Vehicle torque monitoring method, device and vehicle

Abstract

The present application relates to a vehicle torque monitoring method, device, and vehicle. The method includes: when the vehicle is traveling under a preset operating condition, determining the vehicle's current first torque value and obtaining the vehicle's current second torque value determined by a functional layer; obtaining a predetermined torque threshold for the vehicle under the preset operating 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 and the first torque value represent opposite directions and the second torque value is greater than the torque threshold, determining the cumulative duration that the second torque value is greater than the torque threshold based on the linear relationship; and when it is determined based on the cumulative duration that the preset operating condition satisfies a preset condition, continuing to monitor the next torque request sent by the functional layer based on the preset operating condition. This improves the test cases of the functional monitoring layer and reduces false triggering of fault responses of the functional monitoring layer.

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] The importance of a functional safety architecture in a vehicle's autonomous driving system is self-evident. For example, when an autonomous vehicle encounters an unexpected situation (such as an obstacle on the road), functional safety mechanisms ensure timely braking to avoid a collision. These functional safety mechanisms are implemented in the functional monitoring layer of the functional safety architecture.

[0003] The above-mentioned functional safety architecture can generally be divided into a three-layer architecture: a functional layer, a functional monitoring layer, and a 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 based on the vehicle's operating parameters, 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 a failure occurs in the safety layer, 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 functional 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 functional 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 working conditions, this leads to a large number of special or extreme working conditions fault response false triggering 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 fault response false triggering during vehicle 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 vehicle torque monitoring method, which is 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, wherein the functional monitoring layer is configured to monitor whether a torque request sent by the functional layer is faulty. The method comprises:

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

[0009] Obtaining a predetermined torque threshold of the vehicle under the preset operating 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, based on the linear relationship, a cumulative time period 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 a 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, the torque threshold and the linear relationship are determined in the following manner:

[0013] Determining, using a pre-built functional safety model, a torque threshold corresponding to the vehicle under the 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 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 method of using a pre-built functional safety model to determine a torque threshold corresponding to the vehicle under the 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 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 to obtain a plurality of different initial torque values ​​output by the functional safety model, a relative distance and relative speed to other vehicles corresponding to each initial torque value, and a damage severity corresponding to the vehicle at 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 based on 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, based on 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, based on the operating condition parameters, a plurality of different sets of target operating condition parameters, wherein 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, determining, based on the linear relationship, the accumulated duration that the second torque value is greater than the torque threshold value includes:

[0026] determining that the second torque value is greater than the torque threshold, and correspondingly changing the first torque value range;

[0027] The accumulated time duration during which the second torque value is greater than the torque threshold is determined based on 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] determining, based on the accumulated time, a fault probability that a fault exists in the torque request sent by the functional layer under the preset operating condition;

[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, determining, based on the accumulated duration, a fault probability that the torque request sent by the functional layer under the preset operating condition is faulty includes:

[0032] Determining 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 a fault probability that the torque request sent by the functional layer under the preset working condition has a fault.

[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 is faulty based on the accumulated time, the method further includes:

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

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

[0038] If 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 when 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] Obtaining a torque request sent by the functional layer; wherein the functional layer generates the torque request by: obtaining current operating parameters of the vehicle; searching a preset torque value table according to the operating parameters to obtain a second current 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 vehicle torque monitoring device, which is 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, wherein the functional monitoring layer is configured to monitor whether a torque request sent by the functional layer is faulty. The device includes:

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

[0049] an acquisition module, configured to acquire a predetermined torque threshold of the vehicle under the preset operating 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 determining module, configured to determine, based on 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 an opposite direction 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 working condition when it is determined based on the accumulated time that the preset working 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 configured 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, which 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 above-mentioned second torque value is in the opposite direction to the direction represented by the above-mentioned first torque value and the second torque value is greater than the above-mentioned torque threshold, the cumulative time during which 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 cumulative time that the above-mentioned preset operating condition meets the preset condition, the next torque request sent by the functional layer continues to be monitored based on the above-mentioned preset operating condition. This technical solution pre-constructs torque thresholds 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 duration for which the torque value determined by the functional layer is continuously greater than the torque threshold based on the torque value and the above-mentioned linear relationship during actual vehicle operation. Based on the cumulative duration, it is determined whether the vehicle is prone to falsely triggering a fault response of the functional monitoring layer under the preset working condition. When it is determined that a false triggering of a fault response occurs 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 vehicle stability and safety, and enhancing 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 embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art texts. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0057] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0058] Figure 1 A flowchart 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 flowchart 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 torque value and 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 structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0066] The disclosure below provides many different embodiments or examples for implementing different structures of the present application. In order to simplify the disclosure of the present application, the components and settings of specific examples are described in detail below. Of course, these are merely examples and are not intended to limit the present application. In addition, the present application may repeat reference numbers and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

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

[0068] In related technologies, a vehicle's autonomous 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 implement the respective functions of the vehicle (for example, determining the torque of the vehicle's front and rear motors based on 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. If a fault exists, a fault response is triggered and a corresponding fault response strategy is executed to ensure the stability and safety of vehicle operation.

[0070] Among them, when the functional 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 functional 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 more complicated. Therefore, the above-mentioned first torque value and the second torque value may be the same or different.

[0071] In actual scenarios, when a vehicle is traveling under some special or extreme conditions (such as ice or flooded roads on a west slope), 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] To address the technical problem in the prior art that test cases fail to cover some special or extreme operating conditions, resulting in a high number of false triggering of fault responses for special or extreme conditions during vehicle operation, affecting vehicle stability and safety, and thus user experience, the present application provides a vehicle torque monitoring method, device, and vehicle. These methods pre-establish torque thresholds for preset operating 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. During actual vehicle operation, the cumulative duration for which a torque value determined by a functional layer continues to be greater than the torque threshold is determined based on the torque value and the linear relationship. Based on this cumulative duration, it is determined whether the vehicle is prone to false triggering of a fault response of the functional monitoring layer under the preset operating condition. If it is determined that a false triggering of a fault response occurs under the preset operating condition, the functional monitoring layer monitors the next torque request sent by the functional layer based on the preset operating condition. This improves the test cases for the functional monitoring layer, thereby reducing false triggering of fault responses under special or extreme conditions. This improves the test cases for the functional monitoring layer, reduces false triggering of fault responses of the functional monitoring layer, and thereby improves vehicle stability and safety, and enhances user experience.

[0073] The vehicle torque monitoring method provided in 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 vehicle torque monitoring method provided by an embodiment of the present application. As an embodiment, the vehicle torque monitoring method provided by an embodiment of the present application can be applied to the functional monitoring layer in the functional safety architecture of the vehicle. The functional safety architecture may include a functional layer and a functional monitoring layer. The functional monitoring layer can be used to monitor whether the torque request sent by the functional layer has a fault. 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 aforementioned preset operating conditions refer to pre-determined operating conditions that may falsely trigger a fault response from the functional monitoring layer, and may include, but are not limited to, operating conditions such as sloped roads and icy roads. When a vehicle is traveling under these operating conditions, the rear wheel speed of the vehicle may suddenly change due to special circumstances such as slippery roads. However, due to differences in how the first torque value and the second torque value are determined (e.g., the first torque value is determined based on the front wheel speed, while the second torque value is determined based on the rear wheel speed), the first torque value and the second torque value may satisfy the conditions for triggering a fault response from the functional monitoring layer, thereby triggering a fault response from the functional monitoring layer. In this case, the triggering is considered 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 the sake of distinction).

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

[0080] In some embodiments of the present application, in order to prevent the fault response of the functional monitoring layer from being mistakenly triggered when the vehicle is traveling under preset working conditions, the functional monitoring layer can determine the probability of triggering a fault response under the preset working conditions, and then determine whether the preset working conditions are conditions that mistakenly trigger 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 one possible implementation, when determining the first torque value of the vehicle, the functional monitoring layer may obtain the vehicle's current first operating parameters and, based on the first operating parameters, search a preset first torque value table according to a first preset process to obtain the first torque values ​​of the vehicle's front and rear motors. The first operating parameters may include, but are not limited to, vehicle speed, driving mode, brake pedal status, accelerator pedal status, and other parameters.

[0083] As one possible implementation, when determining the second torque value of the vehicle, the functional layer may obtain the vehicle's current operating parameters (hereinafter referred to as the second operating parameters for ease of distinction) and, based on these second operating parameters, search a preset torque value table (hereinafter referred to as the second torque value table for ease of distinction) according to a second preset process to obtain the second torque values ​​for the vehicle's front and rear motors. The second operating parameters may include, but are not limited to, vehicle speed, driving mode, brake pedal status, accelerator pedal status, and other parameters. 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] Thereafter, the functional layer may generate a torque request according to the current second torque value of the vehicle, and send the torque request to the front and rear motors of the vehicle.

[0085] Based on this, the functional monitoring layer may obtain the torque request sent by the 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 a direction opposite to that represented by 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 based on the linear relationship.

[0088] Step 104 : When it is determined based on the accumulated time that the preset operating condition satisfies 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 driving 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 vehicle's torque value 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, then 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 to which the torque value exceeds the torque threshold.

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

[0094] As for how to determine the torque threshold of the vehicle under the preset working conditions, 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 below 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, as well as 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 above-mentioned 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 above comparison result indicates that the second torque value is in the opposite direction to that represented by the first torque value, and the second torque value is greater than the above 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] In actual applications, when the accumulated duration meets the fault tolerance time, it means that a dangerous event may occur in the vehicle at this time, and therefore 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 operating condition satisfies a preset condition based on the determined cumulative duration, wherein the preset condition indicates that the fault trigger corresponding to the preset operating 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 triggering 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 cumulative 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 cumulative time, it can be described below through Figure 4 The process shown is explained below 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 working 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 the 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 above-mentioned second torque value is in the opposite direction to the direction represented by the above-mentioned first torque value and the second torque value is greater than the above-mentioned torque threshold, the cumulative time during which 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 cumulative time that the above-mentioned preset operating condition meets the preset condition, the next torque request sent by the functional layer continues to be monitored based on the above-mentioned preset operating condition. This technical solution pre-constructs torque thresholds 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 duration for which the torque value determined by the functional layer is continuously greater than the torque threshold based on the torque value and the above-mentioned linear relationship during actual vehicle operation. Based on the cumulative duration, it is determined whether the vehicle is prone to falsely triggering a fault response of the functional monitoring layer under the preset working condition. When it is determined that a false triggering of a fault response occurs 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 vehicle stability and safety, and enhancing 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 describes 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 vehicle driving under preset working conditions.

[0108] In some embodiments of the present application, in order to determine the torque threshold corresponding to the vehicle under preset operating conditions, as well as 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 traveling 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 conditions, 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: Acquire 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 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 a preset operating condition and a pre-built initial functional safety model, and update the initial functional safety model using the operating condition parameters to obtain a functional safety model corresponding to the preset operating condition.

[0116] As a possible implementation method, the above-mentioned operating condition parameters pre-stored by the user and the pre-built initial functional safety model can 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 multiple different initial torque values ​​output by the functional safety model, the relative distance or relative speed to other vehicles corresponding to each initial torque value, and the damage severity corresponding to the vehicle at the initial torque value.

[0119] Step 304: Determine the initial torque value at which the damage severity satisfies the threshold condition as a torque threshold, and determine the fault tolerance time corresponding to the torque threshold based on 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 aforementioned damage severity refers to the degree of damage caused to the vehicle by different torque values ​​when the vehicle is driving under predetermined operating conditions as simulated by the functional safety model. It can be expressed as a percentage, for example, 0% indicates no damage to the vehicle, 30% indicates minimal damage to the vehicle, and 100% indicates severe damage to the vehicle, reaching the point where the vehicle is scrapped. It is understood that the damage severity can also be represented by other symbols, such as letters such as A, B, and C, and this embodiment of the application is not limited to this.

[0123] The above-mentioned threshold conditions refer to pre-set conditions 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 triggering conditions for the fault response of the functional monitoring layer are satisfied.

[0124] In some embodiments of the present application, the functional monitoring layer can obtain the vehicle model parameters and input the vehicle model parameters into the updated functional safety model. After receiving the above-mentioned 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] In some embodiments of the present application, the functional safety model can simulate the relative driving conditions of a vehicle against other vehicles under preset operating conditions. Technicians can configure parameters such as the vehicle's acceleration relative to other vehicles, the initial distance between the two vehicles, and the driver's reaction time in the functional safety model. Based on this, the functional safety model can simulate the relative distance between the vehicle and other vehicles under preset operating conditions at different initial torque values, as well as the relative speed between the two vehicles and the severity of damage to the vehicle caused by these initial torque values ​​and relative distances. The functional safety model can then output the aforementioned multiple initial torque values, the relative distance to the other vehicle and relative speed corresponding to each initial torque value, and the corresponding damage severity to the vehicle at each 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 this initial torque value, the functional monitoring layer can determine the damage severity that meets or approaches 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 can be compared with a damage severity threshold corresponding to the threshold condition, and the difference between each damage severity and the damage severity threshold can be determined. The initial torque value corresponding to the damage severity with the smallest difference can then 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 based on the torque threshold and the functional safety model.

[0131] In some embodiments of the present application, after the torque threshold is determined, multiple different torque values ​​greater than the torque threshold and the 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 can be first obtained. Based on these operating condition parameters, multiple sets of target operating condition parameters can be determined, where the torque values ​​corresponding to these target operating condition parameters are greater than the torque threshold. These operating condition parameters refer to parameters involved in the vehicle operation process and 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 speed of the two vehicles.

[0133] As an exemplary embodiment, some of the above 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 sequence, or increasing the driver's reaction time in sequence.

[0134] Afterwards, based on the functional safety model and 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 embodiment, a functional safety model may be used to simulate multiple torque values ​​corresponding to a vehicle under target operating parameters, the relative speed and relative distance corresponding to each torque value, and the 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. Subsequently, the torque threshold, torque values, and multiple fault tolerance times can be statistically analyzed to obtain a corresponding table between torque values ​​and fault tolerance times, 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 all 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 plurality of 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 illustrated process can generate multiple torque values ​​greater than or equal to the torque threshold, as well as the corresponding fault tolerance time for each torque value, as shown in Table 1. Based on this, the functional monitoring layer can generate a linear relationship between the torque value and the fault tolerance time based on the multiple torque values ​​and the corresponding fault tolerance time for each torque value.

[0145] As an optional implementation method, a curve relationship diagram between torque value and 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 between 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] Then, a linear relationship between the torque value and the fault tolerance time can be generated based on the above curve relationship diagram. In particular, the function monitoring layer can generate the linear relationship between the torque value and the fault tolerance time by covering as many points as possible included in the curve in the curve relationship diagram.

[0147] The technical solution provided by the embodiments of the present application utilizes a pre-built functional safety model to determine a torque threshold corresponding to a vehicle under a preset operating condition, multiple different torque values ​​greater than or equal to the torque threshold, and the fault tolerance time corresponding to each torque value. Based on the multiple torque values ​​and the fault tolerance time corresponding to each torque value, a linear relationship between the torque value and the fault tolerance time is generated. This technical solution uses the pre-built functional safety model to simulate the vehicle's torque threshold under the preset operating condition, as well as the torque value after exceeding the torque threshold and the fault tolerance time for each torque value, thereby establishing a linear relationship between the torque value and the fault tolerance time. By constructing the functional safety model, the vehicle's torque threshold and the linear relationship between the torque value and the fault tolerance time can be more accurately simulated. This allows for accurate determination of the torque threshold corresponding to the preset operating condition, as well as the corresponding relationship between the torque value after exceeding the torque threshold and the fault tolerance time. This allows for more accurate determination of whether the preset operating condition triggers a fault response at the functional monitoring layer, improving the test cases for the functional monitoring layer and reducing false triggering of fault responses.

[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 cumulative time that the second torque value is greater than the torque threshold value based on the linear relationship, and how to determine whether the preset working condition meets the preset condition based on the cumulative 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 cumulative time duration 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 when the second torque value is 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 the fault tolerance time corresponding to different torque values ​​is different, 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 linear function refers to a function that represents the above 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 (1)

[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] Wherein, 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 is faulty.

[0162] Step 404 : Determine whether the above-mentioned 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 meet the above preset conditions.

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

[0166] The aforementioned failure probability refers to the probability of triggering a fault response at the functional monitoring layer when the vehicle is operating under preset operating conditions. The triggering condition for the fault response may be that the second torque value is in the opposite direction of the first torque value, and the cumulative duration that the second torque value exceeds the torque threshold exceeds the fault tolerance time.

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

[0169] As an exemplary embodiment, a second torque value range corresponding to a preset working condition in a linear relationship may be determined. Here, the second torque value range 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. The total duration is used to represent the total duration corresponding to all fault tolerance times of the vehicle under the preset operating 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 above as an example, the total duration can be determined by the following formula (3):

[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 failure probability, the failure probability can be compared with a preset failure probability threshold to obtain a comparison result, and then a determination is made based on the comparison result as to whether the preset operating condition meets the preset condition. The above-mentioned failure probability threshold refers to a preset threshold, such as 0.85 or 0.9, or other values, and is not limited in this embodiment 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 embodiment, to further determine whether the preset operating condition is a special condition that falsely triggers a fault response, the functional monitoring layer may obtain vehicle operating parameters corresponding to the aforementioned fault probability under the preset operating condition. These operating parameters may include, but are not limited to, vehicle speed, dual-pedal status, front and rear electric motor torque requests, and regenerative braking torque requests.

[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-mentioned target failure probability is greater than the above-mentioned 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 a predetermined operating condition is determined to meet predetermined conditions, the functional monitoring layer may output operating condition information regarding the predetermined operating condition to more accurately determine whether the predetermined operating condition is a special operating condition that falsely triggers a fault response or a condition that inherently exhibits a fault. Subsequently, upon receiving a confirmation operation from the technician regarding the predetermined operating condition, the predetermined operating condition may be determined to be a special operating condition that falsely triggers a fault response. The predetermined operating condition may then be used as a test case to improve the current test case. The functional monitoring layer's safety monitoring mechanism may then be optimized to cover the predetermined operating condition, and the functional safety model may be optimized based on the predetermined operating condition.

[0182] In one embodiment, to avoid missing a situation where the vehicle's failure probability increases under predetermined operating conditions, the functional monitoring layer may execute steps 403 and 404 in real time and determine, for each determined failure probability, whether the failure probability is greater than the current failure probability. The current failure probability is the previously determined failure probability.

[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 precondition for triggering a fault response is not currently met. At this time, the current fault probability currently recorded can be updated to a first preset value, which is used to indicate that there is no possibility of triggering a fault response, such as 0.

[0185] The technical solution provided by the embodiments of the present application determines the first torque value range corresponding to the change when the second torque value is greater than the torque threshold, and determines the cumulative duration that the second torque value is greater than the torque threshold based on the first torque value range and the linear relationship. Based on the cumulative duration, the fault probability of the torque request sent by the functional layer under the preset operating condition being faulty is determined, and whether the fault probability is greater than a preset probability threshold is determined. If so, it is determined that the preset operating condition satisfies the preset condition; if not, it is determined that the preset operating condition does not satisfy the preset condition. This technical solution determines the cumulative duration that the second torque value is greater than the torque threshold by integrating the linear function of the torque value and fault tolerance relationship over the first torque value range, thereby determining the fault probability that the preset operating condition triggers a fault response based on the cumulative duration, and determining whether the preset operating condition satisfies the preset condition based on the fault probability. The integration of the linear function can more accurately determine the cumulative duration that the second torque value is greater than the torque threshold, thereby more accurately determining whether the preset operating condition satisfies the preset condition, thereby more accurately determining the cumulative duration that the second torque value of the vehicle is greater than the torque threshold, and thus more accurately determining whether the preset operating condition satisfies the preset condition for false triggering of a fault response.

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

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

[0188] an acquisition module 62 for acquiring a predetermined torque threshold of the vehicle under the preset operating 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 determining module 63 for determining, based on 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 an opposite direction to the first torque value and the second torque value is greater than the torque threshold;

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

[0191] like Figure 7 As shown, a schematic diagram of the structure of a vehicle provided in an embodiment of the present application includes 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] Memory 73, for storing computer programs;

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

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

[0195] Obtaining a predetermined torque threshold of the vehicle under the preset operating 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, based on the linear relationship, a cumulative time period 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 a 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 on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle torque monitoring method provided in any of the aforementioned method embodiments are implemented.

[0199] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0200] Through the text of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling 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 certain 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 embodiments of the text, and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text may also be meant to include plural forms. The terms "comprise", "include", "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 combinations thereof. 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 instructions, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps can be used.

[0202] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A method for monitoring torque of a vehicle, characterized in that: A method for 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, wherein the functional monitoring layer is used to monitor whether a torque request sent by the functional layer has a fault. The method includes: When the vehicle is traveling under a preset operating condition, the functional monitoring layer determines a current first torque value of the vehicle and obtains a current second torque value of the vehicle determined by the functional layer; Obtaining a predetermined torque threshold value for the vehicle under the preset operating condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold value and a fault tolerance time; wherein, using a pre-built functional safety model, simulating the relative distance between the vehicle and other vehicles, the relative speed between the two vehicles, and the severity of damage to the vehicle under the preset operating condition at different initial torque values, determining the initial torque value at which the damage severity meets the threshold condition as the torque threshold value, and determining the fault tolerance time corresponding to the torque threshold value based on the relative distance and relative speed corresponding to the torque threshold value; 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, based on the linear relationship, a cumulative time period 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 a 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 as follows: Determining, using a pre-built functional safety model, a torque threshold corresponding to the vehicle under the 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 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 operating 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 to obtain a plurality of different initial torque values ​​output by the functional safety model, a relative distance and relative speed to other vehicles corresponding to each initial torque value, and a damage severity corresponding to the vehicle at 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 based on 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, based on 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: Obtaining operating condition parameters corresponding to the torque threshold; determining, based on the operating condition parameters, a plurality of different sets of target operating condition parameters, wherein 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, wherein Determining, based on the linear relationship, the accumulated time duration during which the second torque value is greater than the torque threshold, includes: determining that the second torque value is greater than the torque threshold, and correspondingly changing the first torque value range; The accumulated time duration during which the second torque value is greater than the torque threshold is determined based on 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 includes: determining, based on the accumulated time, a fault probability that a fault exists in the torque request sent by the functional layer under the preset operating condition; 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 is faulty includes: Determining 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 a fault probability that the torque request sent by the functional layer under the preset working condition has a fault.

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 is faulty based on the accumulated time, the method includes: The steps of determining, in real time, a cumulative duration during which the second torque value is greater than the torque threshold value based on the linear relationship; and determining, based on the cumulative duration, a fault probability that the torque request sent by the functional layer under the preset operating condition is faulty are performed; For each determined fault probability, determining whether the fault probability is greater than a current fault probability, where the current fault probability is the last determined fault probability; If 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 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: 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 when 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 vehicle torque monitoring device, characterized in that: A function monitoring layer applied to a functional safety architecture of a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being configured to monitor whether a torque request sent by the function layer is faulty, the device comprising: a first determining module, configured to, when the vehicle is traveling under a preset operating condition, determine, by the functional monitoring layer, a current first torque value of the vehicle, and obtain a current second torque value of the vehicle determined by the functional layer; an acquisition module, configured to acquire a predetermined torque threshold value of the vehicle under the preset operating condition, and a linear relationship between different torque values ​​greater than or equal to the torque threshold value and a fault tolerance time; wherein the module simulates the relative distance between the vehicle and other vehicles, the relative speed between the two vehicles, and the severity of damage to the vehicle under the preset operating condition at different initial torque values ​​using a pre-built functional safety model, determines the initial torque value at which the damage severity satisfies the threshold condition as the torque threshold value, and determines the fault tolerance time corresponding to the torque threshold value based on the relative distance and relative speed corresponding to the torque threshold value; a second determining module, configured to determine, based on 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 an opposite direction 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 working condition when it is determined based on the accumulated time that the preset working condition meets the preset condition.

11. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is configured 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.

Images