Electric vehicle speed signal safety verification method and related equipment

Abstract

The invention relates to the technical field of electric vehicle safety, and discloses an electric vehicle speed signal safety verification method and related equipment, and the method comprises the steps: obtaining a vehicle speed signal and an effective flag bit thereof, and obtaining a motor rotating speed signal and an effective flag bit thereof, and achieving the multi-verification of vehicle speed information. Through a multi-verification mechanism, vehicle speed information misjudgment caused by single signal error or failure can be obviously reduced. By detecting the communication of the whole vehicle in the power-on state, the communication fault or abnormity can be found in time, so that the vehicle speed signal distortion caused by the communication problem is avoided, the safety verification is effectively carried out on the premise of the vehicle speed authenticity, and the accuracy of the verification result is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicle safety, and in particular to a method for safety verification of a speed signal of an electric vehicle and related equipment. Background Art

[0002] Electric vehicles are increasingly popular among young users for their excellent quietness and acceleration performance. As electric vehicles become more and more popular, their safety is becoming increasingly important.

[0003] The speed signal of electric vehicles is widely used in various torque management modules. Once the speed signal is abnormal, the vehicle torque will not be requested according to the driver's intention. In addition, the electric vehicle has large torque and the motor responds quickly, which will cause unexpected safety risks to the vehicle. At present, the electric vehicle VCU controller receives the ABS speed for torque calculation, but does not consider the authenticity of the ABS speed, so it is impossible to perform a safety check on the authenticity of the speed. Summary of the invention

[0004] The purpose of the present invention is to provide a method for safely verifying the speed signal of an electric vehicle and related equipment to solve the technical problem of how to safely verify the authenticity of the vehicle speed in the prior art.

[0005] The present invention is achieved through the following technical solutions: In a first aspect, the present invention provides a method for safely verifying a speed signal of an electric vehicle, comprising: Obtain vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detect the communication and speed signals of the vehicle when it is powered on and obtain the detection results; Based on the detection results, the obtained vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag are respectively checked for safety of the electric vehicle speed signal.

[0006] Preferably, the vehicle speed signal includes an ABS vehicle speed signal and a GPS vehicle speed signal; The vehicle speed valid flag includes an ABS vehicle speed valid flag and a GPS vehicle speed valid flag; The ABS vehicle speed signal and the ABS vehicle speed valid flag are obtained in real time through CAN by the ABS controller; The GPS speed signal and GPS speed valid flag are obtained in real time via CAN by the TBOX controller.

[0007] Further, the vehicle speed signal priority is determined according to the ABS vehicle speed signal, the GPS vehicle speed signal and the motor speed signal, and the vehicle speed signal priority is ABS vehicle speed signal>motor speed signal>GPS vehicle speed signal.

[0008] Preferably, the motor speed signal and the motor speed valid flag are acquired by the MCU via CAN.

[0009] Preferably, in the step of detecting the communication and speed signal of the whole vehicle in the powered-on state and obtaining the detection result, the detection result includes that the communication between ABS and TBOX is normal and the ABS speed and GPS speed signals are valid, the ABS communication is abnormal, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is invalid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is valid, the MCU communication is abnormal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is invalid, the MCU communication is abnormal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is invalid, the MCU communication is abnormal and the motor speed signal is invalid ...TBOX, ABS and MCU all fail to communicate, and the speed signals sent by TBOX, ABS and MCU are all invalid and the speed signal sent by MCU is invalid.

[0010] Further, in the step of performing safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result, the specific process is as follows: When the detection result shows that the ABS and TBOX communication are normal and the ABS speed and GPS speed signals are valid, the ABS speed signal is used for verification, wherein a threshold is set. When the absolute difference between the motor speed converted speed and the ABS speed is greater than the threshold, the motor speed converted speed is used as the final speed, otherwise the ABS speed is used as the final speed. When the detection result is that the ABS communication is abnormal, the MCU communication is normal, and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, and the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the speed is converted according to the motor speed for verification, wherein a threshold is set, and when the absolute difference between the motor speed converted speed and the GPS speed is greater than the threshold, the GPS speed is used as the final speed, otherwise the motor speed converted speed is used as the final speed; When the detection results are that ABS communication is normal and ABS speed signal is invalid, MCU communication is normal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, ABS communication is abnormal and ABS speed signal is valid, MCU communication is abnormal and motor speed signal is valid, TBOX communication is normal and GPS speed signal is valid, and BS communication is abnormal and ABS speed signal is invalid, MCU communication is abnormal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, the GPS speed is used as the final speed; When the detection result is that TBOX, ABS, and MCU all fail to communicate, and the vehicle speed signals sent by TBOX, ABS, and MCU are invalid, and the speed signal sent by MCU is invalid, the final vehicle speed is set to 0 and the VCU does not make a torque request.

[0011] In a second aspect, the present invention provides a safety verification system for an electric vehicle speed signal, comprising: A data acquisition module is used to acquire a vehicle speed signal, a vehicle speed valid flag, a motor speed signal, and a motor speed valid flag; The detection module is used to detect the communication and speed signals of the vehicle when it is powered on and obtain the detection results; The verification module is used to perform safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection results.

[0012] In a third aspect, the present invention provides a mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the electric vehicle speed signal safety verification method as described above when executing the computer program.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the electric vehicle speed signal safety verification method as described above are implemented.

[0014] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the electric vehicle speed signal safety verification method as described above.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides a safety verification method for an electric vehicle speed signal, which realizes multiple verifications of the vehicle speed information by acquiring the vehicle speed signal and its valid flag, as well as the motor speed signal and its valid flag. The multiple verification mechanism can significantly reduce the misjudgment of vehicle speed information caused by a single signal error or failure. By detecting the communication of the entire vehicle in the powered-on state, communication failures or anomalies can be discovered in time, thereby avoiding distortion of the vehicle speed signal caused by communication problems, and effectively performing safety verification on the premise of the authenticity of the vehicle speed, thereby ensuring the accuracy of the verification result.

[0016] Furthermore, by performing a safety check on the vehicle speed signal, it can be ensured that the vehicle control system makes a correct response after receiving accurate vehicle speed information, thereby improving the stability and reliability of the entire vehicle system. When the vehicle speed signal or motor speed signal is abnormal, the method can issue a warning in time to remind the driver or the vehicle system to take corresponding measures to avoid potential safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Flow chart of a safety verification method for an electric vehicle speed signal in an embodiment of the present invention; Figure 2 A schematic diagram of vehicle speed signal interaction in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a safety verification system for electric vehicle speed signal in an embodiment of the present invention; In the figure: 1. Data acquisition module; 2. Detection module; 3. Verification module. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0019] The present invention is further described in detail below in conjunction with the accompanying drawings: The purpose of the present invention is to provide a method for safely verifying the speed signal of an electric vehicle and related equipment to solve the technical problem of how to safely verify the authenticity of the vehicle speed in the prior art.

[0020] Example 1 See also Figure 1 In one embodiment of the present invention, a method for safely verifying a speed signal of an electric vehicle is provided, comprising: Step 1, obtaining a vehicle speed signal, a vehicle speed valid flag, a motor speed signal, and a motor speed valid flag; Specifically, the vehicle speed signal includes an ABS vehicle speed signal and a GPS vehicle speed signal; The vehicle speed valid flag includes an ABS vehicle speed valid flag and a GPS vehicle speed valid flag; The ABS vehicle speed signal and the ABS vehicle speed valid flag are obtained in real time through CAN by the ABS controller; The GPS speed signal and GPS speed valid flag are obtained in real time through CAN by the TBOX controller; The motor speed signal and the motor speed valid flag are obtained by MCU via CAN, such as Figure 2 shown.

[0021] In this embodiment, the VCU controller is equipped with a memory, and the vehicle speed ratio ig and the tire rolling radius r are written into the memory. During the VCU power-on initialization process, the values ​​of the speed ratio ig and the rolling radius r are retrieved for the motor speed conversion vehicle speed calculation, where the motor speed conversion vehicle speed V_m=0.377*n(motor speed)*r / ig.

[0022] Step 2, detecting the communication and speed signals of the vehicle when it is powered on, and obtaining the detection results; Specifically, in the step of detecting the communication and speed signal of the whole vehicle in the power-on state and obtaining the detection result, the detection result includes that the communication between ABS and TBOX is normal and the ABS speed and GPS speed signals are valid, the ABS communication is abnormal, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is invalid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is valid, the MCU communication is abnormal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is invalid, the MCU communication is abnormal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the ABS communication is abnormal and the ABS speed signal is invalid, the MCU communication is abnormal and the motor speed signal is invalid ...TBOX, ABS and MCU all fail to communicate, and the speed signals sent by TBOX, ABS and MCU are all invalid and the speed signal sent by MCU is invalid.

[0023] Step 3: Based on the detection results, the obtained vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag are respectively checked for safety of the electric vehicle speed signal.

[0024] Specifically, in the step of performing safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result, the specific process is as follows: When the detection result shows that the ABS and TBOX communication are normal and the ABS speed and GPS speed signals are valid, the ABS speed signal is used for verification, wherein a threshold is set. When the absolute difference between the motor speed converted speed and the ABS speed is greater than the threshold, the motor speed converted speed is used as the final speed, otherwise the ABS speed is used as the final speed. When the detection result is that the ABS communication is abnormal, the MCU communication is normal, and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, and the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the speed is converted according to the motor speed for verification, wherein a threshold is set, and when the absolute difference between the motor speed converted speed and the GPS speed is greater than the threshold, the GPS speed is used as the final speed, otherwise the motor speed converted speed is used as the final speed; When the detection results are that ABS communication is normal and ABS speed signal is invalid, MCU communication is normal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, ABS communication is abnormal and ABS speed signal is valid, MCU communication is abnormal and motor speed signal is valid, TBOX communication is normal and GPS speed signal is valid, and BS communication is abnormal and ABS speed signal is invalid, MCU communication is abnormal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, the GPS speed is used as the final speed; When the detection result is that TBOX, ABS, and MCU all fail to communicate, and the vehicle speed signals sent by TBOX, ABS, and MCU are invalid, and the speed signal sent by MCU is invalid, the final vehicle speed is set to 0 and the VCU does not make a torque request.

[0025] In this embodiment, the ABS vehicle speed signal and the ABS vehicle speed valid flag are acquired in real time via the CAN bus by the ABS controller.

[0026] The GPS speed signal and GPS speed valid flag are acquired in real time via the CAN bus by the TBOX controller.

[0027] The motor speed signal and the motor speed valid flag are obtained through the MCU (motor control unit) via the CAN bus.

[0028] The VCU (Vehicle Control Unit) is equipped with a memory for storing the vehicle speed ratio ig and the tire rolling radius r.

[0029] During the VCU power-on initialization process, these values ​​are retrieved for calculating the motor speed to vehicle speed.

[0030] This embodiment detects the communication status of the vehicle when it is powered on during signal detection, including whether the communication of controllers such as ABS, TBOX, and MCU is normal.

[0031] When the ABS and TBOX communicate normally, and both the ABS speed and GPS speed signals are valid, the ABS speed is compared with the motor speed converted speed, and the more reliable speed signal is selected as the final speed according to the set threshold.

[0032] When ABS communication is abnormal or ABS speed signal is invalid, but MCU communication is normal and motor speed signal is valid, and TBOX communication is normal and GPS speed signal is valid, compare the motor speed converted speed with GPS speed, and select the final speed according to the set threshold.

[0033] When the ABS and MCU communications are abnormal, but the TBOX communication is normal and the GPS speed signal is valid, the GPS speed is directly used as the final speed.

[0034] When all vehicle speed signal sources fail (i.e., TBOX, ABS, and MCU all fail to communicate, and the vehicle speed signals are all invalid), the final vehicle speed is set to 0 and the VCU is prohibited from making torque requests to ensure vehicle safety. In the present embodiment, during the vehicle speed signal verification process, once an abnormal vehicle speed signal or a communication failure is found, the fault warning mechanism is immediately triggered to remind the driver or the vehicle system to take corresponding measures.

[0035] According to the type and severity of the fault, take appropriate fault handling strategies, such as limiting the speed, prohibiting acceleration, etc., to ensure vehicle driving safety.

[0036] In summary, the electric vehicle speed signal safety verification method provided in this embodiment realizes multiple verifications of the vehicle speed information by acquiring the vehicle speed signal and its valid flag, as well as the motor speed signal and its valid flag. The multiple verification mechanism can significantly reduce the misjudgment of vehicle speed information caused by a single signal error or failure. By detecting the communication of the entire vehicle when it is powered on, communication failures or anomalies can be discovered in time, thereby avoiding distortion of the vehicle speed signal due to communication problems, and effectively performing safety verification on the premise of the authenticity of the vehicle speed, thereby ensuring the accuracy of the verification results.

[0037] Example 2 This embodiment provides a safety verification system for electric vehicle speed signals, including: Data acquisition module 1, used to acquire vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detection module 2, used to detect the communication and speed signals of the vehicle when it is powered on, and obtain the detection results; The verification module 3 is used to perform safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result.

[0038] Example 3 The present invention also provides a mobile terminal, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, such as a safety verification program for a speed signal of an electric vehicle.

[0039] When the processor executes the computer program, the steps of the above-mentioned electric vehicle speed signal safety verification method are implemented, for example: Obtain vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detect the communication and speed signals of the vehicle when it is powered on and obtain the detection results; Based on the detection results, the obtained vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag are respectively checked for safety of the electric vehicle speed signal.

[0040] Alternatively, when the processor executes the computer program, the functions of each module in the above system are realized, for example: Data acquisition module 1, used to acquire vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detection module 2, used to detect the communication and speed signals of the vehicle when it is powered on, and obtain the detection results; The verification module 3 is used to perform safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result.

[0041] Exemplarily, the computer program may be divided into one or more modules / units, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules / units may be a series of computer program instruction segments capable of implementing specific functions, which are used to describe the execution process of the computer program in the mobile terminal.

[0042] For example, the computer program may be divided into a data acquisition module 1, a detection module 2 and a verification module 3; The specific functions of each module are as follows: Data acquisition module 1, used to acquire vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detection module 2, used to detect the communication and speed signals of the vehicle when it is powered on, and obtain the detection results; The verification module 3 is used to perform safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result.

[0043] The mobile terminal may be a computing device such as a desktop computer, a notebook, a palm computer, a cloud server, etc. The mobile terminal may include, but is not limited to, a processor and a memory.

[0044] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the mobile terminal, and uses various interfaces and lines to connect various parts of the entire mobile terminal.

[0045] The memory may be used to store the computer programs and / or modules, and the processor implements various functions of the mobile terminal by running or executing the computer programs and / or modules stored in the memory and calling the data stored in the memory.

[0046] The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area may store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (SmartMediaCard, SMC), a secure digital (SecureDigital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0047] Example 4 The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the electric vehicle speed signal safety verification method are implemented.

[0048] If the module / unit integrated in the mobile terminal is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.

[0049] Based on this understanding, the present invention implements all or part of the processes in the above method, and can also be completed by instructing related hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above-mentioned aggregate reinforcement learning resource scheduling method can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc.

[0050] The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc.

[0051] It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electrical carrier signals and telecommunication signals.

[0052] Example 5 A computer program product includes computer instructions, wherein the computer instructions instruct a computing device to execute operations corresponding to the electric vehicle speed signal safety verification method as described above.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A safety verification method for electric vehicle speed signal, characterized in that: include Obtain vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag; Detect the communication and speed signals of the vehicle when it is powered on and obtain the detection results; Based on the detection results, the obtained vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag are respectively checked for safety of the electric vehicle speed signal.

2. A safety verification method for electric vehicle speed signal according to claim 1, characterized in that: The vehicle speed signal includes an ABS vehicle speed signal and a GPS vehicle speed signal; The vehicle speed valid flag includes an ABS vehicle speed valid flag and a GPS vehicle speed valid flag; The ABS vehicle speed signal and the ABS vehicle speed valid flag are obtained in real time through CAN by the ABS controller; The GPS speed signal and GPS speed valid flag are obtained in real time through CAN by the TBOX controller.

3. A safety verification method for electric vehicle speed signal according to claim 2, characterized in that: The vehicle speed signal priority is determined according to the ABS vehicle speed signal, the GPS vehicle speed signal and the motor speed signal, wherein the vehicle speed signal priority is ABS vehicle speed signal>motor speed signal>GPS vehicle speed signal.

4. The electric vehicle speed signal safety verification method according to claim 1 is characterized in that: The motor speed signal and the motor speed valid flag are obtained by the MCU via the CAN.

5. The electric vehicle speed signal safety verification method according to claim 1, characterized in that: In the step of detecting the communication and speed signal of the whole vehicle in the power-on state and obtaining the detection result, the detection result includes that the communication between ABS and TBOX is normal and the ABS speed and GPS speed signals are valid, the communication between ABS is abnormal, the communication between MCU is normal and the motor speed signal is valid, the communication between TBOX is normal and the GPS speed signal is valid, the communication between ABS is normal and the ABS speed signal is invalid, the communication between MCU is normal and the motor speed signal is valid, the communication between TBOX is normal and the GPS speed signal is valid, the communication between ABS is normal and the ABS speed signal is invalid, the communication between MCU is normal and the motor speed signal is invalid, the communication between TBOX is normal and the GPS speed signal is valid, the communication between ABS is abnormal and the ABS speed signal is valid, the communication between MCU is abnormal and the motor speed signal is valid, the communication between TBOX and GPS speed signal is normal, the communication between ABS and ABS is abnormal and the ABS speed signal is invalid, the communication between MCU is abnormal and the motor speed signal is invalid, the communication between TBOX is normal and the GPS speed signal is valid, the communication between ABS and ABS is abnormal and the ABS speed signal is invalid, the communication between MCU is abnormal and the motor speed signal is invalid, the communication between TBOX, ABS and MCU is normal and the GPS speed signal is valid, the communication between TBOX, ABS and MCU fails, and the speed signals sent by TBOX, ABS and MCU are invalid and the speed signal sent by MCU is invalid.

6. A safety verification method for electric vehicle speed signal according to claim 5, characterized in that: In the step of performing safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection result, the specific process is as follows: When the detection result shows that the ABS and TBOX communication are normal and the ABS speed and GPS speed signals are valid, the ABS speed signal is used for verification, wherein a threshold is set. When the absolute difference between the motor speed converted speed and the ABS speed is greater than the threshold, the motor speed converted speed is used as the final speed, otherwise the ABS speed is used as the final speed. When the detection result is that the ABS communication is abnormal, the MCU communication is normal, and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, and the ABS communication is normal and the ABS speed signal is invalid, the MCU communication is normal and the motor speed signal is valid, the TBOX communication is normal and the GPS speed signal is valid, the speed is converted according to the motor speed for verification, wherein a threshold is set, and when the absolute difference between the motor speed converted speed and the GPS speed is greater than the threshold, the GPS speed is used as the final speed, otherwise the motor speed converted speed is used as the final speed; When the detection results are that ABS communication is normal and ABS speed signal is invalid, MCU communication is normal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, ABS communication is abnormal and ABS speed signal is valid, MCU communication is abnormal and motor speed signal is valid, TBOX communication is normal and GPS speed signal is valid, and BS communication is abnormal and ABS speed signal is invalid, MCU communication is abnormal and motor speed signal is invalid, TBOX communication is normal and GPS speed signal is valid, the GPS speed is used as the final speed; When the detection result is that TBOX, ABS, and MCU all fail to communicate, and the vehicle speed signals sent by TBOX, ABS, and MCU are invalid, and the speed signal sent by MCU is invalid, the final vehicle speed is set to 0 and the VCU does not make a torque request.

7. An electric vehicle speed signal safety verification system, characterized in that: include: A data acquisition module is used to acquire a vehicle speed signal, a vehicle speed valid flag, a motor speed signal, and a motor speed valid flag; The detection module is used to detect the communication and speed signals of the vehicle when it is powered on and obtain the detection results; The verification module is used to perform safety verification of the electric vehicle speed signal on the acquired vehicle speed signal, vehicle speed valid flag, motor speed signal and motor speed valid flag respectively based on the detection results.

8. A mobile terminal comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the electric vehicle speed signal safety verification method as described in any one of claims 1-6 are implemented.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by the processor, the steps of the electric vehicle speed signal safety verification method as described in any one of claims 1-6 are implemented.

10. A computer program product comprising computer instructions, characterized in that: The computer instructions instruct the computing device to execute operations corresponding to the electric vehicle speed signal safety verification method as described in any one of claims 1-6.

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