Vehicle torque monitoring method, vehicle, electronic equipment and medium

Abstract

The invention provides a vehicle torque monitoring method, a vehicle, electronic equipment and a medium, and the method comprises the steps: determining the torque values of the vehicle at different monitoring ends according to the driving data of the vehicle, the torque values at different monitoring ends comprising a battery end torque value, a driving motor end torque value, a dynamic torque value and a motor end feedback torque value; performing cross verification on the battery end torque value, the driving motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain a plurality of verification results; and determining the driving torque loaded to the wheel end of the vehicle according to a comparison result of each verification result and a preset torque limit. According to the invention, the accuracy of monitoring the torque output of the power system is improved.

Description

Technical Field

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

[0002] Vehicle torque safety is a key factor in ensuring the normal driving of the vehicle and the safety of personnel. It requires the system to be able to monitor the vehicle's unexpected acceleration and deceleration status in real time, and verify whether the vehicle's actual torque output is consistent with expectations. The current traditional method of identifying abnormal torque status mainly relies on the output torque data provided by the motor controller to determine the actual torque applied to the wheel.

[0003] However, this method is limited by the network architecture of the non-power domain, resulting in the vehicle controller and the motor controller being managed by different control units. Under this architecture, the vehicle controller can only passively receive data from the motor controller and cannot actively perform more comprehensive monitoring and verification. This passive way of receiving data greatly limits the accuracy and reliability of the vehicle torque monitoring system. Summary of the invention

[0004] In view of this, the purpose of the present application is to provide a vehicle torque monitoring method, a vehicle, an electronic device and a medium, aiming to improve the accuracy of monitoring the torque output of the power system.

[0005] In a first aspect, the present application provides a vehicle torque monitoring method, the method comprising: determining the torque value of the vehicle at different monitoring ends based on the vehicle's driving data, the torque values ​​at different monitoring ends including a battery end torque value, a drive motor end torque value, a dynamic torque value and a motor end feedback torque value; cross-checking the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results; determining the driving torque loaded to the vehicle wheel end based on the comparison result of each verification result with a preset torque limit.

[0006] In a possible implementation manner, each verification result includes an absolute value of a difference between a first torque value and a second torque value, wherein the first torque value and the second torque value are two torque values ​​arbitrarily selected from the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value, wherein the step of determining the driving torque loaded to the vehicle wheel end according to the comparison result of each verification result with the preset torque limit includes: determining whether there is an over-limit comparison result among all comparison results, the over-limit comparison result indicating that the verification result is higher than the preset torque limit; if so, determining the over-limit torque value corresponding to the over-limit comparison result, so as to select the torque value with the largest value from the remaining torque values ​​except the over-limit torque value to be determined as the driving torque loaded to the vehicle wheel end; if not, selecting the torque value with the largest value from the torque values ​​under the different monitoring ends to be determined as the driving torque loaded to the vehicle wheel end.

[0007] In a possible implementation, the multiple verification results include at least five of the following items: the absolute value of the difference between the battery-end torque value and the drive motor-end torque value; the absolute value of the difference between the battery-end torque value and the dynamic torque value; the absolute value of the difference between the battery-end torque value and the motor-end feedback torque value; the absolute value of the difference between the drive motor-end torque value and the dynamic torque value; the absolute value of the difference between the drive motor-end torque value and the motor-end feedback torque value; the absolute value of the difference between the dynamic torque value and the motor-end feedback torque value.

[0008] In one possible implementation, the over-limit comparison results include at least two, wherein the over-limit torque values ​​corresponding to the at least two over-limit comparison results are determined in the following manner: determining the torque value involved in each over-limit comparison result; and determining the torque value repeatedly involved in the at least two over-limit comparison results as the over-limit torque value.

[0009] In a possible implementation, the driving data includes a high-voltage battery terminal voltage, a high-voltage battery terminal current, a low-voltage inverter voltage, a low-voltage inverter current, a high-voltage electrical appliance power consumption and a vehicle speed, wherein the battery terminal torque value is determined in the following manner: the high-voltage battery output power is obtained according to the high-voltage battery terminal voltage and the high-voltage battery terminal current, and the low-voltage inverter output power is obtained according to the low-voltage inverter voltage and the low-voltage inverter current; the battery terminal torque value is obtained according to the high-voltage battery output power, the low-voltage inverter output power and the high-voltage electrical appliance power consumption.

[0010] In a possible implementation, the driving data also includes an insulated gate bipolar transistor IGBT DC voltage, an IGBT DC current and a motor speed, wherein the torque value at the drive motor end is determined in the following manner: the IGBT DC output power is obtained based on the IGBT DC voltage and the IGBT DC current; the torque value at the drive motor end is obtained based on the IGBT DC output power and the motor speed.

[0011] In a possible implementation, the driving data also includes motor torque, and the motor-end feedback torque value is obtained through the motor torque, wherein the driving data also includes vehicle body acceleration, and the dynamic torque value is determined in the following manner: the dynamic torque value is obtained according to the vehicle body acceleration and vehicle speed.

[0012] In a second aspect, the present application provides a vehicle, comprising: a controller, configured to: determine the torque value of the vehicle at different monitoring ends based on the vehicle's driving data, the torque values ​​at different monitoring ends including a battery end torque value, a drive motor end torque value, a dynamic torque value and a motor end feedback torque value; cross-check the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results; determine the driving torque loaded to the vehicle wheel end based on the over-limit comparison result of each verification result with a preset torque limit.

[0013] In a third aspect, the present application also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above method are performed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and the computer program executes the steps of the above method when executed by a processor.

[0015] The present application provides a vehicle torque monitoring method, a vehicle, an electronic device and a medium, wherein the method comprises: determining the torque value of the vehicle at different monitoring ends according to the driving data of the vehicle, the torque values ​​at different monitoring ends include the battery end torque value, the drive motor end torque value, the dynamic torque value and the motor end feedback torque value; cross-checking the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results; determining the driving torque loaded to the vehicle wheel end according to the comparison result of each verification result with the preset torque limit. Through the present application, the accuracy of the torque output monitoring of the power system is improved.

[0016] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A flow chart of a vehicle torque monitoring method provided in an embodiment of the present application;

[0019] Figure 2 A flow chart for determining the driving torque loaded to the wheel end of a vehicle provided in an embodiment of the present application;

[0020] Figure 3 A flow chart for determining an over-limit torque value provided in an embodiment of the present application;

[0021] Figure 4 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0022] 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 below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0023] First, the application scenarios to which the present application is applicable are introduced. The present application can be applied to automobile torque technology.

[0024] Vehicle torque safety is not only the basis for stable vehicle performance, but also a key line of defense to protect the lives of passengers and road users. In a complex traffic environment, any unexpected acceleration or deceleration may cause serious traffic accidents. Therefore, accurate monitoring and instant feedback of vehicle torque are crucial.

[0025] Traditionally, the detection of vehicle torque anomalies mainly relies on the torque signal sent by the motor controller. As the core component of the power system, the motor controller is responsible for converting the energy of the battery into torque to drive the wheels. However, there is a key limitation in this process: the information transmission between the vehicle controller and the motor controller depends on the network architecture of the non-power domain. This means that although the two serve the overall operation of the vehicle together, they are relatively independent at the physical and logical levels. Under this architecture, the vehicle controller plays the role of an information receiver, and it relies on the data sent by the motor controller to understand the current torque output. However, this passive way of receiving information has several significant problems. First, the real-time nature of the information may be affected because the data may be delayed or lost during network transmission. Second, the accuracy of the data cannot be fully guaranteed because the motor controller itself may have problems such as sensor errors, calculation errors or software failures. Finally, since the vehicle controller cannot directly obtain the raw data of the power system or perform real-time verification operations, its comprehensive monitoring ability for torque output is greatly limited.

[0026] Based on this, the embodiments of the present application provide a vehicle torque monitoring method, a vehicle, an electronic device and a medium, aiming to improve the accuracy of monitoring the torque output of the power system.

[0027] See also Figure 1 , Figure 1 This is a flow chart of a vehicle torque monitoring method provided by an embodiment of the present application. Figure 1 As shown in , the vehicle torque monitoring method provided by the embodiment of the present application includes:

[0028] S101. Determine torque values ​​of the vehicle at different monitoring ends according to driving data of the vehicle.

[0029] In a preferred example of the present application, the torque values ​​at different monitoring ends include the battery end torque value, the drive motor end torque value, the dynamic torque value and the motor end feedback torque value, and the driving data include the high-voltage battery terminal voltage, the high-voltage battery terminal current, the low-voltage inverter voltage, the low-voltage inverter current, the high-voltage electrical power, the vehicle speed, the vehicle body acceleration, the IGBT (Insulated Gate Bipolar Transistor) DC voltage, the IGBT DC current, the motor torque and the motor speed.

[0030] Here, the battery terminal voltage and current directly reflect the output capacity and status of the battery, and are the basis for calculating the battery terminal torque value. The inverter is an energy conversion device between the battery and the motor. The changes in its voltage and current directly affect the input torque of the motor. The motor torque and speed directly reflect the output torque and operating status of the motor. Although the power consumption of high-voltage electrical appliances is not directly equal to the torque, the change in power consumption can indirectly reflect the load condition and torque demand of the vehicle power system. Through the changes in vehicle speed and acceleration, the torque output demand of the vehicle under different working conditions can be inferred, and then the accuracy of the torque monitoring system can be evaluated. IGBT is the core component of the motor control system. The changes in its DC voltage and current directly affect the control effect and torque output of the motor. Selecting these data as the basis for monitoring the actual torque can comprehensively and accurately reflect the torque output and power performance of the vehicle under different working conditions.

[0031] Specifically, the battery terminal torque value is calculated using the following formula:

[0032] MotorTq1=k1*(BMS V *BMS c -AC Pwr -DC V *DC C ) / u*ig*r

[0033] Among them, MotorTq1 is the battery terminal torque value, k1 is the first unit conversion constant, BMS V is the high voltage battery terminal voltage, BMS C is the high voltage battery terminal current, AC Pwr is the power used by high voltage electrical appliances, DC V is the low voltage inverter voltage, DC C is the low voltage inverter current, u is the vehicle speed, ig is the transmission system speed ratio, and r is the tire radius of the vehicle.

[0034] Use the following formula to calculate the torque value at the drive motor end:

[0035] MotorTq2=k2*(TMHV V *TMHV C ) / TMSpd

[0036] Among them, MotorTq2 is the torque value of the drive motor end, k2 is the second unit conversion constant, TMHV V is the IGBT DC voltage, TMHV C is the IGBT DC current, and TMSpd is the motor speed.

[0037] The dynamic torque value is calculated using the following formula:

[0038] MotorTq3=k3*(G*f+G*VSE A ) / g+k4*u*u

[0039] Among them, MotorTq3 is the dynamic torque value, k3 is the third unit conversion constant, k4 is the fourth unit conversion constant, VSE A is the vehicle acceleration, g is the acceleration due to gravity, f is the rolling resistance coefficient, and G is the vehicle gravity.

[0040] S102, cross-checking the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results.

[0041] In a preferred example of the present application, each verification result includes the absolute value of the difference between the first torque value and the second torque value, and the first torque value and the second torque value are two torque values ​​arbitrarily selected from the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value.

[0042] S103 . Determine the driving torque loaded to the wheel end of the vehicle according to the comparison result between each verification result and the preset torque limit.

[0043] Here, the driving torque loaded to the wheel end of the vehicle refers to the actual torque, which will eventually affect the safety of the vehicle. Monitoring the actual torque is an important means to ensure the normal operation and safety of the vehicle. By monitoring the actual torque, faults and abnormal conditions in the mechanical system can be discovered in time, and corresponding measures can be taken for repair and maintenance, thereby avoiding accidents.

[0044] Below through Figure 2 Describes the specific process of determining the driving torque loaded to the vehicle wheel end.

[0045] Figure 2 A flow chart for determining the driving torque loaded to the wheel end of a vehicle provided in an embodiment of the present application.

[0046] S201. Determine whether there is an over-limit comparison result among all comparison results.

[0047] Here, the over-limit comparison result indicates that the verification result is higher than the preset torque limit, which means that a certain torque value exceeds the preset torque limit, which indicates that the torque output of the detection end is abnormal.

[0048] If yes, step S202 is executed to determine the over-limit torque value corresponding to the over-limit comparison result, so as to select the torque value with the largest value from the remaining torque values ​​except the over-limit torque value as the driving torque loaded to the wheel end of the vehicle.

[0049] Here, selecting the maximum value among the remaining torque values ​​means that once the over-limit torque value is determined, it will be excluded, and then the one with the largest value will be selected from the remaining torque values ​​as the driving torque loaded to the vehicle wheel end. To ensure safety, accuracy and system stability, the over-limit torque value should be excluded from the consideration used to determine the final driving torque. The over-limit torque value may indicate that a corresponding vehicle component is working abnormally, such as motor overheating, rapid battery discharge or transmission system failure. Continued use may aggravate the problem or even cause an accident. At the same time, the over-limit torque value may also be caused by sensor failure, data transmission error or calculation error. Excluding them can improve the accuracy and reliability of the results. In addition, continuous use of over-limit torque values ​​may cause system instability, such as motor overload, battery exhaustion or transmission damage, affecting vehicle performance. Therefore, among multiple torque values, the torque value that is within the normal range and has the largest value should be selected, that is, not exceeding the preset limit as the driving torque to ensure that the vehicle power output is sufficient and the system operates stably. Excluding over-limit values ​​helps to make more reasonable and effective decisions and optimize vehicle performance. The purpose of this step is to still select a relatively reliable and large torque value to ensure the basic power output of the vehicle in the presence of abnormal data.

[0050] If not, step S203 is executed to select the torque value with the largest value from the torque values ​​at different monitoring ends and determine it as the driving torque loaded to the wheel end of the vehicle.

[0051] Here, the selection is made under normal circumstances, when all monitoring data are consistent and normal, with the aim of ensuring that the vehicle can obtain maximum power output.

[0052] In a preferred example of the present application, the multiple verification results include at least five of the following items:

[0053] The absolute value of the difference between the torque value at the battery end and the torque value at the drive motor end; the absolute value of the difference between the torque value at the battery end and the dynamic torque value; the absolute value of the difference between the torque value at the battery end and the feedback torque value at the motor end; the absolute value of the difference between the torque value at the drive motor end and the dynamic torque value; the absolute value of the difference between the torque value at the drive motor end and the feedback torque value at the motor end; the absolute value of the difference between the dynamic torque value and the feedback torque value at the motor end.

[0054] In the embodiment of the present application, the following five items are selected: the absolute value of the difference between the battery end torque value and the drive motor end torque value; the absolute value of the difference between the drive motor end torque value and the dynamic torque value; the absolute value of the difference between the dynamic torque value and the motor end feedback torque value; the absolute value of the difference between the battery end torque value and the motor end feedback torque value; the absolute value of the difference between the drive motor end torque value and the motor end feedback torque value.

[0055] Here, when a torque value exceeds the preset torque limit, it will affect at least two over-limit comparison results because there are multiple verification steps based on the relationship between different torque values ​​in the torque monitoring system, so the over-limit comparison results include at least two.

[0056] Below through Figure 3 A specific process of determining an over-limit torque value corresponding to at least two over-limit comparison results is introduced.

[0057] S301 : Determine the torque value involved in each over-limit comparison result.

[0058] S302: Determine the torque value repeatedly involved in at least two over-limit comparison results as the over-limit torque value.

[0059] The present application also provides a vehicle, which includes a controller configured to: determine the torque value of the vehicle at different monitoring ends based on the vehicle's driving data, the torque values ​​at different monitoring ends including the battery end torque value, the drive motor end torque value, the dynamic torque value and the motor end feedback torque value; cross-check the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results; determine the driving torque loaded to the vehicle wheel end based on the over-limit comparison result of each verification result with the preset torque limit.

[0060] See also Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. Figure 4 As shown in , the electronic device 400 includes a processor 410 , a memory 420 and a bus 430 .

[0061] The memory 420 stores machine-readable instructions executable by the processor 410. When the electronic device 400 is running, the processor 410 communicates with the memory 420 via the bus 430. When the machine-readable instructions are executed by the processor 410, the above-mentioned Figure 1 With ~ Figure 3 The specific implementation of the steps of the vehicle torque monitoring method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0062] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 to Figure 3 The specific implementation of the steps of the vehicle torque monitoring method in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0063] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0064] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0065] 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 units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0066] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0067] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or in other words, the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0068] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle torque monitoring method, characterized in that: The method comprises: Determine the torque value of the vehicle at different monitoring ends according to the driving data of the vehicle, the torque values ​​at different monitoring ends include a battery end torque value, a drive motor end torque value, a dynamic torque value and a motor end feedback torque value; Cross-checking the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain a plurality of check results; The driving torque loaded to the vehicle wheel end is determined based on the comparison result of each verification result with the preset torque limit.

2. The method according to claim 1, characterized in that Each verification result includes an absolute value of a difference between a first torque value and a second torque value, wherein the first torque value and the second torque value are two torque values ​​arbitrarily selected from the battery end torque value, the drive motor end torque value, the motor end feedback torque value, and the dynamic torque value. The step of determining the driving torque loaded to the wheel end of the vehicle according to the comparison result of each verification result with the preset torque limit comprises: determining whether there is an over-limit comparison result among all the comparison results, the over-limit comparison result indicating that the verification result is higher than the preset torque limit; If so, determining an over-limit torque value corresponding to the over-limit comparison result, and selecting a torque value with the largest value from the remaining torque values ​​except the over-limit torque value to determine as the driving torque loaded to the wheel end of the vehicle; If it does not exist, the torque value with the largest value is selected from the torque values ​​at the different monitoring ends to be determined as the driving torque loaded to the wheel end of the vehicle.

3. The method according to claim 2, characterized in that The multiple verification results include at least five of the following items: The absolute value of the difference between the battery end torque value and the drive motor end torque value; an absolute value of a difference between the battery terminal torque value and the dynamic torque value; The absolute value of the difference between the battery end torque value and the motor end feedback torque value; The absolute value of the difference between the drive motor end torque value and the dynamic torque value; The absolute value of the difference between the driving motor end torque value and the motor end feedback torque value; The absolute value of the difference between the dynamic torque value and the motor end feedback torque value.

4. The method according to claim 3, characterized in that The over-limit comparison results include at least two, The over-limit torque values ​​corresponding to at least two over-limit comparison results are determined in the following manner: Determine the torque value involved in each over-limit comparison result; The torque value repeatedly involved in the at least two over-limit comparison results is determined as the over-limit torque value.

5. The method according to claim 1, characterized in that The driving data includes high-voltage battery terminal voltage, high-voltage battery terminal current, low-voltage inverter voltage, low-voltage inverter current, high-voltage electrical appliance power consumption and vehicle speed. The battery terminal torque value is determined by the following method: Obtaining the high-voltage battery output power according to the high-voltage battery terminal voltage and the high-voltage battery terminal current, and obtaining the low-voltage inverter output power according to the low-voltage inverter voltage and the low-voltage inverter current; The battery terminal torque value is obtained according to the high-voltage battery output power, the low-voltage inverter output power and the high-voltage electrical appliance power consumption.

6. The method according to claim 1, characterized in that The driving data also includes the insulated gate bipolar transistor IGBT DC voltage, IGBT DC current and motor speed, The torque value of the drive motor end is determined by: Obtaining the IGBT DC output power according to the IGBT DC voltage and the IGBT DC current; The drive motor end torque value is obtained according to the IGBT DC output power and the motor speed.

7. The method according to claim 1, characterized in that The driving data also includes motor torque, and the motor-end feedback torque value is obtained by the motor torque. Wherein, the driving data also includes vehicle body acceleration, and the dynamic torque value is determined by the following method: The dynamic torque value is obtained according to the vehicle body acceleration and vehicle speed.

8. A vehicle, characterized in that: The vehicle comprises: The controller is configured to: determine the torque value of the vehicle at different monitoring ends based on the vehicle's driving data, the torque values ​​at different monitoring ends including the battery end torque value, the drive motor end torque value, the dynamic torque value and the motor end feedback torque value; cross-check the battery end torque value, the drive motor end torque value, the motor end feedback torque value and the dynamic torque value to obtain multiple verification results; determine the driving torque loaded to the vehicle wheel end based on the over-limit comparison result of each verification result with the preset torque limit.

9. An electronic device, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of any method as claimed in claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are executed.

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