Torque monitoring method and device of vehicle and vehicle

Abstract

The invention relates to a torque monitoring method and device for a vehicle and the vehicle, and the method comprises the steps: determining a current first torque value of the vehicle under the condition that the vehicle runs under a preset working condition, and obtaining a current second torque value, determined by a functional layer, of the vehicle; acquiring a predetermined torque threshold value of the vehicle under a preset working condition and a linear relationship between different torque values greater than or equal to the torque threshold value and the fault tolerance time; under the condition that the representation directions of the second torque value and the first torque value are opposite and the second torque value is larger than a torque threshold value, according to the linear relation, the accumulated duration when the second torque value is larger than the torque threshold value is determined; and continuing to monitor the next torque request sent by the functional layer based on the preset working condition under the condition of determining that the preset working condition meets the preset condition based on the accumulated time length. Therefore, the test case of the function monitoring layer can be perfected, and fault response false triggering of the function monitoring layer is reduced.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle torque monitoring method, device and vehicle. Background Art

[0002] In the vehicle's autonomous driving system, the importance of functional safety architecture is self-evident. For example, when an autonomous vehicle encounters an emergency during driving (such as an obstacle suddenly appearing on the road), the functional safety mechanism can ensure that the vehicle brakes in time to avoid a collision. The implementation of the above functional safety mechanism is achieved by the functional monitoring layer in the functional safety architecture.

[0003] The above-mentioned functional safety architecture can generally be divided into three layers: functional layer, functional monitoring layer, and hardware monitoring layer. The above-mentioned functional layer can be used to realize the respective functions of the vehicle (for example, determining the torque of the front and rear motors of the vehicle according to the operating parameters of the vehicle, and sending torque requests to the front and rear motors); the above-mentioned functional monitoring layer is used to monitor the various functional safety implemented in the functional layer, so that when the safety layer fails, corresponding safety measures can be taken in time to ensure the stability and safety of the vehicle; the above-mentioned hardware monitoring layer monitors whether the vehicle's controller is operating normally.

[0004] At present, based on functional safety testing, there are certain differences in the torque calculation logic between the function monitoring layer and the functional layer (for example, the torque values ​​of the front and rear motors of the vehicle are determined by different vehicle operating parameters respectively). This requires the use of the safety monitoring mechanism of the function monitoring layer to test whether the functions implemented by the functional layer are safe, so that a fault response can be triggered in time when a fault occurs in the functional layer.

[0005] However, in actual testing, since the test cases cannot cover some special or extreme operating conditions, this leads to a large number of special or extreme fault response false triggers during vehicle operation, affecting the stability and safety of the vehicle, and thus affecting the user experience. Summary of the invention

[0006] The present application provides a vehicle torque monitoring method, device and vehicle to solve the technical problem in the prior art that the test cases cannot cover some special or extreme working conditions, which leads to a large number of special or extreme working conditions of the vehicle being falsely triggered during operation, affecting the stability and safety of the vehicle, and thus affecting the user experience.

[0007] In a first aspect, the present application provides a torque monitoring method for a vehicle, which is applied to a functional monitoring layer in a functional safety architecture of the vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, wherein the functional monitoring layer is used to monitor whether a torque request sent by the functional layer has a fault, and the method includes:

[0008] When the vehicle is traveling under a preset working condition, determining a current first torque value of the vehicle, and acquiring a current second torque value of the vehicle determined by the functional layer;

[0009] Acquire a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time;

[0010] When the second torque value is in a direction opposite to that represented by the first torque value and the second torque value is greater than the torque threshold, determining, according to the linear relationship, a cumulative time duration during which the second torque value is greater than the torque threshold;

[0011] When it is determined based on the accumulated time that the preset operating condition satisfies the preset condition, the next torque request sent by the functional layer continues to be monitored based on the preset operating condition.

[0012] As a possible implementation manner, the torque threshold and the linear relationship are determined in the following manner:

[0013] Using a pre-built functional safety model, determine a torque threshold corresponding to the vehicle under the preset working condition, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each of the torque values;

[0014] A linear relationship between the torque value and the fault tolerance time is generated according to the plurality of torque values ​​and the fault tolerance time corresponding to each torque value.

[0015] As a possible implementation, the use of a pre-built functional safety model to determine a torque threshold corresponding to the vehicle under the preset working condition, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each of the torque values ​​includes:

[0016] Acquiring operating condition parameters for the preset operating condition, and updating the initial functional safety model according to the operating condition parameters to obtain the functional safety model;

[0017] Obtaining vehicle model parameters of the vehicle;

[0018] Inputting the vehicle model parameters into the functional safety model, obtaining a plurality of different initial torque values ​​output by the functional safety model, a relative distance and a relative speed to other vehicles corresponding to each of the initial torque values, and a damage severity of the vehicle corresponding to the initial torque value;

[0019] Determining an initial torque value at which the damage severity satisfies a threshold condition as the torque threshold, and determining a fault tolerance time corresponding to the torque threshold according to the relative distance and the relative speed corresponding to the torque threshold;

[0020] According to the torque threshold and the functional safety model, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​are determined.

[0021] As a possible implementation, determining, according to the torque threshold and the functional safety model, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​includes:

[0022] Obtaining operating condition parameters corresponding to the torque threshold;

[0023] Determining, according to the operating condition parameters, a plurality of different sets of target operating condition parameters, wherein the torque values ​​corresponding to the target operating condition parameters are greater than the torque threshold;

[0024] Based on the functional safety model and the target operating condition parameters, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​are determined.

[0025] As a possible implementation manner, determining, according to the linear relationship, a cumulative duration that the second torque value is greater than the torque threshold value includes:

[0026] Determine the first torque value range corresponding to the change when the second torque value is greater than the torque threshold;

[0027] The accumulated time length during which the second torque value is greater than the torque threshold is determined according to the first torque value range and the linear relationship.

[0028] As a possible implementation manner, determining that the preset operating condition meets a preset condition based on the accumulated time includes:

[0029] Based on the accumulated time, determining a fault probability that a torque request sent by the functional layer under the preset working condition is faulty;

[0030] When the failure probability is greater than a preset probability threshold, it is determined that the preset operating condition meets a preset condition.

[0031] As a possible implementation manner, determining the fault probability that the torque request sent by the functional layer under the preset working condition has a fault based on the accumulated time includes:

[0032] Determine a second torque value range corresponding to the preset working condition in the linear relationship;

[0033] Determining a total duration corresponding to the linear relationship according to the second torque value range and the linear relationship;

[0034] The ratio of the accumulated time to the total time is determined as the fault probability that the torque request sent by the functional layer under the preset working condition is faulty.

[0035] As a possible implementation manner, after determining the fault probability that the torque request sent by the functional layer under the preset working condition has a fault based on the accumulated time, the method includes:

[0036] The steps of determining, in real time, the accumulated time duration during which the second torque value is greater than the torque threshold value according to the linear relationship; and determining, based on the accumulated time duration, the fault probability that the torque request sent by the functional layer under the preset working condition is faulty;

[0037] For each determined fault probability, determine whether the fault probability is greater than a current fault probability, where the current fault probability is the fault probability determined last time;

[0038] In the case where it is determined that the failure probability is greater than the current failure probability, updating the current failure probability to the failure probability;

[0039] When the second torque value is less than or equal to the torque threshold, the current fault probability is updated to a first preset value.

[0040] As a possible implementation manner, when the failure probability is greater than a preset probability threshold, before determining that the preset operating condition satisfies a preset condition, the method further includes:

[0041] Obtaining operating parameters of the vehicle corresponding to the failure probability under the preset operating condition;

[0042] Based on the operating parameters, simulating a target failure probability that a torque request sent by the functional layer is faulty after the preset operating condition and other operating conditions are superimposed;

[0043] In a case where the target failure probability is greater than the failure probability, the step of determining whether the preset operating condition satisfies a preset condition is performed.

[0044] As a possible implementation manner, obtaining the current second torque value of the vehicle determined by the functional layer includes:

[0045] Acquiring the torque request sent by the functional layer; wherein the functional layer generates the torque request by: acquiring the current operating parameters of the vehicle; searching a preset torque value table according to the operating parameters to obtain a current second torque value of the vehicle; and generating the torque request according to the second torque value;

[0046] A second current torque value for the vehicle is determined from the torque request.

[0047] In a second aspect, the present application provides a torque monitoring device for a vehicle, which is applied to a functional monitoring layer in a functional safety architecture of the vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, wherein the functional monitoring layer is used to monitor whether a torque request sent by the functional layer has a fault, and the device includes:

[0048] A first determination module, configured to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer;

[0049] An acquisition module, used for acquiring a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time;

[0050] a second determination module, configured to determine, according to the linear relationship, a cumulative time duration during which the second torque value is greater than the torque threshold when the second torque value is in opposite directions to the first torque value and the second torque value is greater than the torque threshold;

[0051] A monitoring module is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the accumulated time that the preset operating condition meets the preset condition.

[0052] In a third aspect, the present application provides a vehicle, comprising: a processor and a memory, wherein the processor is used to execute a vehicle torque monitoring program stored in the memory to implement the vehicle torque monitoring method described in any one of the first aspects.

[0053] In a fourth aspect, the present application provides a storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the vehicle torque monitoring method described in any one of the first aspects.

[0054] The technical solution provided by the embodiment of the present application determines the current first torque value of the vehicle when the vehicle is traveling under a preset operating condition, and obtains the current second torque value of the vehicle determined by the functional layer, obtains a predetermined torque threshold of the vehicle under the above-mentioned preset operating condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time; when the second torque value is in the opposite direction to the first torque value and the second torque value is greater than the torque threshold, the accumulated time that the second torque value is greater than the torque threshold is determined according to the above-mentioned linear relationship; when it is determined based on the above-mentioned accumulated time that the above-mentioned preset operating condition meets the preset condition, the next torque request sent by the functional layer is continuously monitored based on the above-mentioned preset operating condition. This technical solution pre-constructs a torque threshold for preset working conditions such as special or extreme working conditions, as well as a linear relationship between a torque value greater than the torque threshold and the fault tolerance time, and determines the cumulative time during which the torque value determined by the functional layer is continuously greater than the torque threshold according to the torque value and the above-mentioned linear relationship during actual vehicle operation, thereby determining whether the vehicle is prone to falsely triggering a fault response of the functional monitoring layer under the preset working condition based on the cumulative time, so that when it is determined that a false triggering of a fault response exists under the preset working condition, the functional monitoring layer monitors the next torque request sent by the functional layer based on the preset working condition, thereby improving the test cases of the functional monitoring layer, thereby reducing false triggering of fault responses under special or extreme working conditions, and realizing improved test cases for the functional monitoring layer, reducing false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0056] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art texts are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0057] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0058] Figure 1 A flow chart of an embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0059] Figure 2A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0060] Figure 3 A flow chart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0061] Figure 4 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0062] Figure 5 A schematic diagram of a curve relationship diagram of a torque value and a fault tolerance time provided in an embodiment of the present application;

[0063] Figure 6 A block diagram of an embodiment of a vehicle torque monitoring device provided in an embodiment of the present application;

[0064] Figure 7 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described in the text are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0066] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described in detail below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0067] To facilitate understanding of the vehicle torque monitoring method provided by the present application, the following is an exemplary description of the technical issues involved in the present application:

[0068] In the related technology, the vehicle's automatic driving system may have a functional safety architecture, which can generally be divided into a three-layer architecture: L1 layer: functional layer, L2 layer: functional monitoring layer, and L3 layer: hardware monitoring layer. The above functional layers can be used to realize the respective functions of the vehicle (for example, determining the torque of the front and rear motors of the vehicle according to the vehicle's operating parameters, and sending torque requests to the front and rear motors); the above functional monitoring layer is used to monitor the various functional safety implemented in the functional layer, so that when the safety layer fails, corresponding safety measures can be taken in time to ensure the stability and safety of the vehicle; the above hardware monitoring layer monitors whether the vehicle's controller is operating normally.

[0069] Among them, after determining the torque value, the above-mentioned functional layer can send a torque request corresponding to the torque value to the front and rear motors of the vehicle, and the functional monitoring layer monitors the torque request sent by the functional layer according to the torque value determined by itself to determine whether there is a fault in the torque request sent by the functional layer, and in the event of a fault, trigger a fault response and execute corresponding fault response strategies to ensure the stability and safety of vehicle operation.

[0070] Among them, when the function monitoring layer and the functional layer determine the torque values ​​of the front and rear motors of the vehicle, the vehicle operating parameters and determination methods they are based on are not exactly the same. For example, the operating parameters based on the function monitoring layer include the rear wheel speed of the vehicle, and the determination method process is relatively simple, while the operating parameters based on the functional layer include the front wheel speed and rear wheel speed of the vehicle, and the determination method process is relatively complicated. Therefore, the above-mentioned first torque value and the second torque value may be the same or different.

[0071] In actual scenarios, when the vehicle is traveling under some special or extreme conditions (such as ice or flooded roads on the west slope, etc.), the vehicle is prone to more extreme situations (for example, the rear wheels are prone to slipping or becoming airborne, resulting in a large change in the rear wheel speed of the vehicle, while the front wheel speed changes less). This results in a large gap between the torque values ​​determined by the functional monitoring layer and the functional layer, respectively, which meets the triggering conditions for the fault response. However, in actual operation, the above-mentioned special or extreme conditions may not reach the level of safety hazards. Therefore, the triggering of the fault response by the special or extreme conditions is a false trigger, which affects the stability and safety of the vehicle, and thus affects the user experience.

[0072] In order to solve the technical problem in the prior art that the test cases cannot cover some special or extreme conditions, which leads to the false triggering of fault responses of many special or extreme conditions during the operation of the vehicle, affecting the stability and safety of the vehicle, and thus affecting the user experience, the present application provides a torque monitoring method, device and vehicle for a vehicle, which can pre-construct torque thresholds for preset conditions such as special or extreme conditions, and a linear relationship between a torque value greater than the torque threshold and a fault tolerance time, and determine the cumulative time for which the torque value determined by the functional layer is continuously greater than the torque threshold according to the torque value and the above linear relationship during the actual operation of the vehicle, so as to determine whether the vehicle is prone to false triggering of the fault response of the functional monitoring layer under the preset condition according to the cumulative time, so that when it is determined that the preset condition has a false triggering of the fault response, the functional monitoring layer monitors the next torque request sent by the functional layer based on the preset condition, improves the test cases of the functional monitoring layer, thereby reducing the false triggering of fault responses of special or extreme conditions, and realizes the improvement of the test cases of the functional monitoring layer, reducing the false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0073] The vehicle torque monitoring method provided by the present application is further explained below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0074] join Figure 1 , is a flow chart of an embodiment of a torque monitoring method for a vehicle provided in an embodiment of the present application. As an embodiment, the torque monitoring method for a vehicle provided in an embodiment of the present application can be applied to a functional monitoring layer in a functional safety architecture of a vehicle. The functional safety architecture may include a functional layer and a functional monitoring layer. The functional monitoring layer may be used to monitor whether a torque request sent by the functional layer is faulty. Figure 1 As shown, the process may include the following steps:

[0075] Step 101: When a vehicle is traveling under a preset operating condition, determine a current first torque value of the vehicle, and obtain a current second torque value of the vehicle determined by a functional layer.

[0076] The above-mentioned preset working conditions refer to the working conditions that are predetermined and may falsely trigger the fault response of the functional monitoring layer, which may include but are not limited to: working conditions such as sloped roads and icy roads. Among them, when the vehicle is driving under the above-mentioned working conditions, the rear wheel speed of the vehicle may suddenly change due to special circumstances such as slippery roads, and because the first torque value and the second torque value are determined in different ways (for example, the first torque value is determined according to the wheel speed of the front wheels, and the second torque value is determined according to the wheel speed of the rear wheels), this causes the first torque value and the second torque value to meet the fault response conditions for triggering the functional monitoring layer, thereby triggering the fault response of the functional monitoring layer, and the triggering in this case is a false trigger.

[0077] The above-mentioned first torque value refers to the torque value of the front and rear motors determined by the functional monitoring layer according to the current operating parameters of the vehicle (hereinafter referred to as the first operating parameters for ease of distinction).

[0078] The above-mentioned second torque value refers to the torque value of the front and rear motors determined by the functional layer according to the current operating parameters of the vehicle (hereinafter referred to as the second operating parameters for ease of distinction).

[0079] Among them, the function monitoring layer and the functional layer are different in that the vehicle operating parameters and torque determination logic adopted by the two are different, that is, the above-mentioned first operating parameter and the second operating parameter are different operating parameters. For example, the functional layer determines the torque value of the vehicle according to the front wheel speed and the rear wheel speed of the vehicle, while the function monitoring layer determines the torque value of the vehicle according to the vehicle speed sent by the IPB controller, and the vehicle speed sent by the IPB controller is the rear wheel speed of the vehicle.

[0080] In some embodiments of the present application, in order to prevent the fault response of the functional monitoring layer from being falsely triggered when the vehicle is traveling under preset operating conditions, the functional monitoring layer can determine the probability of triggering a fault response under the preset operating condition, and then determine whether the preset operating condition is a condition that falsely triggers a fault response based on the probability, so as to improve the test cases applied by the functional monitoring layer and improve the stability and safety of the vehicle.

[0081] Based on this, in one embodiment, the executing body of the embodiment of the present application may be a functional monitoring layer. When it is determined that the vehicle is traveling under preset operating conditions, the functional monitoring layer may determine the current torque value of the vehicle (hereinafter referred to as the first torque value for ease of distinction) and obtain the current torque value of the vehicle determined by the functional layer at this time (hereinafter referred to as the second torque value for ease of distinction).

[0082] As a possible implementation, when determining the first torque value of the vehicle, the functional monitoring layer may obtain the current first operating parameter of the vehicle, and search the preset first torque value table according to the first preset process based on the first operating parameter to obtain the first torque value of the front and rear motors of the vehicle. The first operating parameter may include but is not limited to: vehicle speed, driving mode, brake pedal, accelerator pedal state and other parameters.

[0083] As a possible implementation, when determining the second torque value of the vehicle, the functional layer may obtain the current operating parameters of the vehicle (hereinafter referred to as the second operating parameters for the sake of distinction), and search the preset torque value table (hereinafter referred to as the second torque value table for the sake of distinction) according to the second preset process based on the second operating parameters to obtain the second torque value of the front and rear motors of the vehicle. The second operating parameters may include but are not limited to parameters such as vehicle speed, driving mode, brake pedal, and accelerator pedal status. The second preset process and the first preset process may be different processes, and the first torque value table and the second torque value table may be different tables.

[0084] Afterwards, the functional layer may generate a torque request according to the current second torque value of the vehicle, so as to send the torque request to the front and rear motors of the vehicle.

[0085] Based on this, the functional monitoring layer can obtain the torque request sent by the above functional layer, and determine the current second torque value of the vehicle from the torque request.

[0086] Step 102: Obtain a predetermined torque threshold of the vehicle under the above-mentioned preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time.

[0087] Step 103: When the second torque value is in the opposite direction to the first torque value and the second torque value is greater than the torque threshold, determine the accumulated time duration that the second torque value is greater than the torque threshold according to the linear relationship.

[0088] Step 104: When it is determined based on the accumulated time that the preset operating condition meets the preset condition, continue to monitor the next torque request sent by the functional layer based on the preset operating condition.

[0089] The following is a unified description of steps 102 to 104:

[0090] The above-mentioned torque threshold refers to the critical value corresponding to the fault response in the functional monitoring layer when the vehicle is traveling under preset operating conditions. That is, when the torque value of the vehicle is greater than or equal to the torque threshold, it means that the torque value exceeds the critical value and may trigger the fault response.

[0091] The above-mentioned fault tolerance time refers to the shortest time from the occurrence of a vehicle fault to the possible occurrence of a dangerous event. That is, when the torque value of the vehicle exceeds the torque threshold, there may be a fault. When the torque value exceeds the torque threshold for a period of time that reaches the fault tolerance time, the vehicle may be in a dangerous event.

[0092] When the torque value exceeds the torque threshold, different torque values ​​may correspond to different fault tolerance times, that is, different fault tolerance times may exist according to different degrees that the torque value exceeds the torque threshold.

[0093] In some embodiments of the present application, the torque threshold of the vehicle under the preset working condition and the linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time can be predetermined, and the torque threshold and the linear relationship can be stored in a preset storage medium. Based on this, after obtaining the second torque value determined by the functional layer, the function monitoring layer can directly obtain the torque threshold and the linear relationship corresponding to the vehicle under the above preset working condition from the above storage medium.

[0094] As for how to determine the torque threshold of the vehicle under the preset working condition, and the linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time, it can be described below. Figure 2 The process shown is explained and will not be described in detail here.

[0095] In some embodiments of the present application, after determining the first torque value of the vehicle under a preset operating condition and the second torque value determined by the functional layer, the functional monitoring layer can obtain the torque threshold corresponding to the preset operating condition, and the linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time, and compare the directions represented by the first torque value and the second torque value, and compare the second torque value with the torque threshold to obtain corresponding comparison results.

[0096] Optionally, when the comparison result indicates that the second torque value is in the opposite direction to the first torque value, and the second torque value is greater than the torque threshold, it means that the pre-requisites for fault response have been met, and the cumulative time that the second torque value is greater than the torque threshold can be determined.

[0097] Among them, in actual applications, when the accumulated time meets the fault tolerance time, it means that a dangerous event may occur in the vehicle at this time, so a fault response can be triggered.

[0098] Optionally, since when the second torque value is greater than the torque threshold, different second torque values ​​may correspond to different fault tolerance times, and the second torque value is not fixed, the cumulative time that the second torque value is greater than the torque threshold can be determined based on the linear relationship between different torque values ​​exceeding the torque threshold and the fault tolerance time.

[0099] In some embodiments of the present application, the function monitoring layer may determine whether the preset working condition meets the preset condition based on the determined cumulative duration, wherein the preset condition indicates that the fault trigger corresponding to the preset working condition is a false trigger.

[0100] Optionally, if it is determined that the preset operating condition meets the above preset conditions, it means that the preset operating condition is a condition that is prone to falsely trigger a fault response. Therefore, the functional monitoring layer can continue to monitor the next torque request sent by the functional layer based on the preset operating condition.

[0101] As for how to determine the accumulated time that the second torque value is greater than the torque threshold value based on the above linear relationship, and determine whether the preset working condition meets the preset condition based on the accumulated time, it can be described below by Figure 4 The process shown is explained and will not be described in detail here.

[0102] As an exemplary embodiment, the functional monitoring layer may optimize the current functional safety monitoring mechanism based on the preset operating condition, so as to continue to monitor the next torque request sent by the functional layer based on the optimized functional safety monitoring mechanism, thereby avoiding false triggering of the next torque request.

[0103] As an implementation method, the preset working condition can be used as a test case to superimpose the current test scenario and test case of the functional monitoring layer to improve the test case of the functional monitoring layer, thereby optimizing the functional safety monitoring mechanism.

[0104] The technical solution provided by the embodiment of the present application determines the current first torque value of the vehicle when the vehicle is traveling under a preset operating condition, and obtains the current second torque value of the vehicle determined by the functional layer, obtains a predetermined torque threshold of the vehicle under the above-mentioned preset operating condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time; when the second torque value is in the opposite direction to the first torque value and the second torque value is greater than the torque threshold, the accumulated time that the second torque value is greater than the torque threshold is determined according to the above-mentioned linear relationship; when it is determined based on the above-mentioned accumulated time that the above-mentioned preset operating condition meets the preset condition, the next torque request sent by the functional layer is continuously monitored based on the above-mentioned preset operating condition. This technical solution pre-constructs a torque threshold for preset working conditions such as special or extreme working conditions, as well as a linear relationship between a torque value greater than the torque threshold and the fault tolerance time, and determines the cumulative time during which the torque value determined by the functional layer is continuously greater than the torque threshold according to the torque value and the above-mentioned linear relationship during actual vehicle operation, thereby determining whether the vehicle is prone to falsely triggering a fault response of the functional monitoring layer under the preset working condition based on the cumulative time, so that when it is determined that a false triggering of a fault response exists under the preset working condition, the functional monitoring layer monitors the next torque request sent by the functional layer based on the preset working condition, thereby improving the test cases of the functional monitoring layer, thereby reducing false triggering of fault responses under special or extreme working conditions, and realizing improved test cases for the functional monitoring layer, reducing false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0105] See also Figure 2 , which is a flow chart of an embodiment of another vehicle torque monitoring method provided in an embodiment of the present application. Figure 2 The process shown in Figure 1 Based on the process shown, it is described how to determine the torque threshold of the vehicle under the preset working condition, and the linear relationship between different torque values ​​greater than or equal to the torque threshold and the fault tolerance time. Figure 2 As shown, the process may include the following steps:

[0106] Step 201: Using a pre-built functional safety model, determine a torque threshold corresponding to a vehicle under a preset operating condition, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each torque value.

[0107] The above-mentioned functional safety model refers to a pre-built simulation model used to simulate the driving of a vehicle under preset operating conditions.

[0108] In some embodiments of the present application, in order to determine the torque threshold corresponding to the vehicle under preset operating conditions, and the linear relationship between the torque threshold greater than the torque threshold and the fault tolerance time, the functional monitoring layer can use a pre-built functional safety model to simulate the torque threshold of the vehicle when it is driving under preset operating conditions, and based on the torque threshold, determine the linear relationship between the torque value and the fault tolerance time when the torque value is greater than or equal to the torque threshold.

[0109] As an optional implementation method, the above-mentioned functional safety model can be used to determine the torque threshold corresponding to the vehicle under preset operating conditions, multiple different torque values ​​greater than or equal to the above-mentioned torque threshold, and the fault tolerance time corresponding to each torque value.

[0110] Optional, can be Figure 3 The process shown determines the torque threshold, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each torque value.

[0111] See also Figure 3 , which is a flow chart of an embodiment of another vehicle torque monitoring method provided in an embodiment of the present application. Figure 3 The process shown describes how to use the pre-built functional safety model to determine the torque threshold corresponding to the vehicle under the preset working condition, multiple torque values ​​greater than or equal to the torque threshold, and the fault tolerance time corresponding to each torque value. Figure 3 As shown, the process may include the following steps:

[0112] Step 301: Obtain operating condition parameters for a preset operating condition, and update an initial functional safety model according to the operating condition parameters to obtain a functional safety model.

[0113] The above-mentioned operating condition parameters refer to the detailed information corresponding to the road conditions, environment and other conditions involved in the preset operating conditions, which may include but are not limited to: road slope, drag coefficient, windward area and other parameters.

[0114] The above-mentioned initial functional safety model is a pre-built model framework. By setting different operating condition parameters for the initial functional safety model, functional safety models corresponding to different operating conditions can be obtained.

[0115] In one embodiment, the functional monitoring layer may obtain the operating condition parameters of the preset operating condition and a pre-built initial functional safety model, and update the initial functional safety model through the operating condition parameters to obtain the functional safety model corresponding to the preset operating condition.

[0116] As a possible implementation method, the above operating condition parameters pre-stored by the user and the pre-built initial functional safety model may be obtained from a preset database.

[0117] Step 302: Obtain vehicle model parameters.

[0118] Step 303: Input the vehicle model parameters into the functional safety model to obtain a plurality of different initial torque values ​​output by the functional safety model, a relative distance or relative speed to other vehicles corresponding to each initial torque value, and a damage severity corresponding to the vehicle at the initial torque value.

[0119] Step 304: Determine the initial torque value for which the damage severity satisfies the threshold condition as the torque threshold, and determine the fault tolerance time corresponding to the torque threshold according to the relative distance and relative speed corresponding to the torque threshold.

[0120] The following is a unified description of steps 302 to 304:

[0121] The above-mentioned vehicle model parameters refer to the vehicle model and relevant parameters during operation, which may include but are not limited to: vehicle model mass, tire rolling radius, front axle speed ratio, rear axle speed ratio, transmission system efficiency and other parameters.

[0122] The above-mentioned damage severity refers to the degree of damage caused to the vehicle by different torque values ​​when the vehicle is driving under predetermined working conditions simulated by the functional safety model, which can be expressed as a percentage, for example, 0% means no damage to the vehicle, 30% means low damage to the vehicle, and 100% means severe damage to the vehicle, which has reached the level of vehicle scrapping. It is understandable that the damage severity can also be expressed by other symbols, such as letters such as A, B, and C, and the embodiments of the present application are not limited to this.

[0123] The above-mentioned threshold condition refers to a pre-set condition for satisfying the fault response in the functional monitoring layer, which can be represented by a damage severity threshold. That is, when the damage severity of the corresponding initial torque value of the vehicle reaches the above-mentioned damage severity threshold, the trigger condition for the fault response of the functional monitoring layer is satisfied.

[0124] In some embodiments of the present application, the functional monitoring layer can obtain the vehicle model parameters of the vehicle and input the vehicle model parameters into the updated functional safety model. After receiving the vehicle model parameters, the functional safety model can simulate the vehicle driving under preset working conditions according to the vehicle model parameters, thereby obtaining multiple different initial torque values, the relative distance and relative speed to other vehicles corresponding to each initial torque value, and the severity of damage to the vehicle at the initial torque value.

[0125] Among them, in some embodiments of the present application, the functional safety model can simulate the driving condition of the vehicle relative to other vehicles under preset conditions, and the technician can set the acceleration of the vehicle and other vehicles, the initial distance between the two vehicles, the driver's reaction time and other parameters in the above functional safety model. Based on this, the functional safety model can simulate the relative distance between the vehicle and other vehicles at different initial torque values ​​under preset conditions, as well as the relative speed between the two vehicles and the severity of damage to the vehicle caused by the initial torque value and relative distance. Afterwards, the functional safety model can output the above multiple initial torque values, the relative distance and relative speed to other vehicles corresponding to each initial torque value, and the severity of damage to the vehicle under the initial torque value.

[0126] Based on the different initial torque values ​​output by the above-mentioned functional safety model, the relative distance and relative speed to other vehicles corresponding to each initial torque value, and the damage severity corresponding to the vehicle at the initial torque value, the functional monitoring layer can determine the damage severity that meets or is close to the threshold condition from the above-mentioned multiple damage severities, and determine the initial torque value corresponding to the damage severity that meets the threshold condition as the torque threshold.

[0127] As an optional implementation, when determining the damage severity that satisfies the threshold condition, each damage severity may be compared with the damage severity threshold corresponding to the threshold condition to determine the difference between each damage severity and the damage severity threshold. Then, the initial torque value corresponding to the damage severity with the smallest difference may be determined as the torque threshold.

[0128] Based on this, after the torque threshold is determined, the fault tolerance time corresponding to the torque threshold can be determined according to the relative distance and relative speed corresponding to the torque threshold.

[0129] As an exemplary implementation, the fault tolerance time corresponding to the torque threshold may be obtained by dividing the relative distance by the relative speed.

[0130] Step 305: Determine a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each torque value according to the torque threshold and the functional safety model.

[0131] In some embodiments of the present application, after the torque threshold is determined, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each torque value may be determined based on the torque threshold and a functional safety model.

[0132] As an optional implementation, the operating condition parameters corresponding to the torque threshold in the functional model may be first obtained, and multiple sets of different target operating condition parameters may be determined based on the operating condition parameters, and the torque values ​​corresponding to the target operating condition parameters are greater than the torque threshold. The operating condition parameters refer to parameters involved in the operation of the vehicle, which may include but are not limited to: the distance between the two vehicles, the driver's reaction time, the different speeds of the two vehicles, and the relative vehicle speed.

[0133] As an exemplary implementation, some of the operating condition parameters may be increased in sequence to obtain multiple target operating condition parameters, such as increasing the speeds of the two vehicles in the operating condition parameters in sequence, or increasing the driver's reaction time in sequence.

[0134] Afterwards, based on the above functional safety model and the target operating condition parameters, multiple different torque values ​​greater than the torque threshold and the fault tolerance time corresponding to each torque value can be determined.

[0135] As an exemplary implementation, a functional safety model may be used to simulate multiple torque values ​​corresponding to a vehicle under target operating parameters, a relative speed and a relative distance corresponding to each torque value, and a damage severity corresponding to each torque value.

[0136] Afterwards, for each torque value, the fault tolerance time corresponding to the torque value may be determined according to the relative distance and relative speed corresponding to the torque value.

[0137] At this point, the torque threshold, the fault tolerance time corresponding to the torque threshold, multiple torque values ​​greater than the torque threshold, and the fault tolerance time corresponding to each torque value can be obtained. Afterwards, the torque threshold, torque value, and multiple fault tolerance times can be statistically analyzed to obtain a corresponding table between the torque value and the fault tolerance time, such as the table shown in Table 1 below:

[0138] Table 1

[0139]

[0140] Among them, 100 in Table 1 is the torque threshold, and the remaining torque values ​​are torque values ​​greater than the torque threshold.

[0141] In addition, the torque value may have a maximum torque threshold (eg, 500 N·m). When the torque value is greater than the maximum torque threshold, the fault tolerance time may be the fault tolerance time corresponding to the maximum torque threshold (eg, 300 ms).

[0142] So far, the Figure 3 Description of the process shown.

[0143] Step 202: Generate a linear relationship between the torque value and the fault tolerance time according to the multiple torque values ​​and the fault tolerance time corresponding to each torque value.

[0144] In some embodiments of the present application, according to Figure 3 The process shown can obtain multiple torque values ​​greater than or equal to the torque threshold, and the fault tolerance time corresponding to each torque value, such as shown in the above Table 1. Based on this, the functional monitoring layer can generate a linear relationship between the torque value and the fault tolerance time according to the above multiple torque values ​​and the fault tolerance time corresponding to each torque value.

[0145] As an optional implementation method, a curve relationship diagram between the torque value and the fault tolerance time can be constructed first. The horizontal axis of the curve relationship diagram can be the torque value, and the vertical axis can be the fault tolerance time. For example, see Figure 5 , which is a schematic diagram of a curve relationship diagram of torque value and fault tolerance time provided in an embodiment of the present application. Figure 5 The relationship diagram shown is a relationship diagram established based on the data in Table 1.

[0146] Afterwards, a linear relationship between the torque value and the fault tolerance time can be generated according to the above curve relationship diagram. The function monitoring layer can generate a linear relationship between the torque value and the fault tolerance time by covering all points included in the curve in the curve relationship diagram as much as possible.

[0147] The technical solution provided by the embodiment of the present application determines the torque threshold corresponding to the vehicle under the preset working condition, multiple different torque values ​​greater than or equal to the above torque threshold, and the fault tolerance time corresponding to each torque value by using a pre-constructed functional safety model, and generates a linear relationship between the torque value and the fault tolerance time according to the multiple torque values ​​and the fault tolerance time corresponding to each torque value. This technical solution simulates the torque threshold of the vehicle under the preset working condition, the torque value after exceeding the torque threshold and the fault tolerance time of each torque value through a pre-constructed functional safety model, so that the linear relationship between the torque value and the fault tolerance time can be constructed, and the torque threshold of the vehicle and the linear relationship between the torque value and the fault tolerance time can be more accurately simulated by constructing a functional safety model, so that the torque threshold corresponding to the preset working condition can be accurately determined, and the corresponding relationship between the torque value and the fault tolerance time after exceeding the torque threshold can be achieved, so as to more accurately determine whether the preset working condition triggers the fault response of the functional monitoring layer, improve the test cases of the functional monitoring layer, and reduce the false triggering of the fault response.

[0148] See also Figure 4 , which is a flow chart of an embodiment of another vehicle torque monitoring method provided in an embodiment of the present application. Figure 4 The process shown in Figure 2 Based on the process shown, it is described how to determine the accumulated time that the second torque value is greater than the torque threshold value according to the linear relationship, and how to determine whether the preset working condition meets the preset condition based on the accumulated time. Figure 4 As shown, the process may include the following steps:

[0149] Step 401: Determine the first torque value range corresponding to the change when the second torque value is greater than the torque threshold.

[0150] Step 402: Determine the accumulated time length during which the second torque value is greater than the torque threshold value based on the first torque value range and the linear relationship.

[0151] The following is a unified description of step 401 and step 402:

[0152] The first torque value range refers to a range of the second torque value from being greater than the torque threshold to the current torque value when the second torque value is greater than the torque threshold.

[0153] In some embodiments of the present application, since the second torque value requested by the functional layer may change (for example, the torque value becomes smaller and smaller), and different torque values ​​have different corresponding fault tolerance times, in order to determine the cumulative duration in which the second torque value is greater than the torque threshold, the torque value variation range of the second torque value (hereinafter referred to as the "first torque value range") can be determined, and the cumulative duration of the second torque value can be determined based on the first torque value range and the linear relationship.

[0154] As an optional implementation, a linear function corresponding to the above linear relationship may be determined, and the linear function within the first torque value range may be integrated to determine the accumulated duration of the second torque value.

[0155] The above-mentioned linear function refers to a function that represents the above-mentioned linear relationship, for example Figure 5 The linear relationship shown can be expressed by the linear function of the following formula (1):

[0156] Y=-3X+1700 Formula (I)

[0157] Wherein, the above Y represents the fault tolerance time, and the above X represents the torque value.

[0158] For example, assuming that the second torque value decreases from b to a, then the first torque value range is [a, b], and the linear function is the above formula (1). Then the above cumulative time can be obtained by the following formula (2):

[0159]

[0160] The above T represents the accumulated time, and the above x represents the second torque value.

[0161] Step 403: Based on the accumulated time, determine the fault probability that the torque request sent by the functional layer under the preset working condition has a fault.

[0162] Step 404 , determine whether the above failure probability is greater than a preset probability threshold, if so, execute step 405 ; if not, execute step 406 .

[0163] Step 405: Determine whether the preset working condition meets the above preset conditions.

[0164] Step 406: Determine whether the preset operating condition does not satisfy the above preset condition.

[0165] The following is a unified description of steps 403 to 406:

[0166] The above-mentioned fault probability refers to the probability of triggering a fault response of the functional monitoring layer when the vehicle is driving under preset working conditions. The triggering condition of the fault response may be that the second torque value is opposite to the first torque value in direction, and the accumulated time that the second torque value is greater than the torque threshold exceeds the fault tolerance time.

[0167] In some embodiments of the present application, it is possible to determine whether the torque request sent by the functional layer under the preset operating condition has a fault based on the cumulative length of time that the second torque value is greater than the torque threshold, that is, the fault probability of currently triggering a fault response, thereby determining whether the preset operating condition meets the preset condition based on the fault probability.

[0168] As an optional implementation method, since the second torque value is not fixed, its corresponding fault tolerance time also changes with the second torque value. Therefore, when determining the failure probability, a total duration can be first determined based on the linear relationship between different torque values ​​and the fault tolerance time, and then the ratio of the cumulative duration to the total duration is determined as the failure probability that the torque request sent by the functional layer under the preset working conditions is faulty.

[0169] As an exemplary implementation, the second torque value range corresponding to the preset working condition in the linear relationship can be determined. The second torque value range here refers to the total torque range of the second torque value change when the vehicle is traveling under the preset working condition and the second torque value exceeds the torque threshold, for example Figure 5 The corresponding second torque value range in the curve relationship diagram is [100, 500].

[0170] Afterwards, the total duration corresponding to the linear relationship can be determined based on the second torque value range and the linear relationship, and the total duration is used to characterize the total duration corresponding to all fault tolerance times of the vehicle under the preset working condition.

[0171] As an optional implementation, a linear function corresponding to the above linear relationship may be determined, and the above linear function within the second torque value range may be integrated to obtain a total duration corresponding to the linear function.

[0172] Continue with Figure 5 Taking the curve relationship diagram shown as an example, the above total duration can be determined by the following formula (III):

[0173]

[0174] Among them, the above T 总 is the total time mentioned above, and x is the torque value.

[0175] In an optional implementation, after determining the above-mentioned fault probability, the fault probability can be compared with a preset fault probability threshold to obtain a comparison result, and whether the preset working condition meets the preset condition is determined based on the comparison result. The above-mentioned fault probability threshold refers to a preset threshold, such as 0.85 or 0.9, or other values, which is not limited in the embodiments of the present application.

[0176] Optionally, if the above comparison result indicates that the fault probability is greater than the above fault probability threshold, it means that the preset operating condition is a special operating condition that easily triggers the fault response of the functional monitoring layer by mistake. Therefore, the preset operating condition meets the preset conditions.

[0177] As an exemplary implementation, in order to further determine whether the preset operating condition is a special operating condition that falsely triggers a fault response, the functional monitoring layer can obtain the operating parameters of the vehicle corresponding to the above fault probability under the preset operating condition. The above operating parameters may include but are not limited to: vehicle speed, dual pedal status, front and rear motor torque requests, brake recovery torque request and other data.

[0178] Afterwards, based on the operating parameters, the target failure probability of the torque request sent by the functional layer after the preset working condition and other working conditions are superimposed can be simulated. Among them, the method for determining the target failure probability can obtain a new working condition by superimposing the preset working condition and other working conditions, and execute the new working condition as the preset working condition. Figures 1 to 4 The process shown is obtained.

[0179] Optionally, if the above target failure probability is greater than the above failure probability, it means that after the preset operating condition is superimposed on other operating conditions, the probability of triggering a fault response increases. Therefore, the preset operating condition can be determined as a special operating condition that falsely triggers a fault response, that is, the preset operating condition meets the preset conditions.

[0180] Optionally, if the above comparison result indicates that the fault probability is less than or equal to the fault probability threshold, it means that the preset operating condition is not a special operating condition that easily triggers the fault response of the functional monitoring layer by mistake. Therefore, the preset operating condition does not meet the preset conditions.

[0181] In an exemplary embodiment, when it is determined that the preset working condition meets the preset condition, in order to more accurately determine whether the preset working condition is a special working condition that falsely triggers a fault response or a working condition that has a fault itself, the functional monitoring layer can output the working condition information of the preset working condition, so that the technician can determine whether the preset working condition is a special working condition that falsely triggers a fault response. Afterwards, if the technician receives a confirmation operation for the preset working condition, it can be determined that the preset working condition is a special working condition that falsely triggers a fault response, and the preset working condition is used as a test case to improve the current test case, and the safety monitoring mechanism of the functional monitoring layer is optimized to cover the preset working condition, and the functional safety model is optimized according to the preset working condition.

[0182] In one embodiment, in order to avoid missing the situation where the failure probability of the vehicle increases in the preset working condition, the functional monitoring layer can perform the above steps 403 and 404 in real time, and determine whether the failure probability is greater than the current failure probability for each determined failure probability. The current failure probability is the failure probability determined last time.

[0183] Optionally, when it is determined that the fault probability is greater than the current fault probability, the current fault probability is updated to the fault probability, that is, the maximum fault probability of triggering a fault response under the preset working condition is recorded in real time.

[0184] Afterwards, when the second torque value is less than or equal to the torque threshold, it means that the prerequisite for triggering a fault response is not met. At this time, the current fault probability currently recorded can be updated to a first preset value, which is used to represent the possibility of no triggering a fault response, such as 0.

[0185] The technical solution provided by the embodiment of the present application is to determine the first torque value range corresponding to the change when the second torque value is greater than the torque threshold, and determine the accumulated time that the second torque value is greater than the torque threshold according to the first torque value range and the linear relationship, and determine the fault probability of the torque request sent by the functional layer under the preset working condition based on the accumulated time, and determine whether the fault probability is greater than the preset probability threshold. If so, it is determined that the preset working condition meets the preset condition; if not, it is determined that the preset working condition does not meet the preset condition. This technical solution determines the accumulated time that the second torque value is greater than the torque threshold by integrating the linear function of the torque value and the fault tolerance relationship in the first torque value range, thereby determining the fault probability of the preset working condition triggering the fault response according to the accumulated time, and determining whether the preset working condition meets the preset condition according to the fault probability, and the integration of the linear function can more accurately determine the accumulated time that the second torque value is greater than the torque threshold, thereby more accurately determining whether the preset working condition meets the preset condition, and more accurately determining whether the preset working condition meets the preset condition of the false triggering fault response.

[0186] See also Figure 6 , is a block diagram of an embodiment of a vehicle monitoring device provided in an embodiment of the present application. As an embodiment, the device can be applied to a functional monitoring layer in a functional safety architecture of a vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, and the functional monitoring layer is used to monitor whether a torque request sent by the functional layer is faulty. Figure 6 As shown, the device may include:

[0187] A first determination module 61 is used to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer;

[0188] An acquisition module 62, configured to acquire a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time;

[0189] A second determination module 63 is used to determine, according to the linear relationship, a cumulative time length during which the second torque value is greater than the torque threshold when the second torque value is in opposite directions to the first torque value and the second torque value is greater than the torque threshold;

[0190] The monitoring module 64 is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the accumulated time that the preset operating condition meets the preset condition.

[0191] like Figure 7 As shown, it is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application, including a processor 71, a communication interface 72, a memory 73 and a communication bus 74, wherein the processor 71, the communication interface 72, and the memory 73 communicate with each other through the communication bus 74.

[0192] A memory 73, for storing computer programs;

[0193] In one embodiment of the present application, the processor 71 is used to execute the program stored in the memory 73 to implement the torque monitoring method of the vehicle provided by any of the above method embodiments. The method can be applied to the function monitoring layer in the functional safety architecture of the vehicle. The functional safety architecture includes a function layer and a function monitoring layer. The function monitoring layer is used to monitor whether there is a fault in the torque request sent by the function layer. The method includes:

[0194] When the vehicle is traveling under a preset working condition, determining a current first torque value of the vehicle, and acquiring a current second torque value of the vehicle determined by the functional layer;

[0195] Acquire a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time;

[0196] When the second torque value is in a direction opposite to that represented by the first torque value and the second torque value is greater than the torque threshold, determining, according to the linear relationship, a cumulative time duration during which the second torque value is greater than the torque threshold;

[0197] When it is determined based on the accumulated time that the preset operating condition satisfies the preset condition, the next torque request sent by the functional layer continues to be monitored based on the preset operating condition.

[0198] An embodiment of the present application further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle torque monitoring method provided in any one of the aforementioned method embodiments are implemented.

[0199] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0200] Through the text of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0201] It should be understood that the terms used in the text are only for the purpose of the specific example implementation of the text, and are not intended to be limited. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text can also be represented to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of the stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or their combinations. The method steps, processes, and operations of the text in the text are not interpreted as necessarily requiring them to be performed in the specific order of the text or description, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps can be used.

[0202] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for monitoring torque of a vehicle, characterized in that: A function monitoring layer in a functional safety architecture applied to a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being used to monitor whether a torque request sent by the function layer has a fault, the method comprising: When the vehicle is traveling under a preset working condition, determining a current first torque value of the vehicle, and acquiring a current second torque value of the vehicle determined by the functional layer; Acquire a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time; When the second torque value is in a direction opposite to that represented by the first torque value and the second torque value is greater than the torque threshold, determining, according to the linear relationship, a cumulative time duration during which the second torque value is greater than the torque threshold; When it is determined based on the accumulated time that the preset operating condition satisfies the preset condition, the next torque request sent by the functional layer continues to be monitored based on the preset operating condition.

2. The method according to claim 1, characterized in that The torque threshold and the linear relationship are determined in the following manner: Using a pre-built functional safety model, determine a torque threshold corresponding to the vehicle under the preset working condition, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each of the torque values; A linear relationship between the torque value and the fault tolerance time is generated according to the plurality of torque values ​​and the fault tolerance time corresponding to each torque value.

3. The method according to claim 2, characterized in that The method of using a pre-built functional safety model to determine a torque threshold corresponding to the vehicle under the preset working condition, a plurality of different torque values ​​greater than or equal to the torque threshold, and a fault tolerance time corresponding to each of the torque values ​​includes: Acquiring operating condition parameters for the preset operating condition, and updating the initial functional safety model according to the operating condition parameters to obtain the functional safety model; Obtaining vehicle model parameters of the vehicle; Inputting the vehicle model parameters into the functional safety model, obtaining a plurality of different initial torque values ​​output by the functional safety model, a relative distance and a relative speed to other vehicles corresponding to each of the initial torque values, and a damage severity of the vehicle corresponding to the initial torque value; Determining an initial torque value at which the damage severity satisfies a threshold condition as the torque threshold, and determining a fault tolerance time corresponding to the torque threshold according to the relative distance and the relative speed corresponding to the torque threshold; According to the torque threshold and the functional safety model, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​are determined.

4. The method according to claim 3, characterized in that The determining, according to the torque threshold and the functional safety model, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​comprises: Obtaining operating condition parameters corresponding to the torque threshold; Determining, according to the operating condition parameters, a plurality of different sets of target operating condition parameters, wherein the torque values ​​corresponding to the target operating condition parameters are greater than the torque threshold; Based on the functional safety model and the target operating condition parameters, a plurality of different torque values ​​greater than the torque threshold and a fault tolerance time corresponding to each of the torque values ​​are determined.

5. The method according to claim 1, characterized in that Determining, based on the linear relationship, the accumulated time duration that the second torque value is greater than the torque threshold value includes: Determine the first torque value range corresponding to the change when the second torque value is greater than the torque threshold; The accumulated time length during which the second torque value is greater than the torque threshold is determined according to the first torque value range and the linear relationship.

6. The method according to claim 1, characterized in that The determining, based on the accumulated time, that the preset operating condition satisfies a preset condition comprises: Based on the accumulated time, determining a fault probability that a torque request sent by the functional layer under the preset working condition is faulty; When the failure probability is greater than a preset probability threshold, it is determined that the preset operating condition meets a preset condition.

7. The method according to claim 6, characterized in that The determining, based on the accumulated time, a fault probability that the torque request sent by the functional layer under the preset working condition has a fault includes: Determine a second torque value range corresponding to the preset working condition in the linear relationship; Determining a total duration corresponding to the linear relationship according to the second torque value range and the linear relationship; The ratio of the accumulated time to the total time is determined as the fault probability that the torque request sent by the functional layer under the preset working condition is faulty.

8. The method according to claim 6, characterized in that After determining the fault probability that the torque request sent by the functional layer under the preset working condition has a fault based on the accumulated time, the method includes: The steps of determining, in real time, the accumulated time duration during which the second torque value is greater than the torque threshold value according to the linear relationship; and determining, based on the accumulated time duration, the fault probability that the torque request sent by the functional layer under the preset working condition is faulty; For each determined fault probability, determine whether the fault probability is greater than a current fault probability, where the current fault probability is the fault probability determined last time; In the case where it is determined that the failure probability is greater than the current failure probability, updating the current failure probability to the failure probability; When the second torque value is less than or equal to the torque threshold, the current fault probability is updated to a first preset value.

9. The method according to claim 6, characterized in that In the case where the failure probability is greater than a preset probability threshold, before determining that the preset operating condition satisfies a preset condition, the method further includes: Obtaining operating parameters of the vehicle corresponding to the failure probability under the preset operating condition; Based on the operating parameters, simulating a target failure probability that a torque request sent by the functional layer is faulty after the preset operating condition and other operating conditions are superimposed; In a case where the target failure probability is greater than the failure probability, the step of determining whether the preset operating condition satisfies a preset condition is performed.

10. A torque monitoring device for a vehicle, characterized in that: A function monitoring layer in a functional safety architecture applied to a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being used to monitor whether a torque request sent by the function layer has a fault, the device comprising: A first determination module, configured to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer; An acquisition module, used for acquiring a predetermined torque threshold of the vehicle under the preset working condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold and a fault tolerance time; a second determination module, configured to determine, according to the linear relationship, a cumulative time duration during which the second torque value is greater than the torque threshold when the second torque value is in opposite directions to the first torque value and the second torque value is greater than the torque threshold; A monitoring module is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the accumulated time that the preset operating condition meets the preset condition.

11. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a vehicle torque monitoring program stored in the memory to implement the vehicle torque monitoring method according to any one of claims 1 to 9.

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