving direction; according to the gear signal of the vehicle, the torque direction of the rotating shaft and the actual movement direction of the vehicle, whether the driving state of the vehicle is an unexpected reverse driving state or not is judged; and if the torque direction of the rotating shaft and the actual movement direction of the vehicle are not consistent with the expected driving direction, determining that the driving state of the vehicle is an unexpected reverse driving state. According to the method, the unexpected reverse running of the vehicle caused by the torque driving of the motor can be accurately monitored, the vehicle can be timely controlled, the safety of the vehicle is ensured, and the potential safety risk of the vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle monitoring, and in particular to a vehicle driving monitoring method, a controller, a vehicle and a storage medium. Background Art

[0002] With the rapid development of the automotive industry in the areas of new energy, intelligent driving, intelligent vehicle networking and lightweighting, the functions and technologies of automotive electronic and electrical systems are becoming more complex, and the resulting safety risks such as systematic failures and random hardware failures are also gradually increasing.

[0003] Especially driven by distributed drive technology, the power performance of the vehicle is improving day by day. For example, the four-motor drive can accelerate the vehicle to 100km / h in 3 seconds. However, this also brings new safety hazards, that is, when the direction of movement of the vehicle is contrary to the user's expected direction, serious accident consequences may occur.

[0004] Existing monitoring methods can only monitor the desired gear position of the vehicle and determine the user's driving intention, but cannot monitor the vehicle's unexpected reverse driving state, resulting in certain potential safety risks. Summary of the invention

[0005] The problem to be solved by the present invention is that the existing monitoring method is unable to monitor the unexpected reverse driving state of the vehicle, resulting in a certain significant potential safety risk.

[0006] To solve the above problems, in a first aspect, the present invention provides a vehicle driving monitoring method, comprising:

[0007] Determining the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels;

[0008] Determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body;

[0009] determining whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle;

[0010] If the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0011] Optionally, two of the motors are provided on each of the rotating shafts of the vehicle, wherein the two motors on one rotating shaft are respectively used to drive two wheels connected to the rotating shaft.

[0012] Optionally, determining the torque direction of the rotating shaft in the vehicle according to the actual torque of the motor includes:

[0013] For each of the rotating shafts of the vehicle, determining a total actual torque value of the rotating shaft according to actual torques of the two motors on the rotating shaft;

[0014] If the actual total torque value of the rotating shaft is greater than or equal to a first preset torque threshold, it is determined that the torque direction of the rotating shaft is forward;

[0015] If the actual total torque value of the rotating shaft is less than or equal to a second preset torque threshold, it is determined that the torque direction of the rotating shaft is backward, wherein the first preset torque threshold is a positive number and the second preset torque threshold is a negative number;

[0016] If the actual total torque value of the rotating shaft is less than the first preset torque threshold and greater than the second preset torque threshold, it is determined that the torque direction of the rotating shaft is stationary.

[0017] Optionally, determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body includes:

[0018] For each of the rotating shafts of the vehicle, determining a rotation direction of the motor on the rotating shaft according to an actual motor speed of the motor on the rotating shaft;

[0019] determining a rotation direction of the wheel on the rotating shaft according to an actual rotation speed of the wheel connected to the rotating shaft;

[0020] According to the rotation direction of the motor on the rotating shaft, the rotation direction of the wheels and the movement direction of the vehicle body, the actual movement direction of the vehicle based on the rotating shaft is determined.

[0021] Optionally, for each of the rotating shafts of the vehicle, determining the rotation direction of the motor on the rotating shaft according to the actual motor speed of the motor on the rotating shaft includes:

[0022] For each of the rotating shafts of the vehicle, if the actual motor speed of any one of the two motors on the rotating shaft is greater than or equal to a first preset motor speed threshold, it is determined that the motor on the rotating shaft rotates forward, wherein the difference between the actual motor speeds of the two motors on the same rotating shaft is within a preset range;

[0023] If the actual motor speed of any one of the two motors on the shaft is less than or equal to a second preset motor speed threshold, it is determined that the motor on the shaft rotates backward, wherein the first preset motor speed threshold is a positive number and the second preset motor speed threshold is a negative number;

[0024] Otherwise, it is determined that the rotation direction of the motor on the rotating shaft is stationary.

[0025] Optionally, determining the rotation direction of the wheel on the rotating shaft according to the actual rotation speed of the wheel connected to the rotating shaft comprises:

[0026] For each of the rotating shafts of the vehicle, if the actual wheel speed of any one of the two wheels on the rotating shaft is greater than or equal to a first preset wheel speed threshold, it is determined that the wheel on the rotating shaft rotates forward, wherein the difference between the actual wheel speeds of the two wheels on the same rotating shaft is within a preset range;

[0027] If the actual wheel speed of any one of the two wheels on the rotating shaft is less than or equal to a second preset wheel speed threshold, it is determined that the wheel on the rotating shaft rotates in a backward direction, wherein the first preset wheel speed threshold is a positive number and the second preset wheel speed threshold is a negative number;

[0028] Otherwise, it is determined that the rotation direction of the wheel on the rotating shaft is stationary.

[0029] Optionally, determining the actual movement direction of the vehicle based on the rotating shaft according to the rotation direction of the motor on the rotating shaft, the rotation direction of the wheel and the movement direction of the vehicle body comprises:

[0030] Verify the rotation direction of the motor on the shaft, the rotation direction of the wheels on the same shaft, and the movement direction of the vehicle body, and determine the number of directions that pass the verification;

[0031] When the number of directions that pass the check is greater than or equal to 2, determine whether there are two opposite directions in the directions that pass the check;

[0032] If yes, then according to the preset priority, the non-stationary direction with the highest priority among the verified directions is used as the actual moving direction of the vehicle obtained based on the rotating shaft, wherein the non-stationary direction represents a forward or backward direction; if no, then according to the verified directions, the actual moving direction of the vehicle obtained based on the rotating shaft is determined;

[0033] When the number of passed verifications is equal to 1, determining the direction passed through the verification as the actual moving direction of the vehicle obtained based on the rotation axis;

[0034] When the number of passed checks is equal to 0, the actual moving direction of the vehicle is determined based on the re-acquired actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body.

[0035] Optionally, judging whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle includes:

[0036] Determining the desired driving direction according to the gear position signal, wherein the desired driving direction includes forward, stationary and backward;

[0037] In the case where the expected driving direction is stationary, if the torque direction of the rotating shaft and the actual moving direction of the vehicle obtained based on the rotating shaft are forward or backward, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state;

[0038] When the desired driving direction is forward or backward, if the torque direction of the rotating shaft and the actual movement direction of the vehicle obtained based on the rotating shaft are opposite to the desired driving direction, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state.

[0039] Optionally, after determining whether the driving state of the vehicle is an unexpected reverse driving state, the vehicle driving monitoring method further includes:

[0040] If the driving state of the vehicle is the unexpected reverse driving state, a trigger signal is generated, and the trigger signal is used to trigger the motor controller to control the motor to stop working.

[0041] Optionally, if the driving state of the vehicle is the unexpected reverse driving state, generating a trigger signal includes:

[0042] If the driving state of the vehicle obtained based on the rotating shaft is the unexpected reverse driving state, determining whether the duration of the unexpected reverse driving state is greater than or equal to a preset time threshold;

[0043] When the duration of the unexpected reverse driving state is greater than or equal to the preset time threshold, the trigger signal is generated, wherein the trigger signal is used to trigger the motor controller to control the motor on the rotating shaft to stop working.

[0044] In a second aspect, the present invention provides a controller, comprising:

[0045] The torque direction monitoring module is used to determine the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels.

[0046] The actual movement direction monitoring module is used to determine the actual movement direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor and the running direction of the vehicle body.

[0047] A driving state monitoring module is used to determine whether the driving state of the vehicle is an unexpected reverse driving state based on the gear signal of the vehicle, the torque direction of the rotating shaft and the actual movement direction of the vehicle; if the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, then the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0048] In a third aspect, the present invention provides a vehicle, comprising a memory and a processor; the memory is used to store a computer program; the processor is used to implement the vehicle driving monitoring method as described above when executing the computer program.

[0049] In a fourth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the vehicle driving monitoring method as described above is implemented.

[0050] The beneficial effects of a vehicle driving monitoring method, controller, vehicle and storage medium of the present invention are:

[0051] According to the actual torque of the motor, the torque direction of the shaft in the vehicle is determined to achieve real-time monitoring of the torque direction of the shaft; according to the actual speed of the motor on the shaft, the actual speed of the wheel corresponding to the motor and the running direction of the vehicle body, the actual movement direction of the vehicle is determined, and multiple directions are comprehensively analyzed to improve the accuracy of the determined actual movement direction of the vehicle; according to the gear signal of the vehicle, the torque direction of the shaft and the actual movement direction of the vehicle, it is determined whether the driving state of the vehicle is an unexpected reverse driving state, and the unexpected reverse driving caused by the motor torque drive is accurately identified; if the torque direction of the shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be an unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle, at this time, the motor on the shaft can be controlled to stop working or other braking protection measures can be taken to avoid the motor continuing to drive the vehicle and cause greater damage. Through the above method, the unexpected reverse driving of the vehicle caused by the torque drive of the motor can be accurately monitored, which is conducive to timely control of the vehicle, ensuring vehicle safety and reducing potential safety risks of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 A schematic diagram of a process flow of a vehicle driving monitoring method provided by an embodiment of the present invention;

[0053] Figure 2 A schematic diagram of a flow chart for analyzing the torque direction of a rotating shaft provided by an embodiment of the present invention;

[0054] Figure 3 A schematic diagram of a motor rotation direction analysis process provided by an embodiment of the present invention;

[0055] Figure 4 A schematic diagram of a process flow for analyzing the actual moving direction of a vehicle provided by an embodiment of the present invention;

[0056] Figure 5 A schematic diagram of an analysis process of an unexpected reverse driving state provided by an embodiment of the present invention;

[0057] Figure 6 A schematic diagram of the structure of a controller provided by an embodiment of the present invention;

[0058] Figure 7 A schematic structural diagram of a vehicle provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be interpreted as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0060] It should be understood that the various steps described in the method embodiments of the present invention may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present invention is not limited in this respect.

[0061] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0062] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0063] The names of the messages or information exchanged between multiple devices in the embodiments of the present invention are only used for illustrative purposes, and are not used to limit the scope of these messages or information.

[0064] In the prior art, the electronic gear lever controller is responsible for receiving the driver's shifting instructions, such as D gear (forward gear), R gear (reverse gear), and P gear (parking gear), and converting these instructions into corresponding electronic signals and sending them to the vehicle controller. The body controller is responsible for managing various body functions of the vehicle, including lights, windows, seat adjustment, air conditioning, etc. It can also perform fusion calculations through the motion direction sensor to determine the direction of movement of the vehicle. The front dual motor controller is specifically used to control the two motors on the front axle of the vehicle, responsible for adjusting the power output, speed and torque of the motor, and realizing the distribution and control of the front drive force. The rear dual motor controller is similar to the front dual motor controller, but it is aimed at the two motors on the rear axle. It is responsible for adjusting the output of the rear motor and providing power distribution for the rear drive. As the core control unit of the electric vehicle, the vehicle controller is responsible for coordinating the communication and collaboration between the various controllers, and comprehensively managing the vehicle's power system, energy management, driving mode and safety strategy.

[0065] In view of the problems existing in the above-mentioned related technologies, this embodiment provides a vehicle driving monitoring method, a controller, a vehicle and a storage medium.

[0066] like Figure 1 As shown, a vehicle driving monitoring method provided by an embodiment of the present invention includes:

[0067] S1: Determine the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving wheels.

[0068] Specifically, the method can be applied to two-wheel drive vehicles (for example, only one rotating shaft is provided with a motor) and four-wheel drive vehicles (for example, two rotating shafts are provided with motors). For example, a four-wheel drive vehicle is provided with a drive motor on both the front axle and the rear axle. The motor on each rotating shaft can control the rotation of the wheels at both ends of the rotating shaft. In addition, the four-wheel drive vehicle can also be driven by four motors as an example. There are four motors in the vehicle to drive four wheels respectively, and two of the motors are provided on each rotating shaft of the vehicle. The two motors on the rotating shaft are used to drive the two wheels connected to the rotating shaft respectively. There are two front wheels at both ends of the front axle of the vehicle, and there are also two rear wheels at both ends of the rear axle of the vehicle. The actual torque of the vehicle motor can be obtained from the front dual motor controller and the rear dual motor controller, and then the torque direction of the front axle and the rear axle can be analyzed according to the actual torque of the motor on the front axle or the rear axle.

[0069] S2: Determine the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the moving direction of the vehicle body.

[0070] Specifically, the general body controller uses the data of the motion direction sensor installed on the vehicle to analyze and determine the running direction of the body, but this method can only determine the moving direction of the body, and the moving direction of the body cannot fully reflect the actual situation of the vehicle's movement. For example, when the wheels of the vehicle slip in place due to ground reasons, the body will not move, but the motor and wheels are moving. At this time, the movement of the vehicle body is inconsistent with the movement of the motor and wheels. Therefore, when determining the actual running direction of the vehicle, it is necessary to consider the actual speed of the motor, the actual speed of the wheel, and the moving direction of the body. The actual moving direction of the vehicle is comprehensively judged from these three aspects, and the final moving direction is more accurate. The actual speed of the motor and the actual speed of the wheel are fed back quickly, and the speed of determining the actual moving direction of the vehicle is also fast, ensuring that the response of unexpected reverse monitoring will not be delayed.

[0071] S3: Determine whether the driving state of the vehicle is an unexpected reverse driving state based on the gear signal of the vehicle, the torque direction of the rotating shaft and the actual movement direction of the vehicle, wherein the unexpected reverse driving state is a state in which the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction.

[0072] Specifically, the gear position signal can be obtained from the electronic gear lever controller, and the expected driving direction of the current vehicle is analyzed according to the gear position signal. Unexpected reverse driving is a state in which the user's expected driving direction is inconsistent with the actual moving direction of the vehicle, where the inconsistency includes opposite directions; and the expected driving direction is stationary, while the actual moving direction of the vehicle is not stationary. In actual operation, if the movement of the vehicle is out of control under the drive of the motor, the vehicle will cause great harm, so it is necessary to focus on the actual torque of the motor. In addition, in the scenario where four motors independently drive four wheels, the four motors may have different movement states, two front wheels are coaxial, and two rear wheels are coaxial. If one of the two coaxial motors is abnormal, such as the left motor of the front axle is abnormal, in order to maintain the balance of the vehicle, it is generally necessary to stop the two motors of the front axle at the same time. Therefore, the two coaxial motors need to be analyzed as a whole, so the actual torque of the two coaxial motors is converted to the coaxial rotating shaft to obtain the torque direction of the front axle and the torque direction of the rear axle. At this time, according to the gear position signal, the torque direction of each rotating shaft and the actual moving direction of the vehicle corresponding to each rotating shaft, the unexpected reverse driving caused by the motor torque drive can be accurately identified.

[0073] S4: If the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0074] Specifically, if the vehicle's driving state is the unexpected reverse driving state, the motor on the vehicle can be controlled to stop working or the vehicle's braking force can be increased or switched to a safe automatic control mode to control the vehicle to stop safely, etc., to avoid the motor continuing to drive the vehicle and causing greater damage.

[0075] In this embodiment, according to the actual torque of the motor, the torque direction of the shaft in the vehicle is determined to achieve real-time monitoring of the torque direction of the shaft; according to the actual speed of the motor on the shaft, the actual speed of the wheel corresponding to the motor and the running direction of the vehicle body, the actual movement direction of the vehicle is determined, and multiple directions are comprehensively analyzed to improve the accuracy of the determined actual movement direction of the vehicle; according to the gear signal of the vehicle, the torque direction of the shaft and the actual movement direction of the vehicle, it is determined whether the driving state of the vehicle is an unexpected reverse driving state, and the unexpected reverse driving caused by the motor torque drive is accurately identified; if the torque direction of the shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, it is determined that the driving state of the vehicle is an unexpected reverse driving state, at this time, the motor on the shaft can be controlled to stop working or other braking protection measures can be taken, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle, to avoid the motor continuously driving the vehicle to cause greater damage. Through the above method, the unexpected reverse driving of the vehicle caused by the torque drive of the motor can be accurately monitored, and the vehicle can be controlled in time at this time to ensure the safety of the vehicle and reduce the potential safety risks of the vehicle.

[0076] Alternatively, if Figure 2 As shown, the method of determining the torque direction of the rotating shaft in the vehicle according to the actual torque of the motor includes:

[0077] For each of the rotating shafts of the vehicle, the total actual torque value of the rotating shaft is determined according to the actual torques of the two motors on the rotating shaft.

[0078] Specifically, taking a four-motor driven vehicle as an example, since the four wheels of the vehicle are driven separately, the actual torque of the front axle and the rear axle of the vehicle may be inconsistent, so the movement of the front axle and the rear axle are analyzed separately to obtain the total actual torque value of each rotating axle. For example, the actual torque of the two motors on the front axle is summed to obtain the total actual torque value of the front axle, and the actual torque of the two motors on the rear axle is summed to obtain the total actual torque value of the rear axle.

[0079] If the actual total torque value of the rotating shaft is greater than or equal to the first preset torque threshold, it is determined that the torque direction of the rotating shaft is forward.

[0080] If the actual total torque value of the rotating shaft is less than or equal to a second preset torque threshold, it is determined that the torque direction of the rotating shaft is backward, wherein the first preset torque threshold is a positive number and the second preset torque threshold is a negative number.

[0081] If the actual total torque value of the rotating shaft is less than the first preset torque threshold and greater than the second preset torque threshold, it is determined that the torque direction of the rotating shaft is stationary, that is, the rotating shaft is stationary.

[0082] For example, the first preset torque threshold can be set to 150N.m, and the second preset torque threshold can be set to -150N.m. If the total actual torque value of the front axle is greater than or equal to the first preset torque threshold, the torque direction of the front axle is judged to be forward, and the total actual torque value of the front axle is less than or equal to the second preset torque threshold, the torque direction of the front axle is judged to be backward, otherwise, the torque direction of the front axle is judged to be stationary. If the total actual torque value of the rear axle is greater than or equal to the first preset torque threshold, the torque direction of the rear axle is judged to be forward, and the total actual torque value of the rear axle is less than or equal to the second preset torque threshold, the torque direction of the rear axle is judged to be backward, otherwise, the torque direction of the rear axle is judged to be stationary. When judging the torque direction of the front axle and the rear axle, the preset torque thresholds corresponding to the front axle and the rear axle can be different in size, for example, the first preset torque threshold corresponding to the front axle can be set to 110N.m, and the second preset torque threshold can be set to -100N.m; and the first preset torque threshold corresponding to the rear axle can be set to 100N.m, and the second preset torque threshold can be set to -120N.m, etc. The above examples are only for a better understanding of the solution. There is no limitation on the specific values ​​of the first preset torque threshold and the second preset torque threshold, which can be adjusted according to actual needs.

[0083] In addition, the vehicle itself has a certain weight, and there is a certain friction between the vehicle and the ground. Therefore, the torque of the shaft must be greater than a certain value to drive the vehicle to start moving, and the shaft will rotate at this time. When the actual total torque value of the shaft is less than the first preset torque threshold and greater than the second preset torque threshold, the shaft is in the power accumulation stage and the shaft will not rotate. Therefore, the torque direction of the shaft in this case is defined as static, or the shaft is determined to be static. It should be noted that when performing the above analysis of the shaft torque direction, if the actual total torque value of the shaft is greater than or equal to the first preset torque threshold, the torque direction of the shaft is determined to be forward, and the actual total torque value of the shaft is a positive number; if the actual total torque value of the shaft is less than or equal to the second preset torque threshold, the torque direction of the shaft is determined to be backward, and the actual total torque value of the shaft is a negative number. It can also be adjusted according to actual usage. For example, if the actual total torque value of the shaft is greater than or equal to the first preset torque threshold, it is determined that the torque direction of the shaft is backward, and the actual total torque value of the shaft is positive; if the actual total torque value of the shaft is less than or equal to the second preset torque threshold, it is determined that the torque direction of the shaft is forward, and the actual total torque value of the shaft is negative. That is, the corresponding relationship between the range of the preset torque threshold and the torque direction of the shaft can be adjusted according to actual needs.

[0084] In this embodiment, the actual torque of each motor is obtained from the motor controller, and then the actual torques of the two coaxial motors are added together to obtain the total actual torque of the shaft. Based on the relationship between the actual total torque and the preset torque threshold, the torque direction of the shaft can be quickly and accurately determined. The analysis is accurate and rapid, ensuring the response speed of the monitoring system.

[0085] Optionally, determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body includes:

[0086] For each of the rotating shafts of the vehicle, a rotation direction of the motor on the rotating shaft is determined according to an actual rotation speed of the motor on the rotating shaft.

[0087] The rotation direction of the wheel on the rotating shaft is determined according to the actual rotation speed of the wheel connected to the rotating shaft.

[0088] According to the rotation direction of the motor on the rotating shaft, the rotation direction of the wheels and the movement direction of the vehicle body, the actual movement direction of the vehicle based on the rotating shaft is determined.

[0089] In this embodiment, taking a four-motor driven vehicle as an example, the front axle and the rear axle may also have inconsistent rotation directions. Therefore, the movement of the front axle and the rear axle are analyzed separately, and the two coaxial wheels are analyzed as a whole. The motor rotation direction is analyzed comprehensively through the actual speed of the two motors, and the wheel rotation direction is analyzed through the actual speed of the two wheels. The obtained motor rotation direction and wheel rotation direction are more accurate. This analysis method is more comprehensive and will not miss the movement parameters of a motor or wheel, and it is safer. The movement of the front axle and the rear axle are analyzed separately to determine the actual movement direction of the vehicle based on the front axle and the actual movement direction of the vehicle based on the rear axle.

[0090] Alternatively, if Figure 3 As shown, for each of the rotating shafts of the vehicle, determining the rotation direction of the motor on the rotating shaft according to the actual motor speed of the motor on the rotating shaft includes:

[0091] For each of the rotating shafts of the vehicle, if the actual motor speed of any one of the two motors on the rotating shaft is greater than or equal to a first preset motor speed threshold, it is determined that the rotation direction of the motor on the rotating shaft is forward, wherein the difference in the actual motor speeds of the two motors on the same rotating shaft is within a preset range.

[0092] If two motors or wheels on a shaft have different directions of rotation, a warning signal can be directly generated in the unexpected reverse vehicle driving monitoring process.

[0093] If the actual motor speed of any one of the two motors on the rotating shaft is less than or equal to the second preset motor speed threshold, it is determined that the rotation direction of the motor on the rotating shaft is backward, wherein the first preset motor speed threshold is a positive number and the second preset motor speed threshold is a negative number.

[0094] Otherwise, it is determined that the rotation direction of the motor on the rotating shaft is stationary, that is, the motor on the rotating shaft is stationary.

[0095] Specifically, taking a four-motor driven vehicle as an example, when the vehicle is driving or in a normal state, the rotation direction of the two coaxial motors or wheels is the same, but the four wheels of the vehicle may also have different directions. For example, in special operations such as electric vehicles turning around or turning on the spot, the wheels or motors on one shaft may have different directions, but when performing these special operations, they will switch to the corresponding operation mode, and in these operation modes, unexpected reverse monitoring may not be performed. In addition, the rotation directions of the two motors are usually the same during normal driving, and the difference in the actual speeds of the two motors is usually within a preset range. Therefore, it is only necessary to compare the actual motor speed of a motor on the same shaft with the first preset motor speed threshold or the second preset motor speed threshold to determine the rotation direction of the motor on the shaft.

[0096] Exemplarily, the first preset motor speed threshold is generally positive, and the second preset motor speed threshold is negative. For example, the first preset motor speed threshold can be set to 80rpm, and the second preset motor speed threshold can be set to -80rpm. If the actual speed of any one of the two motors on the front axle is greater than or equal to the first preset motor speed threshold, it is determined that the rotation direction of the front axle motor is forward. If the actual speed of any one of the two motors on the front axle is less than or equal to the second preset motor speed threshold, it is determined that the rotation direction of the front axle motor is backward. Otherwise, it is determined that the rotation direction of the front axle motor is stationary, that is, the front axle motor is stationary. If the actual speed of any one of the two motors on the rear axle is greater than or equal to the first preset motor speed threshold, it is determined that the rotation direction of the rear axle motor is forward. If the actual speed of any one of the two motors on the rear axle is less than or equal to the second preset motor speed threshold, it is determined that the rotation direction of the rear axle motor is backward. Otherwise, it is determined that the rotation direction of the rear axle motor is stationary, that is, the rear axle motor is stationary. When analyzing the motor rotation direction of the front axle and the rear axle, the preset motor speed thresholds corresponding to the front axle and the rear axle may be different. For example, the first preset motor speed threshold corresponding to the front axle may be set to 80rpm, and the second preset motor speed threshold may be set to -60rpm; and the first preset motor speed threshold corresponding to the rear axle may be set to 70rpm, and the second preset motor speed threshold may be set to -80rpm, etc. The above examples are only for a better understanding of the scheme. There is no restriction on the specific values ​​of the first preset motor speed threshold and the second preset motor speed threshold, and they can be adjusted according to actual needs. In addition, when the motor speed is low, the vehicle moves very slowly. If the vehicle is in an unexpected reverse driving state at this time, the harm caused is small and can be avoided within the range of human control. Therefore, the motor operation state at this time can be regarded as stationary.

[0097] Optionally, determining the rotation direction of the wheel on the rotating shaft according to the actual rotation speed of the wheel connected to the rotating shaft comprises:

[0098] For each axle of the vehicle, if the actual wheel speed of any one of the two wheels on the axle is greater than or equal to a first preset wheel speed threshold, it is determined that the wheel on the axle rotates in a forward direction, wherein the difference in the actual wheel speeds of the two wheels on the same axle is within a preset range.

[0099] If the actual wheel speed of any one of the two wheels on the rotating shaft is less than or equal to the second preset wheel speed threshold, it is determined that the wheel on the rotating shaft rotates backward, wherein the first preset wheel speed threshold is a positive number and the second preset wheel speed threshold is a negative number.

[0100] Otherwise, it is determined that the rotation direction of the wheel on the rotating shaft is stationary, that is, the wheel on the rotating shaft is stationary.

[0101] Specifically, similar to the actual speed of the motor, the rotation directions of the two wheels are usually the same during normal driving, and the difference between the actual speeds of the two wheels is usually within a preset range. Therefore, it is only necessary to compare the actual speed of a wheel on the same shaft with the first preset wheel speed threshold or the second preset wheel speed threshold to determine the rotation direction of the wheel on the shaft.

[0102] Exemplarily, the first preset wheel speed threshold is generally positive, and the second preset wheel speed threshold is negative. For example, the first preset wheel speed threshold can be set to 80rpm, and the second preset wheel speed threshold can be set to -80rpm. If the actual speed of any one of the two wheels on the front axle is greater than or equal to the first preset wheel speed threshold, it is determined that the wheel rotation direction of the front axle is forward; if the actual speed of any one of the two wheels on the front axle is less than or equal to the second preset wheel speed threshold, it is determined that the wheel rotation direction of the front axle is backward; otherwise, it is determined that the wheel rotation direction of the front axle is stationary, that is, the front axle wheel is stationary. If the actual speed of any one of the two wheels on the rear axle is greater than or equal to the first preset wheel speed threshold, it is determined that the wheel rotation direction of the rear axle is forward; if the actual speed of any one of the two wheels on the rear axle is less than or equal to the second preset wheel speed threshold, it is determined that the wheel rotation direction of the rear axle is backward; otherwise, it is determined that the wheel rotation direction of the rear axle is stationary, that is, the rear axle wheel is stationary. When analyzing the wheel rotation direction of the front axle and the rear axle, the preset wheel speed thresholds corresponding to the front axle and the rear axle may be different. For example, the first preset wheel speed threshold corresponding to the front axle may be set to 50rpm, and the second preset wheel speed threshold may be set to -70rpm; and the first preset wheel speed threshold corresponding to the rear axle may be set to 80rpm, and the second preset wheel speed threshold may be set to -60rpm, etc. The above examples are only for a better understanding of the scheme. There is no restriction on the specific values ​​of the first preset wheel speed threshold and the second preset wheel speed threshold, and they can be adjusted according to actual needs. In addition, when the wheel speed is low, the vehicle moves very slowly. If the vehicle is in an unexpected reverse driving state at this time, the hazard can be avoided within the range of human control, so the wheel movement at this time is regarded as stationary.

[0103] Alternatively, if Figure 4 As shown, the determining the actual movement direction of the vehicle based on the rotating shaft according to the rotation direction of the motor on the rotating shaft, the rotation direction of the wheel and the movement direction of the vehicle body includes:

[0104] The rotation direction of the motor on the rotating shaft, the rotation direction of the wheels on the same rotating shaft and the movement direction of the vehicle body are checked, and the number of the three directions that pass the check is determined.

[0105] Specifically, the electronic gear lever controller, the body controller, the front dual motor controller, and the rear dual motor controller respectively interact with the vehicle controller by signal, and the modules in the vehicle controller also interact with each other. To ensure correct data transmission, when multiple controllers interact with the vehicle controller by signal, the signals will be verified, and the verification method can be E2E (End To End) verification. The information transmission between the modules in the vehicle controller can also be verified. Data that fails the verification may not be able to complete the information transmission. For example, when the body controller sends the body movement data to the vehicle controller, if it does not pass the verification, the body movement direction cannot be analyzed, or when the front dual motor controller or the rear dual motor controller transmits signals to the vehicle controller, the signal sent by the front dual motor controller or the rear dual motor controller does not pass the verification, then the motor rotation direction may not be obtained. Therefore, the motor rotation direction on the shaft, the wheel rotation direction on the same shaft, and the body movement direction are verified to determine the number of passed inspections in the three directions.

[0106] When the number of directions that pass the check is greater than or equal to 2, it is determined whether there are two opposite directions in the directions that pass the check, wherein the two opposite directions are one direction forward and the other direction backward.

[0107] If so, according to a preset priority, the non-stationary direction with the highest priority among the verified directions is used as the actual moving direction of the vehicle obtained based on the rotating shaft, wherein the non-stationary direction represents a forward or backward direction.

[0108] Specifically, the priorities corresponding to the motor rotation direction, wheel rotation direction and body movement direction can be preset, for example, the priority of the motor rotation direction can be higher than the priority of the wheel rotation direction, and the priority of the wheel rotation direction can be higher than the priority of the body movement direction, that is, the priority of the direction that responds quickly and has the most direct impact on the operation of the vehicle can be set to a higher level. The above examples of priorities are only illustrative, and the setting of preset priorities can be changed according to specific usage conditions. Generally, the priority setting standard is that the direction with a high functional safety level and fast response has a high priority.

[0109] Exemplarily, when the motor rotation direction and the vehicle body movement direction are verified, for example: when the vehicle slides down a slope on a sloped road, although the motor rotates forward, the vehicle body still moves backward. Since the priority of the motor rotation direction is higher than the priority of the vehicle body movement direction, the actual movement direction of the vehicle is forward at this time.

[0110] If not, the actual moving direction of the vehicle based on the rotation axis is determined according to the verified direction.

[0111] Specifically, if there are no two opposite directions among the directions that have passed the verification, it is determined whether there is a non-stationary direction among the directions that have passed the verification. If there is a non-stationary direction among the directions that have passed the verification, the non-stationary direction is determined as the actual movement direction of the vehicle obtained based on the rotating shaft. If the directions that have passed the verification are all stationary directions, the actual movement direction of the vehicle obtained based on the rotating shaft is stationary. There are no two opposite directions, that is, there may be all directions forward, or some directions forward and some directions stationary, or all directions backward, or some directions backward and some directions stationary. In the above situations, it can be determined whether there is a non-stationary direction first, and the non-stationary direction is determined as the actual movement direction of the vehicle corresponding to the rotating shaft. If all directions that have passed the verification are stationary, it is determined that the actual movement direction of the vehicle is stationary.

[0112] When the number of passed verifications is equal to 1, determining the direction passed through the verification as the actual moving direction of the vehicle obtained based on the rotation axis;

[0113] When the number of passed checks is equal to 0, it means that the motor rotation direction, the wheel rotation direction on the same shaft and the vehicle body movement direction have not passed the check. At this time, it is determined that these three directions are unavailable. It is necessary to determine the actual movement direction of the vehicle based on the re-acquired actual motor speed of the motor, the actual wheel speed corresponding to the motor and the vehicle body movement direction, that is, return to the starting position of S2 and execute the process of determining the actual movement direction of the vehicle again.

[0114] In this embodiment, the actual running direction of the vehicle is determined based on a comprehensive analysis of multiple directions, and the direction that has a greater impact on the vehicle and responds quickly is given a higher priority, thereby improving the accuracy of the actual moving direction of the vehicle and improving the response speed of the vehicle.

[0115] Alternatively, if Figure 5 As shown, judging whether the driving state of the vehicle is an unexpected reverse driving state according to the gear signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle includes:

[0116] The desired driving direction is determined according to the gear position signal, wherein the desired driving direction includes forward, stationary, and backward.

[0117] Specifically, when the gear signal is the forward gear (ie, D gear), the expected driving direction is forward; when the gear signal is the parking gear (ie, P gear), the expected driving direction is stationary; when the gear signal is the reverse gear (ie, R gear), the expected driving direction is backward.

[0118] When the expected driving direction is stationary, if the torque direction of the rotating shaft and the actual movement direction of the vehicle obtained based on the rotating shaft are forward or backward, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state.

[0119] Specifically, if the expected driving direction is stationary, as long as the torque direction of the rotating shaft and the actual movement direction of the vehicle corresponding to the rotating shaft are non-stationary, that is, forward or backward, the driving state of the vehicle based on the rotating shaft is determined to be an unexpected reverse driving state. For example: if the user wants to stop the car, but the vehicle's motor is still outputting driving torque, it may cause greater harm.

[0120] When the desired driving direction is forward or backward, if the torque direction of the rotating shaft and the actual movement direction of the vehicle corresponding to the rotating shaft are opposite to the desired driving direction, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state.

[0121] Specifically, when the expected driving direction is non-stationary, the driving state of the vehicle is determined to be an unexpected reverse driving state only when the torque direction of the rotating shaft and the actual moving direction of the vehicle corresponding to the rotating shaft are opposite to the expected driving direction. For example, the expected driving direction is forward, the torque direction of the rotating shaft is backward, and the actual moving direction of the vehicle is backward; or the expected driving direction is backward, the torque direction of the rotating shaft is forward, and the actual moving direction of the vehicle is forward; both of these situations can determine that the vehicle is unexpectedly reversed due to unexpected torque. If the torque direction of the rotating shaft and the actual moving direction of the vehicle corresponding to the rotating shaft are stationary, it may be that the gear signal cannot be transmitted or there is a problem with the motor-related components. At this time, the vehicle does not move, and will not cause harm to the vehicle, and the driving state of the vehicle will not be determined to be an unexpected reverse driving state. Therefore, except for the above-mentioned situation where the driving state of the vehicle is determined to be an unexpected reverse driving state, the remaining situations are all considered normal situations, and the vehicle is kept driving normally.

[0122] In this embodiment, it is necessary to ensure that the torque direction of the shaft is the same as the actual direction of movement of the vehicle corresponding to the shaft, and then determine the relationship between them and the expected driving direction. The reason for first screening out the situation where the torque direction of the shaft is the same as the actual direction of movement of the vehicle obtained based on the shaft is to screen out the actual direction of movement of the vehicle caused by the torque drive of the motor on the shaft, because the vehicle loss of control caused by the motor torque drive is more dangerous and needs targeted attention; and the situation where the torque direction of the shaft and the actual direction of movement of the vehicle obtained based on the shaft may be different often occurs when the gear is switched between the forward gear and the reverse gear, for example, the gear is switched from the original forward gear to the reverse gear. At this time, the actual direction of movement of the vehicle will continue to move forward due to inertia, but the gear switch has been completed, and the torque direction of the motor on the shaft will first turn backward. This situation is normal and within the controllable range of the driver, and no additional auxiliary control is required by the controller. The vehicle computing power is concentrated to handle the unexpected reverse caused by the motor drive, and the monitoring of unexpected reverse is improved, which will further reduce the potential risks.

[0123] Optionally, after determining whether the driving state of the vehicle is an unexpected reverse driving state, the vehicle driving monitoring method further includes:

[0124] If the driving state of the vehicle is the unexpected reverse driving state, a trigger signal is generated. The trigger signal is used to trigger the motor controller to control the motor to stop working. At the same time, it can also increase the braking force of the wheel, shorten the braking distance, avoid the motor continuously driving the vehicle to cause greater damage, and ensure the safety of the vehicle.

[0125] Alternatively, if Figure 5 As shown, if the driving state of the vehicle is the unexpected reverse driving state, generating a trigger signal includes:

[0126] If the driving state of the vehicle obtained based on the rotating shaft is the unexpected reverse driving state, it is determined whether the duration of the unexpected reverse driving state is greater than or equal to a preset time threshold.

[0127] When the duration of the unexpected reverse driving state is greater than or equal to the preset time threshold, the trigger signal is generated, wherein the trigger signal is used to trigger the motor controller to control the motor on the rotating shaft to stop working.

[0128] If the duration of the unexpected reverse driving state is less than the preset time threshold, the trigger signal is not generated, and the motors at both ends of the shaft maintain the current working state to keep the vehicle running normally.

[0129] For example, when the gear is switched from forward gear to reverse gear, the vehicle and the motor will maintain forward movement for a period of time due to inertia, and the expected driving direction has been set to backward. Although the direction will be reversed for a short time, the inertial motion of the motor will be eliminated with the control of the motor, and it will turn into backward rotation. After a short period of time, the inertial motion of the vehicle will be overcome, so that the direction of movement of the vehicle will be reversed. This situation is normal. Within a certain period of time, this reverse direction will be automatically eliminated without causing any harm. It is within the controllable range of the driver and does not require additional auxiliary control by the controller. Therefore, further monitoring the duration of the unexpected reverse driving state can reduce misjudgment and improve judgment accuracy. The preset time threshold can be adjusted according to actual usage and functional safety goals.

[0130] In this embodiment, the motion state of the front axle and the rear axle are monitored separately, and then it is determined whether the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state. If the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state, it is determined that the rotating shaft causes the unexpected reverse driving of the vehicle. At this time, a trigger signal can be generated and sent to the motor controller to control the motors at both ends of the rotating shaft to stop working. At this time, the motor no longer outputs torque. For example, if the driving state of the vehicle obtained based on the front axle is an unexpected reverse driving state, only the two motors of the front axle are controlled to stop outputting torque to prevent the front wheels from burning. At this time, the vehicle becomes a rear-wheel drive vehicle, and the vehicle can also run temporarily, thereby improving the availability of the vehicle. In addition, when judging the motor rotation direction, wheel rotation direction, and motor torque direction, thresholds are set. When confirming the unexpected reverse driving state, a time threshold is also set. By adjusting these thresholds, the unexpected reverse driving distance can be controlled, so that the vehicle operation meets the fault tolerance time interval requirements, and the safety level of the vehicle meets the requirements.

[0131] like Figure 6 As shown, a controller 600 provided in an embodiment of the present invention includes:

[0132] The torque direction monitoring module 610 is used to determine the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels.

[0133] The actual movement direction monitoring module 620 is used to determine the actual movement direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor and the running direction of the vehicle body.

[0134] The driving state monitoring module 630 is used to determine whether the driving state of the vehicle is an unexpected reverse driving state based on the gear signal of the vehicle, the torque direction of the rotating shaft and the actual movement direction of the vehicle; if the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0135] Specifically, the controller can be a vehicle controller, which is electrically connected to an external electronic gear lever controller, a body controller, a front dual motor controller, and a rear dual motor controller. The electronic gear lever controller sends the gear position signal of the gear lever to the controller, and the body controller sends information such as the vehicle's movement direction and the speed of the vehicle to the controller. The front dual motor controller and the rear dual motor controller send the actual torque and actual speed of the motors they control to the controller. A desired direction monitoring module can also be set in the controller to fuse and calculate the data of the movement direction sensor to determine the direction of movement of the vehicle. A signal verification module can also be set in the controller. The signal verification module can verify the signal or information received by the controller, and can also verify the signal transmitted between the various modules of the controller. Finally, the driving state monitoring module 630 in the controller generates a trigger signal, and the controller sends the trigger signal to the front dual motor controller or the rear dual motor controller to trigger the motor controller to control the motor to stop working.

[0136] In this embodiment, the torque direction monitoring module 610 determines the torque direction of the shaft in the vehicle according to the actual torque of the motor, wherein the shaft of the vehicle is provided with a motor for driving the wheels, so as to realize real-time monitoring of the torque direction of the shaft. The actual movement direction monitoring module 620 determines the actual movement direction of the vehicle according to the actual speed of the motor on the shaft, the actual speed of the wheel corresponding to the motor, and the running direction of the vehicle body, and comprehensively analyzes multiple directions to improve the accuracy of the determined actual movement direction of the vehicle. The driving state monitoring module 630 determines whether the driving state of the vehicle is an unexpected reverse driving state according to the gear signal of the vehicle, the torque direction of the shaft, and the actual movement direction of the vehicle, and accurately identifies the unexpected reverse driving caused by the motor torque drive; if the torque direction of the shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, it is determined that the driving state of the vehicle is an unexpected reverse driving state, and the motor on the shaft can be controlled to stop working or other braking protection measures can be taken, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle, so as to avoid the motor from continuously driving the vehicle and causing greater damage. The above method can accurately monitor the unexpected reverse driving of the vehicle caused by the torque drive of the motor, which is conducive to timely control of the vehicle, ensuring vehicle safety and reducing potential safety risks of the vehicle.

[0137] like Figure 7 As shown, a vehicle 700 provided by an embodiment of the present invention includes a memory 710 and a processor 720; the memory 710 is used to store a computer program; the processor 720 is used to implement the vehicle driving monitoring method as described above when executing the computer program.

[0138] In other words, a vehicle 700 includes a memory 710 and a processor 720 coupled to the memory 710; the memory 710 is configured to store a computer program; and the processor 720 is configured to perform the following operations when executing the computer program:

[0139] Determining the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels;

[0140] Determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body;

[0141] determining whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle;

[0142] If the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0143] The technical effects of the vehicle described in the present invention are similar to those of the above-mentioned vehicle driving monitoring method, which will not be described in detail here.

[0144] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the vehicle driving monitoring method as described above is implemented.

[0145] In other words, a non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor performs the following operations:

[0146] Determining the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels;

[0147] Determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body;

[0148] determining whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle;

[0149] If the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

[0150] The computer-readable storage medium described in the present invention has similar technical effects to the above-mentioned vehicle driving monitoring method, which will not be described in detail here.

[0151] The vehicle 700 includes a computing unit that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) or a computer program loaded from a storage unit into a random access memory (RAM). In the RAM, various programs and data required for the operation of the device can also be stored. The computing unit, ROM, and RAM are connected to each other via a bus. An input / output (I / O) interface is also connected to the bus.

[0152] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc. In the present application, the unit described as a separate component may or may not be physically separated, and the component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment of the present invention. In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0153] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the scope defined by the claims.

Claims

1. A vehicle driving monitoring method, characterized in that: include: Determining the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels; Determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body; determining whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle; If the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

2. The vehicle driving monitoring method according to claim 1, characterized in that: Two motors are arranged on each of the rotating shafts of the vehicle, wherein the two motors on one rotating shaft are respectively used to drive two wheels connected to the rotating shaft.

3. The vehicle driving monitoring method according to claim 2, characterized in that: Determining the torque direction of the rotating shaft in the vehicle according to the actual torque of the motor includes: For each of the rotating shafts of the vehicle, determining a total actual torque value of the rotating shaft according to actual torques of the two motors on the rotating shaft; If the actual total torque value of the rotating shaft is greater than or equal to a first preset torque threshold, it is determined that the torque direction of the rotating shaft is forward; If the actual total torque value of the rotating shaft is less than or equal to a second preset torque threshold, it is determined that the torque direction of the rotating shaft is backward, wherein the first preset torque threshold is a positive number and the second preset torque threshold is a negative number; If the actual total torque value of the rotating shaft is less than the first preset torque threshold and greater than the second preset torque threshold, it is determined that the torque direction of the rotating shaft is stationary.

4. The vehicle driving monitoring method according to claim 2, characterized in that: Determining the actual moving direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body comprises: For each of the rotating shafts of the vehicle, determining a rotation direction of the motor on the rotating shaft according to an actual motor speed of the motor on the rotating shaft; determining a rotation direction of the wheel on the rotating shaft according to an actual rotation speed of the wheel connected to the rotating shaft; According to the rotation direction of the motor on the rotating shaft, the rotation direction of the wheels and the movement direction of the vehicle body, the actual movement direction of the vehicle based on the rotating shaft is determined.

5. The vehicle driving monitoring method according to claim 4, characterized in that: For each of the rotating shafts of the vehicle, determining the rotation direction of the motor on the rotating shaft according to the actual motor speed of the motor on the rotating shaft comprises: For each of the rotating shafts of the vehicle, if the actual motor speed of any one of the two motors on the rotating shaft is greater than or equal to a first preset motor speed threshold, it is determined that the motor on the rotating shaft rotates forward, wherein the difference between the actual motor speeds of the two motors on the same rotating shaft is within a preset range; If the actual motor speed of any one of the two motors on the shaft is less than or equal to a second preset motor speed threshold, it is determined that the motor on the shaft rotates backward, wherein the first preset motor speed threshold is a positive number and the second preset motor speed threshold is a negative number; Otherwise, it is determined that the rotation direction of the motor on the rotating shaft is stationary.

6. The vehicle driving monitoring method according to claim 4, characterized in that: Determining the rotation direction of the wheel on the rotating shaft according to the actual rotation speed of the wheel connected to the rotating shaft comprises: For each of the rotating shafts of the vehicle, if the actual wheel speed of any one of the two wheels on the rotating shaft is greater than or equal to a first preset wheel speed threshold, it is determined that the wheel on the rotating shaft rotates forward, wherein the difference between the actual wheel speeds of the two wheels on the same rotating shaft is within a preset range; If the actual wheel speed of any one of the two wheels on the rotating shaft is less than or equal to a second preset wheel speed threshold, it is determined that the wheel on the rotating shaft rotates in a backward direction, wherein the first preset wheel speed threshold is a positive number and the second preset wheel speed threshold is a negative number; Otherwise, it is determined that the rotation direction of the wheel on the rotating shaft is stationary.

7. The vehicle driving monitoring method according to claim 4, characterized in that: The determining, according to the rotation direction of the motor on the rotation shaft, the rotation direction of the wheel, and the movement direction of the vehicle body, the actual movement direction of the vehicle based on the rotation shaft comprises: Verify the rotation direction of the motor on the shaft, the rotation direction of the wheels on the same shaft, and the movement direction of the vehicle body, and determine the number of directions that pass the verification; When the number of directions that pass the check is greater than or equal to 2, determine whether there are two opposite directions in the directions that pass the check; If yes, then according to the preset priority, the non-stationary direction with the highest priority among the verified directions is used as the actual moving direction of the vehicle obtained based on the rotating shaft, wherein the non-stationary direction represents a forward or backward direction; if no, then according to the verified directions, the actual moving direction of the vehicle obtained based on the rotating shaft is determined; When the number of passed verifications is equal to 1, determining the direction passed through the verification as the actual moving direction of the vehicle obtained based on the rotation axis; When the number of passed checks is equal to 0, the actual moving direction of the vehicle is determined based on the re-acquired actual motor speed of the motor, the actual wheel speed corresponding to the motor, and the running direction of the vehicle body.

8. The vehicle driving monitoring method according to any one of claims 1 to 7, characterized in that: The step of judging whether the driving state of the vehicle is an unexpected reverse driving state according to the gear position signal of the vehicle, the torque direction of the rotating shaft and the actual moving direction of the vehicle comprises: Determining the desired driving direction according to the gear position signal, wherein the desired driving direction includes forward, stationary and backward; In the case where the expected driving direction is stationary, if the torque direction of the rotating shaft and the actual moving direction of the vehicle obtained based on the rotating shaft are forward or backward, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state; When the desired driving direction is forward or backward, if the torque direction of the rotating shaft and the actual movement direction of the vehicle obtained based on the rotating shaft are opposite to the desired driving direction, it is determined that the driving state of the vehicle obtained based on the rotating shaft is an unexpected reverse driving state.

9. The vehicle driving monitoring method according to any one of claims 1 to 7, characterized in that: After determining whether the driving state of the vehicle is an unexpected reverse driving state, the vehicle driving monitoring method further includes: If the driving state of the vehicle is the unexpected reverse driving state, a trigger signal is generated, and the trigger signal is used to trigger the motor controller to control the motor to stop working.

10. The vehicle driving monitoring method according to claim 9, characterized in that: If the driving state of the vehicle is the unexpected reverse driving state, generating a trigger signal includes: If the driving state of the vehicle obtained based on the rotating shaft is the unexpected reverse driving state, determining whether the duration of the unexpected reverse driving state is greater than or equal to a preset time threshold; When the duration of the unexpected reverse driving state is greater than or equal to the preset time threshold, the trigger signal is generated, wherein the trigger signal is used to trigger the motor controller to control the motor on the rotating shaft to stop working.

11. A controller, characterized in that: include: A torque direction monitoring module, used to determine the torque direction of a rotating shaft in a vehicle according to the actual torque of the motor, wherein the rotating shaft of the vehicle is provided with the motor for driving the wheels; An actual movement direction monitoring module, used to determine the actual movement direction of the vehicle according to the actual motor speed of the motor, the actual wheel speed corresponding to the motor and the running direction of the vehicle body; A driving state monitoring module is used to determine whether the driving state of the vehicle is an unexpected reverse driving state based on the gear signal of the vehicle, the torque direction of the rotating shaft and the actual movement direction of the vehicle; if the torque direction of the rotating shaft and the actual movement direction of the vehicle are inconsistent with the expected driving direction, then the driving state of the vehicle is determined to be the unexpected reverse driving state, wherein the expected driving direction is the driving direction indicated by the gear signal of the vehicle.

12. A vehicle, characterized in that: It comprises a memory and a processor; the memory is used to store a computer program; the processor is used to implement the vehicle driving monitoring method as described in any one of claims 1 to 10 when executing the computer program.

13. A computer-readable storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle driving monitoring method according to any one of claims 1 to 10 is implemented.

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