Torque monitoring method and device of vehicle and vehicle

Abstract

The invention relates to a torque monitoring method and device for a vehicle and the vehicle, and the method comprises the steps: determining a current first torque value of the vehicle under the condition that the vehicle runs under a preset working condition, and obtaining a current second torque value, determined by a functional layer, of the vehicle; determining a torque offset corresponding to the first torque value, and determining a torque threshold according to the first torque value and the torque offset; when it is determined that the second torque value and the first torque value are in the same direction and the second torque value exceeds the range corresponding to the torque threshold value, multiple torque difference values of the second torque value exceeding the torque threshold value and a pre-established linear relation between the torque difference values and fault tolerance time are obtained; and continuously monitoring the next torque request sent by the functional layer based on the preset working condition under the condition of determining that the preset working condition meets the preset condition based on the torque difference value and the linear relationship. Therefore, the test case of the function monitoring layer can be perfected, and fault response false triggering of the function monitoring layer is reduced.

Description

Technical Field

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

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

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

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

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

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

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

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

[0009] Determining a torque offset corresponding to the first torque value, and determining a torque threshold according to the first torque value and the torque offset;

[0010] When it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds the range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold and a pre-established linear relationship between the torque difference value and the fault tolerance time are obtained;

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

[0012] As an optional implementation, determining the torque offset corresponding to the first torque value includes:

[0013] Obtaining vehicle model parameters of the vehicle and operating parameters of at least two vehicles;

[0014] Constructing an operation model according to the vehicle model parameters and the operation parameters;

[0015] A vehicle speed corresponding to the first torque value is obtained, and the vehicle speed and the first torque value are input into the operation model to obtain a torque offset of a safety distance corresponding to the first torque value output by the operation model.

[0016] As an optional implementation, determining the torque threshold according to the first torque value and the torque offset includes:

[0017] determining whether the first torque value and the second torque value are both less than a preset threshold;

[0018] When it is determined that both the first torque value and the second torque value are less than the preset threshold, subtracting the torque offset from the first torque value to obtain the torque threshold;

[0019] When the first torque value and the second torque value are both greater than or equal to the preset threshold, the torque threshold is obtained by adding the torque offset to the first torque value.

[0020] As an optional implementation manner, determining that the second torque value exceeds a range corresponding to the torque threshold value includes:

[0021] In the case where the second torque value is greater than or equal to the preset threshold, determining whether the second torque value is greater than the torque threshold;

[0022] In the case where it is determined that the second torque value is greater than the torque threshold, determining that the second torque value is beyond a range corresponding to the torque threshold;

[0023] In the case where the second torque value is less than the preset threshold, determining whether the second torque value is less than the torque threshold;

[0024] When it is determined that the second torque value is less than the torque threshold, it is determined that the second torque value exceeds a range corresponding to the torque threshold.

[0025] As an optional implementation, the linear relationship is determined by:

[0026] Using a pre-built functional safety model, determining a plurality of different torque differences of the vehicle exceeding the torque threshold under the preset operating condition, and a fault tolerance time corresponding to each of the torque differences;

[0027] A linear relationship between the torque difference and the fault tolerance time is generated according to the plurality of torque difference values ​​and the fault tolerance time corresponding to each of the torque difference values.

[0028] As an optional implementation, the use of a pre-built functional safety model to determine a plurality of different torque differences of the vehicle exceeding the torque threshold under the preset working condition, and a fault tolerance time corresponding to each of the torque differences, includes:

[0029] Acquire the initial operating condition parameters of the torque threshold corresponding to the preset operating condition, and the vehicle model parameters of the vehicle;

[0030] Determining a plurality of different sets of target operating parameters according to the initial operating parameters, wherein the torque values ​​corresponding to the target operating parameters are greater than the torque threshold;

[0031] For each of the target operating condition parameters, a preset initial functional safety model is updated according to the target operating condition parameter and the vehicle type parameter to obtain a functional safety model;

[0032] Determine, by using the functional safety model, a torque difference exceeding the torque threshold and a relative distance and relative speed between the vehicle and other vehicles corresponding to the torque difference;

[0033] A fault tolerance time corresponding to the torque difference is determined according to the relative distance and the relative speed.

[0034] As an optional implementation, determining that the preset operating condition satisfies a preset condition based on the torque difference and the linear relationship includes:

[0035] determining, according to the torque difference and the linear relationship, a fault probability that a torque request sent by the functional layer under the preset working condition is faulty;

[0036] When the failure probability is greater than a preset failure probability threshold, it is determined that the preset operating condition meets a preset condition.

[0037] As an optional implementation, determining, according to the torque difference and the linear relationship, the fault probability that the torque request sent by the functional layer under the preset working condition has a fault includes:

[0038] Determine a first torque difference range corresponding to the torque difference in the linear relationship, and a second torque difference range corresponding to the preset working condition in the linear relationship;

[0039] determining a first integral value according to the first torque difference range and the linear relationship;

[0040] determining a second integral value according to the second torque difference range and the linear relationship;

[0041] The ratio of the first integral value to the second integral value is determined as the failure probability.

[0042] As an optional implementation, after determining the fault probability that the torque request sent by the functional layer under the preset working condition has a fault according to the torque difference and the linear relationship, the method further includes:

[0043] The steps of obtaining a plurality of torque difference values ​​when the second torque value exceeds the torque threshold value and a pre-established linear relationship between the torque difference value and the fault tolerance time in real time; and determining a fault probability that the torque request sent by the functional layer under the preset working condition has a fault according to the torque difference value and the linear relationship;

[0044] For each determined fault probability, determine whether the fault probability is greater than a current fault probability, where the current fault probability is the fault probability determined last time;

[0045] In the case where it is determined that the failure probability is greater than the current failure probability, updating the current failure probability to the failure probability;

[0046] 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.

[0047] As an optional implementation, when the failure probability is greater than a preset failure probability threshold, before determining that the preset operating condition satisfies a preset condition, the method further includes:

[0048] Obtaining operating parameters of the vehicle corresponding to the failure probability under the preset operating condition;

[0049] Based on the operating parameters, simulating a target failure probability that a torque request sent by the functional layer is faulty after the preset operating condition and other operating conditions are superimposed;

[0050] When the target failure probability is greater than the failure probability, it is determined that the preset operating condition meets a preset condition.

[0051] In a second aspect, the present application provides a torque monitoring device for a vehicle, which is applied to a functional monitoring layer in a functional safety architecture of the vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, wherein the functional monitoring layer is used to monitor whether a torque request sent by the functional layer has a fault, and the device includes:

[0052] A first determination module, configured to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer;

[0053] a second determination module, configured to determine a torque offset corresponding to the first torque value, and determine a torque threshold value according to the first torque value and the torque offset;

[0054] an acquisition module, configured to acquire, when it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds a range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold, and a pre-established linear relationship between the torque difference value and the fault tolerance time;

[0055] A monitoring module is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the torque difference and the linear relationship that the preset operating condition meets the preset condition.

[0056] In a third aspect, the present application provides a vehicle, comprising: a processor and a memory, wherein the processor is used to execute a vehicle torque monitoring program stored in the memory to implement the vehicle torque monitoring method described in any one of the first aspects.

[0057] In a fourth aspect, the present application provides a storage medium storing one or more programs, wherein the one or more programs can be executed by one or more processors to implement the vehicle torque monitoring method described in any one of the first aspects.

[0058] 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, determines the torque offset corresponding to the first torque value, and determines the torque threshold based on the above-mentioned first torque value and the torque offset. After determining that the above-mentioned second torque value and the above-mentioned first torque value have the same direction, and the second torque value exceeds the above-mentioned torque threshold, a plurality of torque difference values, and a pre-constructed linear relationship between the torque difference value and the fault tolerance time, when it is determined based on the above-mentioned torque difference value and the above-mentioned linear relationship that the preset operating condition meets the preset condition, the next torque request sent by the above-mentioned functional layer is continuously monitored based on the above-mentioned preset operating condition. This technical solution determines the offset of the torque value corresponding to the functional monitoring layer for the case where the functional monitoring layer and the torque value determined by the functional layer have the same corresponding directions, and determines the torque threshold corresponding to the current torque value of the functional monitoring layer according to the above offset. On this basis, through the pre-constructed linear relationship between the torque difference between the torque value corresponding to the functional layer and the torque value threshold and the fault tolerance time, it is determined whether the vehicle is prone to falsely triggering the fault response of the functional monitoring layer under the preset working condition according to the torque difference when the current torque value of the functional layer exceeds the torque threshold and the linear relationship. When it is determined that the preset working condition has a falsely triggered fault response, 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 the false triggering of fault responses under special or extreme working conditions, and realizing the improvement of the test cases of the functional monitoring layer, reducing the false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] 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.

[0060] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art texts are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0061] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0062] Figure 1A flow chart of an embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0063] Figure 2 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0064] Figure 3 A flow chart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0065] Figure 4 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0066] Figure 5 A schematic diagram of a curve relationship diagram of a torque difference and a fault tolerance time provided in an embodiment of the present application;

[0067] Figure 6 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0068] Figure 7 A schematic diagram of a relationship diagram of multiple torque difference corresponding curves provided in the present application;

[0069] Figure 8 A block diagram of an embodiment of a vehicle torque monitoring device provided in an embodiment of the present application;

[0070] Fig. 9 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0071] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the embodiments described in the text are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0072] The disclosure below provides many different embodiments or examples to realize the different structures of the present application. In order to simplify the disclosure of the present application, the parts and settings of specific examples are described in detail below. Of course, they are only examples, and the purpose is not to limit the present application. In addition, the present application can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0073] To facilitate understanding of the vehicle torque monitoring method provided by the present application, the following is an exemplary description of the technical issues involved in the present application:

[0074] In the related technology, the vehicle's automatic driving system may have a functional safety architecture, which can generally be divided into a three-layer architecture: L1 layer: functional layer, L2 layer: functional monitoring layer, and L3 layer: hardware monitoring layer. The above functional layers can be used to realize the respective functions of the vehicle (for example, determining the torque of the front and rear motors of the vehicle according to the vehicle's operating parameters, and sending torque requests to the front and rear motors); the above functional monitoring layer is used to monitor the various functional safety implemented in the functional layer, so that when the safety layer fails, corresponding safety measures can be taken in time to ensure the stability and safety of the vehicle; the above hardware monitoring layer monitors whether the vehicle's controller is operating normally.

[0075] Among them, after determining the torque value, the above-mentioned functional layer can send a torque request corresponding to the torque value to the front and rear motors of the vehicle, and the functional monitoring layer monitors the torque request sent by the functional layer according to the torque value determined by itself to determine whether there is a fault in the torque request sent by the functional layer, and in the event of a fault, trigger a fault response and execute corresponding fault response strategies to ensure the stability and safety of vehicle operation.

[0076] Among them, when the function monitoring layer and the functional layer determine the torque values ​​of the front and rear motors of the vehicle, the vehicle operating parameters and determination methods they are based on are not exactly the same. For example, the operating parameters based on the function monitoring layer include the rear wheel speed of the vehicle, and the determination method process is relatively simple, while the operating parameters based on the functional layer include the front wheel speed and rear wheel speed of the vehicle, and the determination method process is relatively complicated. Therefore, the above-mentioned first torque value and the second torque value may be the same or different.

[0077] In actual scenarios, when the vehicle is traveling under some special or extreme conditions (such as ice or flooded roads on the west slope, etc.), the vehicle is prone to more extreme situations (for example, the rear wheels are prone to slipping or becoming airborne, resulting in a large change in the rear wheel speed of the vehicle, while the front wheel speed changes less). This results in a large gap between the torque values ​​determined by the functional monitoring layer and the functional layer, respectively, which meets the triggering conditions for the fault response. However, in actual operation, the above-mentioned special or extreme conditions may not reach the level of safety hazards. Therefore, the triggering of the fault response by the special or extreme conditions is a false trigger, which affects the stability and safety of the vehicle, and thus affects the user experience.

[0078] In order to solve the technical problem in the prior art that the test cases cannot cover some special or extreme conditions, which leads to the false triggering of fault responses of many special or extreme conditions during the operation of the vehicle, affecting the stability and safety of the vehicle, and thus affecting the user experience, the present application provides a vehicle torque monitoring method, device and vehicle, which can determine the offset of the torque value corresponding to the functional monitoring layer by the case that the functional monitoring layer and the torque value determined by the functional layer have the same corresponding direction, and determine the torque threshold corresponding to the current torque value of the functional monitoring layer according to the above offset, and on this basis, through the pre-constructed torque value between the torque value corresponding to the functional layer and the torque value threshold A linear relationship between the difference and the fault tolerance time is established, so that according to the torque difference value in which the current torque value of the functional layer exceeds the torque threshold and the linear relationship, it is determined whether the vehicle is prone to falsely triggering the fault response of the functional monitoring layer under the preset working condition, so that when it is determined that the preset working condition has a falsely triggered fault response, 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 the false triggering of fault responses under special or extreme working conditions, and realizing the improvement of the test cases of the functional monitoring layer, reducing the false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0079] The vehicle torque monitoring method provided by the present application is further explained below with reference to specific embodiments in conjunction with the accompanying drawings. The embodiments do not constitute a limitation on the embodiments of the present application.

[0080] See also Figure 1 , is a flow chart of an embodiment of a torque monitoring method for a vehicle provided in an embodiment of the present application. As an embodiment, the torque monitoring method for a vehicle provided in an embodiment of the present application can be applied to a functional monitoring layer in a functional safety architecture of a vehicle. The functional safety architecture may include a functional layer and a functional monitoring layer. The functional monitoring layer may be used to monitor whether a torque request sent by the functional layer is faulty. Figure 1 As shown, the process may include the following steps:

[0081] 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.

[0082] The above-mentioned preset working conditions refer to the working conditions that are predetermined and may falsely trigger the fault response of the functional monitoring layer, which may include but are not limited to: working conditions such as sloped roads and icy roads. Among them, when the vehicle is driving under the above-mentioned working conditions, the rear wheel speed of the vehicle may suddenly change due to special circumstances such as slippery roads, and because the first torque value and the second torque value are determined in different ways (for example, the first torque value is determined according to the wheel speed of the front wheels, and the second torque value is determined according to the wheel speed of the rear wheels), this causes the first torque value and the second torque value to meet the fault response conditions for triggering the functional monitoring layer, thereby triggering the fault response of the functional monitoring layer, and the triggering in this case is a false trigger.

[0083] 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 the sake of distinction).

[0084] The above-mentioned second torque value refers to the torque value of the front and rear motors determined by the functional layer according to the current operating parameters of the vehicle (hereinafter referred to as the second operating parameters for ease of distinction).

[0085] Among them, the function monitoring layer and the functional layer are different in that the vehicle operating parameters and torque determination logic adopted by the two are different, that is, the above-mentioned first operating parameter and the second operating parameter are different operating parameters. For example, the functional layer determines the torque value of the vehicle according to the front wheel speed and the rear wheel speed of the vehicle, while the function monitoring layer determines the torque value of the vehicle according to the vehicle speed sent by the IPB controller, and the vehicle speed sent by the IPB controller is the rear wheel speed of the vehicle.

[0086] In some embodiments of the present application, in order to prevent the fault response of the functional monitoring layer from being falsely triggered when the vehicle is traveling under preset operating conditions, the functional monitoring layer can determine the probability of triggering a fault response under the preset operating condition, and then determine whether the preset operating condition is a condition that falsely triggers a fault response based on the probability, so as to improve the test cases applied by the functional monitoring layer and improve the stability and safety of the vehicle.

[0087] 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).

[0088] As a possible implementation, when determining the first torque value of the vehicle, the functional monitoring layer may obtain the current first operating parameter of the vehicle, and search the preset first torque value table according to the first preset process based on the first operating parameter to obtain the first torque value of the front and rear motors of the vehicle. The first operating parameter may include but is not limited to: vehicle speed, driving mode, brake pedal, accelerator pedal state and other parameters.

[0089] As a possible implementation, when determining the second torque value of the vehicle, the functional layer may obtain the current operating parameters of the vehicle (hereinafter referred to as the second operating parameters for the sake of distinction), and search the preset torque value table (hereinafter referred to as the second torque value table for the sake of distinction) according to the second preset process based on the second operating parameters to obtain the second torque value of the front and rear motors of the vehicle. The second operating parameters may include but are not limited to parameters such as vehicle speed, driving mode, brake pedal, and accelerator pedal status. The second preset process and the first preset process may be different processes, and the first torque value table and the second torque value table may be different tables.

[0090] Afterwards, the functional layer may generate a torque request according to the current second torque value of the vehicle, so as to send the torque request to the front and rear motors of the vehicle.

[0091] Based on this, the functional monitoring layer can obtain the torque request sent by the above functional layer, and determine the current second torque value of the vehicle from the torque request.

[0092] Step 102: Determine a torque offset corresponding to the first torque value, and determine a torque threshold according to the first torque value and the torque offset.

[0093] Step 103: When it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds the corresponding range of the torque threshold, obtain multiple torque difference values ​​of the second torque value exceeding the torque threshold and a pre-established linear relationship between the torque difference value and the fault tolerance time.

[0094] Step 104: When it is determined based on the torque difference and the linear relationship 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.

[0095] The following is a unified description of steps 102 to 104:

[0096] The above-mentioned torque offset refers to the torque offset critical value relative to the first torque value when the functional monitoring layer triggers a fault response when the vehicle is traveling under a preset working condition and the first torque value is determined by the functional monitoring layer.

[0097] The above-mentioned torque threshold refers to the torque critical value corresponding to the fault response in the functional monitoring layer when the vehicle is traveling under preset operating conditions. That is, when the torque value of the vehicle exceeds the range corresponding to the torque threshold, it means that the torque value exceeds the torque critical value and may trigger the fault response.

[0098] The above-mentioned fault tolerance time refers to the shortest time from the occurrence of a vehicle fault to the possible occurrence of a dangerous event. That is, when the torque value of the vehicle exceeds the corresponding range of the torque threshold, there may be a fault. When the torque value exceeds the torque threshold for a period of time that reaches the fault tolerance time, the vehicle may be in a dangerous event.

[0099] When the torque value exceeds the torque threshold, different torque differences between the torque values ​​and the torque threshold may correspond to different fault tolerance times, that is, different fault tolerance times may exist according to different degrees that the torque value exceeds the torque threshold.

[0100] In some embodiments of the present application, after determining the first torque value corresponding to the current vehicle under the preset working condition, the function monitoring layer may determine the torque offset corresponding to the first torque value, thereby determining the torque threshold corresponding to the first torque value according to the torque offset and the first torque value. Different first torque values ​​may correspond to different torque offsets, thereby obtaining different first torque values ​​corresponding to different torque thresholds.

[0101] As for how to determine the torque offset corresponding to the first torque value, it can be seen below. Figure 2 The process shown is explained and will not be described in detail here.

[0102] As for how to determine the torque threshold value according to the first torque value and the torque offset, it can be described below. Figure 3 The process shown is explained and will not be described in detail here.

[0103] Based on the torque threshold determined above, the functional monitoring layer can determine whether the preset operating condition of the vehicle falsely triggers the fault response of the functional monitoring layer when the determined first torque value is in the same direction as the second torque value determined by the functional layer.

[0104] As an optional implementation, it is possible to determine whether the currently determined second torque value exceeds the range corresponding to the above torque threshold. Specifically, how to determine whether the second torque value exceeds the range corresponding to the torque threshold can be described below. Figure 3 The process shown is explained and will not be described in detail here.

[0105] Optionally, when it is determined that the second torque value exceeds the corresponding range of the torque threshold, it means that when the vehicle is currently traveling under preset operating conditions, the prerequisite for triggering a fault response is met, that is, it is easy to trigger a fault response of the functional monitoring layer. Therefore, multiple torque difference values ​​of the second torque value from the beginning of exceeding the corresponding range of the torque threshold to the current existing torque threshold can be obtained, as well as the pre-constructed linear relationship between the torque difference value and the fault tolerance time.

[0106] As for how to construct the linear relationship between the torque difference and the fault tolerance time, it can be seen in the following Figure 4 The process shown is explained and will not be described in detail here.

[0107] Afterwards, the functional monitoring layer can determine whether the preset working condition meets the preset condition based on the above multiple torque difference values ​​and the linear relationship. The above preset condition is used to characterize the condition that the preset working condition may erroneously trigger the fault response of the functional monitoring layer.

[0108] As for how to determine whether the preset working condition meets the preset condition based on the torque difference and the linear relationship, it can be described below. Figure 6 The process shown is explained and will not be described in detail here.

[0109] Optionally, when it is determined that the preset operating condition meets the preset conditions based on the above-mentioned torque difference and linear relationship, it means that the preset operating condition may falsely trigger the functional monitoring layer. Therefore, the next torque request sent by the functional layer can continue to be monitored based on the preset operating condition, thereby reducing the false triggering of the fault response in the functional monitoring layer.

[0110] As an exemplary embodiment, the functional monitoring layer may optimize the current functional safety monitoring mechanism based on the preset operating condition, so as to continue to monitor the next torque request sent by the functional layer based on the optimized functional safety monitoring mechanism, thereby avoiding false triggering of the next torque request.

[0111] 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.

[0112] 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, obtains the current second torque value of the vehicle determined by the functional layer, determines the torque offset corresponding to the first torque value, and determines the torque threshold based on the above-mentioned first torque value and the torque offset. When it is determined that the above-mentioned second torque value and the above-mentioned first torque value are in the same direction and the second torque value exceeds the corresponding range of the above-mentioned torque threshold, a plurality of torque difference values ​​of the second torque value exceeding the torque threshold and a pre-constructed linear relationship between the torque difference value and the fault tolerance time are obtained. When it is determined that the preset operating condition meets the preset condition based on the above-mentioned torque difference value and the above-mentioned linear relationship, the next torque request sent by the above-mentioned functional layer continues to be monitored based on the above-mentioned preset operating condition. This technical solution determines the offset of the torque value corresponding to the functional monitoring layer for the case where the functional monitoring layer and the torque value determined by the functional layer have the same corresponding directions, and determines the torque threshold corresponding to the current torque value of the functional monitoring layer according to the above offset. On this basis, through the pre-constructed linear relationship between the torque difference between the torque value corresponding to the functional layer and the torque value threshold and the fault tolerance time, it is determined whether the vehicle is prone to falsely triggering the fault response of the functional monitoring layer under the preset working condition according to the torque difference when the current torque value of the functional layer exceeds the torque threshold and the linear relationship. When it is determined that the preset working condition has a falsely triggered fault response, 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 the false triggering of fault responses under special or extreme working conditions, and realizing the improvement of the test cases of the functional monitoring layer, reducing the false triggering of fault responses of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0113] 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 in FIG. 1 , a specific method for determining the torque offset corresponding to the first torque value is described. Figure 2 As shown, the process may include the following steps:

[0114] Step 201: Obtain vehicle model parameters and operating parameters of at least two vehicles.

[0115] Step 202: construct an operation model according to the vehicle model parameters and the operation parameters.

[0116] Step 203: Obtain a vehicle speed corresponding to the first torque value, and input the vehicle speed and the first torque value into the operation model to obtain a torque offset of a safety distance corresponding to the first torque value output by the operation model.

[0117] The following is a unified description of steps 201 to 203:

[0118] The above vehicle model parameters refer to the vehicle model and related parameters during operation, which may include but are not limited to: vehicle model mass, tire rolling radius, etc.

[0119] The above-mentioned operating parameters refer to parameters related to at least two vehicles when traveling under preset operating conditions, which may include but are not limited to (taking two vehicles as an example): the initial speed of the front vehicle, the initial speed of the rear vehicle, the acceleration of the front vehicle, the acceleration of the rear vehicle, the initial distance between the two vehicles, etc.

[0120] The above-mentioned operation model refers to a simulation model of a simulated vehicle operating under preset working conditions.

[0121] In some embodiments of the present application, a vehicle model parameter and at least two vehicle operating parameters can be obtained, and an operating model that can simulate the operation of the vehicle under a preset working condition can be constructed according to the vehicle model parameter and the operating parameter, so as to simulate the torque offset corresponding to the first torque value. The input of the operating model can be a torque value and a vehicle speed corresponding to the torque value, and the output is the torque offset corresponding to the torque value.

[0122] Based on this, the first torque value currently determined by the functional monitoring layer and the vehicle speed corresponding to the first torque value can be obtained, and the above vehicle speed and the first torque value are input into the above operation model, so as to obtain the torque offset of the safety distance corresponding to the first torque value output by the operation model. The above first torque value corresponds to the safety distance, which refers to the distance that the vehicle can safely travel under the first torque value. Through the above operation model, the functional monitoring layer can efficiently and quickly determine the torque offset corresponding to the first torque value each time the first torque value of the vehicle is determined when driving under the preset working conditions.

[0123] The technical solution provided by the embodiment of the present application obtains the vehicle model parameters and the operating parameters of at least two vehicles, constructs an operating model according to the vehicle model parameters and the operating parameters, obtains the vehicle speed corresponding to the first torque value, and inputs the vehicle speed and the first torque value into the operating model to obtain the torque offset of the safety distance corresponding to the first torque value output by the operating model. This technical solution determines the torque offset corresponding to the first torque value by pre-constructing a simulation model of the vehicle driving under preset working conditions, thereby realizing efficient and accurate determination of the torque offset corresponding to the first torque value.

[0124] 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 in Figure 1Based on the process shown, it is described how to determine the torque threshold value according to the first torque value and the torque offset, and how to determine whether the second torque value exceeds the range corresponding to the torque threshold value. Figure 3 As shown, the process may include the following steps:

[0125] Step 301 , determine whether the first torque value and the second torque value are both less than a preset threshold value, if so, execute step 302 ; if not, execute step 304 .

[0126] Step 302: Subtract the torque offset from the first torque value to obtain a torque threshold.

[0127] Step 303 , determine whether the second torque value is less than the torque threshold, if so, execute step 306 ; if not, execute step 307 .

[0128] Step 304: Add the first torque value to the torque offset to obtain a torque threshold.

[0129] Step 305 , determine whether the second torque value is greater than the torque threshold, if so, execute step 306 ; if not, execute step 307 .

[0130] Step 306: Determine whether the second torque value exceeds the range corresponding to the torque threshold.

[0131] Step 307: Determine that the second torque value does not exceed the range corresponding to the torque threshold.

[0132] The following is a unified description of steps 301 to 307:

[0133] The above-mentioned preset threshold refers to a pre-set threshold, which can be used to characterize the direction corresponding to the torque value. For example, the above-mentioned preset threshold may be 0.

[0134] The first torque value mentioned above refers to Figure 1 The torque value determined by the functional monitoring layer in the process shown.

[0135] The second torque value refers to Figure 1 The torque values ​​determined by the functional layer in the process shown.

[0136] In some embodiments of the present application, when the first torque value and the second torque value are in the same direction, different directions may correspond to different torque values, for example, both are positive values ​​or both are negative values, and the torque values ​​in different directions have different corresponding ranges of torque thresholds.

[0137] As an optional implementation, it may be determined whether the first torque value and the second torque value are both smaller than a preset threshold.

[0138] Optionally, if it is determined that both the first torque value and the second torque value are less than a preset threshold, it means that the first torque value and the second torque value are both torque values ​​in a first preset direction, for example, both are negative values. Then, the smaller the torque value is, the larger its corresponding actual torque value is. Therefore, the first torque value can be subtracted from the above-mentioned torque offset to obtain the torque threshold.

[0139] Based on this, when determining whether the second torque value exceeds the range corresponding to the torque threshold, it can be determined whether the second torque value is greater than the above torque threshold, and when it is determined that the second torque value is greater than the torque threshold, it is determined that the second torque value exceeds the range corresponding to the above torque threshold.

[0140] Optionally, if it is determined that both the first torque value and the second torque value are greater than or equal to the preset threshold, it means that both the first torque value and the second torque value are torque values ​​of the second preset direction, for example, both are positive values, then the larger the torque value is, the larger the corresponding actual torque value is, therefore, the first torque value can be added to the above torque offset to obtain the torque threshold. The above second preset direction can be the opposite direction to the first preset direction.

[0141] Based on this, when determining whether the second torque value exceeds the range corresponding to the torque threshold, it can be determined whether the second torque value is less than the above torque threshold, and when it is determined that the second torque value is less than the torque threshold, it is determined that the second torque value exceeds the range corresponding to the above torque threshold.

[0142] The technical solution provided by the embodiment of the present application is to determine the torque threshold by subtracting the torque offset from the first torque value when it is determined that both the first torque value and the second torque value are less than the preset threshold, and to determine that the second torque value exceeds the corresponding range of the torque threshold when the second torque value is less than the torque threshold; to determine that the first torque value and the second torque value are greater than the preset threshold by adding the torque offset to the first torque value to determine the torque threshold, and to determine that the second torque value exceeds the corresponding range of the torque threshold when the second torque value is greater than the torque threshold. This technical solution compares both the first torque value and the second torque value with the preset threshold, and performs different calculations on the first torque value and the torque offset according to different comparison results to obtain different torque thresholds, thereby determining whether the second torque value exceeds the corresponding range of the torque threshold according to different torque thresholds, thereby accurately determining whether the torque value determined by the functional layer exceeds the corresponding range of the torque threshold.

[0143] 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 1 Based on the process shown in FIG. 1 , it is described how to construct the linear relationship between the torque difference and the fault tolerance time. Figure 4 As shown, the process may include the following steps:

[0144] Step 401: Using a pre-built functional safety model, determine a plurality of different torque differences exceeding a torque threshold value under a preset operating condition, and a fault tolerance time corresponding to each torque difference.

[0145] The above-mentioned functional safety model refers to a pre-built simulation model used to simulate the driving of a vehicle under preset operating conditions.

[0146] In some embodiments of the present application, in order to determine the linear relationship between the torque difference value exceeding the torque threshold and the fault tolerance time corresponding to the vehicle under preset operating conditions, the functional monitoring layer can use a pre-built functional safety model to simulate multiple different torque differences exceeding the torque threshold when the vehicle is traveling under preset operating conditions, as well as the fault tolerance time corresponding to each torque difference value, 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.

[0147] As an optional implementation method, the functional monitoring layer can obtain the working condition parameters of the preset working condition and the pre-built initial functional safety model, and update the initial functional safety model through the working condition parameters to obtain the functional safety model corresponding to the preset working condition. The above working condition parameters refer to the detailed information corresponding to the road conditions, environment and other conditions involved in the preset working condition, which may include but are not limited to: road slope, wind resistance coefficient, and windward area and other parameters. The above initial functional safety model is a pre-built model framework. By setting different working condition parameters for the initial functional safety model, functional safety models corresponding to different working conditions can be obtained.

[0148] As an exemplary implementation, the above operating condition parameters pre-stored by the user and the pre-built initial functional safety model may be obtained from a preset database.

[0149] Based on the functional safety model determined above, the functional safety model can be used to determine multiple different torque differences exceeding the torque threshold determined by the functional layer when the vehicle is running under preset operating conditions, as well as the fault tolerance time corresponding to each torque difference.

[0150] As an optional implementation method, the initial operating condition parameters of the preset operating condition corresponding to the above torque threshold and the vehicle model parameters can be obtained. The above initial operating condition parameters refer to the parameters involved when the torque value determined by the functional layer during the operation of the vehicle is the above torque threshold, which may include but are not limited to: the distance between the two vehicles, the driver's reaction time, the different speeds of the two vehicles, and the relative vehicle speed. The above model parameters refer to the model of the vehicle and the relevant parameters during the operation process, which may include but are not limited to: model mass, tire rolling radius, front axle speed ratio, rear axle speed ratio, transmission system efficiency and other parameters.

[0151] Afterwards, a plurality of different sets of target operating condition parameters may be determined based on the initial operating condition parameters, and the torque values ​​corresponding to the target operating condition parameters are greater than the torque threshold.

[0152] As an exemplary implementation, some parameters in the above initial operating condition parameters may be increased in sequence to obtain multiple target operating condition parameters, for example, the speeds of the two vehicles in the operating condition parameters may be increased in sequence, or the driver's reaction time may be increased in sequence.

[0153] Afterwards, for each target operating condition parameter, the preset initial functional safety model can be updated according to the target operating condition parameter and vehicle model parameter to obtain a functional safety model. The above 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.

[0154] As a possible implementation method, the above operating condition parameters pre-stored by the user and the pre-built initial functional safety model may be obtained from a preset database.

[0155] Afterwards, the functional safety model may be used to determine the torque difference exceeding the torque threshold and the relative distance and relative speed between the vehicle and other vehicles corresponding to the torque difference.

[0156] As an exemplary implementation, a functional safety model may be used to simulate multiple torque differences exceeding a torque threshold value corresponding to a vehicle under target operating parameters, and a relative speed and relative distance corresponding to each torque difference.

[0157] Afterwards, for each torque difference, the fault tolerance time corresponding to the torque difference can be determined according to the relative distance and relative speed corresponding to the torque difference. Optionally, the relative distance can be divided by the relative speed to obtain the fault tolerance time corresponding to the torque difference.

[0158] Afterwards, the torque difference values ​​and the fault tolerance time corresponding to each torque difference value may be counted to obtain a corresponding table between the torque difference values ​​and the fault tolerance time, such as the table shown in Table 1 below:

[0159] Table 1

[0160]

[0161] In addition, the torque difference may have a maximum torque difference threshold (eg, 100 N·m). When the torque difference is greater than the maximum torque difference threshold, the fault tolerance time may be the fault tolerance time corresponding to the maximum torque difference threshold (eg, 300 ms).

[0162] Step 402: Generate a linear relationship between the torque difference and the fault tolerance time according to the multiple torque difference and the fault tolerance time corresponding to each torque difference.

[0163] In some embodiments of the present application, multiple torque differences exceeding the torque threshold and the fault tolerance time corresponding to each torque difference may be obtained according to step 401, such as shown in the above Table 1. Based on this, the function monitoring layer may generate a linear relationship between the torque difference and the fault tolerance time according to the above multiple torque differences and the fault tolerance time corresponding to each torque difference.

[0164] As an optional implementation, a curve relationship diagram between the torque difference and the fault tolerance time can be constructed. The horizontal axis of the curve relationship diagram can be the torque difference, and the vertical axis can be the fault tolerance time. For example, see Figure 5 , is a schematic diagram of a curve relationship diagram of a torque difference and a fault tolerance time provided in an embodiment of the present application. Figure 5 The relationship diagram shown is established based on the data in Table 1.

[0165] Afterwards, the linear relationship between the torque difference and the fault tolerance time can be generated according to the above curve relationship diagram. The function monitoring layer can generate the linear relationship between the torque difference and the fault tolerance time by covering all the points included in the curve in the curve relationship diagram as much as possible. For example Figure 5 The linear relationship shown can be expressed by the linear function of the following formula (1):

[0166] Y=-7.8X+1078Formula (I)

[0167] Wherein, the above Y represents the fault tolerance time, and the above X represents the torque difference.

[0168] In addition, when it is determined that the preset working condition is a working condition that falsely triggers the fault response of the monitoring function layer, when the next torque request sent by the functional layer continues to be monitored based on the preset working condition, a target working condition not covered in the curve relationship diagram can be determined through forward analysis. The target working condition can be a sub-working condition of the preset working condition.

[0169] Afterwards, the above curve relationship diagram is improved according to the above target working conditions to obtain an improved target curve relationship diagram.

[0170] As an exemplary implementation, the above-mentioned functional safety model may continue to be utilized to determine other torque differences exceeding the above-mentioned torque threshold value under the target operating condition and the fault tolerance time corresponding to each other torque difference value, and the points corresponding to the fault tolerance time of the above-mentioned other torque differences and other torque differences may be completed in the curve relationship diagram.

[0171] Afterwards, in order to more comprehensively cover the points in the target curve diagram, at least two linear relationships between the torque difference and the fault tolerance time can be generated according to the above-mentioned target curve relationship diagram, and based on the above-mentioned at least two linear relationships, the next torque request sent by the functional layer is monitored to ensure that the special working conditions in the preset working conditions can be covered to avoid false triggering of the torque output of the functional layer or failure of the functional safety monitoring due to over-limit in extreme scenarios.

[0172] The technical solution provided by the embodiment of the present application, by using a pre-constructed functional safety model, determines a plurality of different torque differences that exceed the torque threshold value under preset working conditions, and the fault tolerance time corresponding to each torque difference value, and constructs a curve relationship diagram of the torque difference value and the fault tolerance time according to the plurality of torque differences and the fault tolerance time corresponding to each torque difference value, and generates a linear relationship between the torque difference value and the fault tolerance time according to the above curve relationship diagram. This technical solution, by pre-constructing a functional safety model of the vehicle driving under preset working conditions, can accurately simulate the torque difference value that exceeds the predetermined torque threshold value under preset working conditions and the fault tolerance time corresponding to each torque difference value, so that the linear relationship between the torque difference value and the fault tolerance time can be generated by constructing a curve relationship diagram of the torque difference value and the fault tolerance time, thereby realizing a more accurate determination of the linear relationship between the torque difference value that exceeds the torque threshold value and the fault tolerance time determined by the functional layer.

[0173] See also Figure 6 , is a flow chart of an embodiment of a vehicle torque monitoring method provided in an embodiment of the present application. Figure 6 The process shown in Figure 4 Based on the process shown in FIG. 1 , it is described how the torque difference and the linear relationship are used to determine whether the preset working condition meets the preset conditions. Figure 6 As shown, the process may include the following steps:

[0174] Step 601: Determine the fault probability that a torque request sent by a functional layer under a preset working condition has a fault according to the torque difference and the linear relationship.

[0175] The above-mentioned fault probability refers to the probability that the second torque value currently triggers a fault response in the functional monitoring layer when the second torque value in the torque request sent by the functional layer is greater than the torque threshold.

[0176] The above-mentioned torque difference refers to the multiple differences between each torque value and the torque threshold value, from the beginning when the second torque value determined by the functional layer is greater than the torque threshold value to all torque values ​​corresponding to the current moment in the actual operation of the vehicle.

[0177] The above linear relationship refers to Figure 4 The process shown determines the corresponding relationship between the torque difference and the fault tolerance time.

[0178] In some embodiments of the present application, the functional monitoring layer can determine the failure probability of a torque request sent by the functional layer under a preset operating condition based on multiple torque difference values ​​currently determined and the pre-constructed correspondence between the torque difference value and the fault tolerance time, so as to determine whether the preset operating condition is a condition that falsely triggers a fault response in the functional monitoring layer through the failure probability below.

[0179] As an optional implementation, determine the torque difference range corresponding to the multiple torque differences in the linear relationship (hereinafter referred to as the first torque difference range for the sake of distinction) and the torque difference range corresponding to the linear relationship under the preset working condition (hereinafter referred to as the second torque difference range for the sake of distinction). The first torque difference range refers to a range including all the torque differences determined above, and the second torque difference range refers to a range including all the torque differences that may occur under the preset working condition. The difference is that the first torque difference range includes the torque difference that occurs during a single operation of the vehicle, and the second torque difference range includes the torque difference that may occur during all operations of the vehicle under the preset working condition.

[0180] As an exemplary implementation, the first minimum torque difference and the first maximum torque difference among the above-mentioned multiple torque difference values ​​may be determined, and the torque range corresponding to the first minimum torque difference and the first maximum torque difference may be determined as the above-mentioned first torque difference range. For example, the following Table 2 shows multiple actual torque difference values ​​at which the second torque value is determined to exceed the torque threshold, and the actual fault tolerance time corresponding to the actual torque difference value determined according to the linear relationship:

[0181] Table 2

[0182]

[0183] According to Table 2, when the vehicle is running under the preset working condition, the second torque value generally increases or decreases in sequence.

[0184] As an exemplary implementation, the second minimum torque difference and the second maximum torque difference included in the pre-constructed linear relationship may be determined, for example, 10 is the second minimum torque difference and 100 is the second maximum torque difference in Table 1. Then, the torque difference range corresponding to the second minimum torque difference and the second maximum torque difference may be determined as the second torque difference range.

[0185] Afterwards, a first integral value may be determined according to the first torque difference range and the linear relationship, and a second integral value may be determined according to the second torque value and the linear relationship. The first integral value may represent an area corresponding to the first torque difference in the linear relationship, and the second integral value may represent an area corresponding to the second torque difference in the linear relationship.

[0186] As an exemplary implementation, a linear function expressing the above linear relationship may be obtained, and the above linear function may be integrated according to the first torque difference range to obtain a first integral value, and the linear function may be integrated according to the second torque difference range to obtain a second integral value. The above first integral value may represent the first area of ​​the linear function corresponding to the above first torque difference range in the curve relationship diagram, for example, see Figure 7 , is a schematic diagram of a plurality of torque difference corresponding curve relationship diagrams provided in the present application, Figure 7 The curve relationship diagram shown is generated based on the data in Table 2. The second integral value can represent the second area of ​​the linear function corresponding to the second torque difference range in the curve relationship diagram, for example Figure 5 The curve relationship diagram shown. It can be understood that Figure 5 The curve relationship diagram shown and Figure 7 The curve relationship diagrams shown may have the same linear relationship, ie, correspond to the same linear function.

[0187] Finally, the ratio of the first integral value to the second integral value may be determined as the fault probability that the torque request sent by the functional layer under the preset working condition is faulty.

[0188] For example, the linear function of the above formula (1) and Figure 5 Taking the curve relationship diagram shown in FIG. 1 as an example, assuming that the first minimum torque difference (the minimum torque difference of the vehicle actually running under the preset working condition) is a, and the first maximum torque difference (the maximum torque difference of the vehicle actually running under the preset working condition) is b, then the above-mentioned fault probability can be calculated by the following formula (II):

[0189]

[0190] Among them, the above T represents the above failure probability, the above a represents the first minimum torque difference, the above b represents the first maximum torque difference, the above x1 represents multiple torque differences actually obtained when the vehicle is running in a preset working condition, and the above x2 represents the torque difference in a pre-constructed linear relationship.

[0191] In one embodiment, in order to avoid missing the situation where the fault probability of the vehicle increases in the preset working condition, the functional monitoring layer can perform the steps of obtaining the multiple torque difference values ​​of the second torque value exceeding the torque threshold value and the pre-established linear relationship between the torque difference value and the fault tolerance time in real time, and determining the fault probability of the torque request sent by the functional layer under the preset working condition according to the torque difference value and the linear relationship, and determining whether the fault probability is greater than the current fault probability for each determined fault probability. The current fault probability is the fault probability determined last time.

[0192] 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.

[0193] 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 met. At this time, the current fault probability currently recorded can be updated to a first preset value, which is used to represent the possibility of no triggering a fault response, such as 0.

[0194] Step 602 , determine whether the above-mentioned failure probability is greater than a preset failure probability threshold, if so, execute step 603 ; if not, execute step 604 .

[0195] Step 603: Determine whether the preset working condition meets the preset condition.

[0196] Step 604: Determine whether the preset operating condition does not meet the preset condition.

[0197] The following is a unified description of steps 602 to 604:

[0198] The above-mentioned fault probability threshold refers to the predetermined probability boundary value that meets the requirement for triggering the fault response in the functional monitoring layer. That is, when the above-mentioned fault probability corresponding to the preset operating condition is greater than the fault probability threshold, it means that the vehicle is prone to mistakenly trigger the fault response in the functional monitoring layer when driving under the preset operating condition.

[0199] In some embodiments of the present application, after determining the fault probability of a torque request sent by the functional layer, the above fault probability can be compared with a pre-set fault probability threshold, and based on the comparison result, it can be determined whether the above preset operating condition is likely to falsely trigger a fault response of the functional monitoring layer.

[0200] Optionally, when it is determined that the above-mentioned fault probability is greater than a preset fault probability threshold, it means that the vehicle has a greater probability of triggering a fault response of the functional monitoring layer under the preset operating condition. Therefore, it can be determined that the preset operating condition meets the preset condition.

[0201] As an exemplary implementation, when it is determined that the above-mentioned fault probability is greater than the fault probability threshold, before determining that the preset working condition meets the preset condition, in order to further determine whether the preset working condition is a special working condition that falsely triggers a fault response, the functional monitoring layer may obtain the operating parameters of the vehicle corresponding to the above-mentioned fault probability under the preset working condition. The above-mentioned operating parameters may include, but are not limited to: vehicle speed, dual pedal status, front and rear motor torque requests, brake recovery torque requests and other data.

[0202] 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.

[0203] Optionally, if the above target failure probability is greater than the above failure probability, it means that after the preset operating condition is superimposed on other operating conditions, the probability of triggering a fault response increases. Therefore, the preset operating condition can be determined as a special operating condition that falsely triggers a fault response, that is, the preset operating condition meets the preset conditions.

[0204] 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.

[0205] In an exemplary embodiment, when it is determined that the preset working condition meets the preset condition, in order to more accurately determine whether the preset working condition is a special working condition that falsely triggers a fault response or a working condition that has a fault itself, the functional monitoring layer can output the working condition information of the preset working condition, so that the technician can determine whether the preset working condition is a special working condition that falsely triggers a fault response. Afterwards, if the technician receives a confirmation operation for the preset working condition, it can be determined that the preset working condition is a special working condition that falsely triggers a fault response, and the preset working condition is used as a test case to improve the current test case, and the safety monitoring mechanism of the functional monitoring layer is optimized to cover the preset working condition, and the functional safety model is optimized according to the preset working condition.

[0206] Optionally, when it is determined that the above-mentioned fault probability is less than or equal to the preset fault probability threshold, it means that the vehicle has a lower probability of triggering the fault response of the functional monitoring layer under the preset operating condition, that is, it does not belong to a special operating condition of falsely triggering a fault response. Therefore, it can be determined that the preset operating condition does not meet the preset conditions.

[0207] The technical solution provided in the embodiment of the present application determines the fault probability of a fault in the torque request sent by the functional layer under the preset working condition based on the torque difference and the linear relationship, and determines whether the above-mentioned fault probability is greater than the preset fault probability threshold. If so, it is determined that the preset working condition meets the preset condition; if not, it is determined that the preset working condition does not meet the preset condition. This technical solution determines the fault probability of the preset working condition causing a false triggering of the fault response of the functional monitoring layer based on multiple torque difference values ​​that the currently determined second torque value exceeds the torque threshold and the pre-established linear relationship between the torque difference and the fault tolerance time, thereby determining whether the preset working condition is a working condition that falsely triggers a fault response based on the fault probability, thereby achieving accurate determination of whether the preset working condition meets the preset condition for falsely triggering a fault response.

[0208] See also Figure 8 , is a block diagram of an embodiment of a vehicle torque monitoring device provided in an embodiment of the present application. As an embodiment, Figure 8 The device shown can be applied to the functional monitoring layer in the functional safety architecture of a vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, and the functional monitoring layer is used to monitor whether the torque request sent by the functional layer has a fault. Figure 8 As shown, the device may include:

[0209] A first determination module 81 is used to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer;

[0210] a second determination module 82, configured to determine a torque offset corresponding to the first torque value, and determine a torque threshold value according to the first torque value and the torque offset;

[0211] an acquisition module 83, configured to acquire, when it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds the range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold, and a pre-established linear relationship between the torque difference value and the fault tolerance time;

[0212] The monitoring module 84 is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the torque difference and the linear relationship that the preset operating condition meets the preset condition.

[0213] like Fig. 9 As shown, it is a schematic diagram of the structure of a vehicle provided in an embodiment of the present application, including a processor 91, a communication interface 92, a memory 93 and a communication bus 94, wherein the processor 91, the communication interface 92, and the memory 93 communicate with each other through the communication bus 94.

[0214] Memory 93, used for storing computer programs;

[0215] In one embodiment of the present application, the processor 91 is used to execute the program stored in the memory 93 to implement the torque monitoring method of the vehicle provided by any of the above method embodiments. The method can be applied to the function monitoring layer in the functional safety architecture of the vehicle. The above functional safety architecture includes a function layer and a function monitoring layer. The above function monitoring layer is used to monitor whether there is a fault in the torque request sent by the function layer. The method includes:

[0216] When the vehicle is traveling under a preset working condition, determining a current first torque value of the vehicle, and acquiring a current second torque value of the vehicle determined by the functional layer;

[0217] Determining a torque offset corresponding to the first torque value, and determining a torque threshold according to the first torque value and the torque offset;

[0218] When it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds the range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold and a pre-established linear relationship between the torque difference value and the fault tolerance time are obtained;

[0219] When it is determined based on the torque difference and the linear relationship that the preset operating condition satisfies the preset condition, the next torque request sent by the functional layer continues to be monitored based on the preset operating condition.

[0220] An embodiment of the present application further provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the vehicle torque monitoring method provided in any one of the aforementioned method embodiments are implemented.

[0221] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0222] Through the text of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0223] It should be understood that the terms used in the text are only for the purpose of the specific example implementation of the text, and are not intended to be limited. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used in the text can also be represented to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of the stated features, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, steps, operations, elements, parts, and / or their combinations. The method steps, processes, and operations of the text in the text are not interpreted as necessarily requiring them to be performed in the specific order of the text or description, unless the execution order is clearly indicated. It should also be understood that additional or alternative steps can be used.

[0224] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A method for monitoring torque of a vehicle, characterized in that: A function monitoring layer in a functional safety architecture applied to a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being used to monitor whether a torque request sent by the function layer has a fault, the method comprising: When the vehicle is traveling under a preset working condition, determining a current first torque value of the vehicle, and acquiring a current second torque value of the vehicle determined by the functional layer; Determining a torque offset corresponding to the first torque value, and determining a torque threshold according to the first torque value and the torque offset; When it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds the range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold and a pre-established linear relationship between the torque difference value and the fault tolerance time are obtained; When it is determined based on the torque difference and the linear relationship 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 determining the torque offset corresponding to the first torque value includes: Obtaining vehicle model parameters of the vehicle and operating parameters of at least two vehicles; Constructing an operation model according to the vehicle model parameters and the operation parameters; A vehicle speed corresponding to the first torque value is obtained, and the vehicle speed and the first torque value are input into the operation model to obtain a torque offset of a safety distance corresponding to the first torque value output by the operation model.

3. The method according to claim 1, characterized in that The determining of the torque threshold according to the first torque value and the torque offset comprises: determining whether the first torque value and the second torque value are both less than a preset threshold; When it is determined that both the first torque value and the second torque value are less than the preset threshold, subtracting the torque offset from the first torque value to obtain the torque threshold; When the first torque value and the second torque value are both greater than or equal to the preset threshold, the torque threshold is obtained by adding the torque offset to the first torque value.

4. The method according to claim 3, characterized in that Determining that the second torque value exceeds a range corresponding to the torque threshold value includes: In the case where the second torque value is greater than or equal to the preset threshold, determining whether the second torque value is greater than the torque threshold; In the case where it is determined that the second torque value is greater than the torque threshold, determining that the second torque value is beyond a range corresponding to the torque threshold; In the case where the second torque value is less than the preset threshold, determining whether the second torque value is less than the torque threshold; When it is determined that the second torque value is less than the torque threshold, it is determined that the second torque value exceeds a range corresponding to the torque threshold.

5. The method according to claim 1, characterized in that The linear relationship is determined by: Using a pre-built functional safety model, determining a plurality of different torque differences of the vehicle exceeding the torque threshold under the preset operating condition, and a fault tolerance time corresponding to each of the torque differences; A linear relationship between the torque difference and the fault tolerance time is generated according to the plurality of torque difference values ​​and the fault tolerance time corresponding to each of the torque difference values.

6. The method according to claim 5, characterized in that The method of using the pre-built functional safety model to determine a plurality of different torque differences of the vehicle exceeding the torque threshold under the preset working condition, and a fault tolerance time corresponding to each of the torque differences, includes: Acquire the initial operating condition parameters of the torque threshold corresponding to the preset operating condition, and the vehicle model parameters of the vehicle; Determining a plurality of different sets of target operating parameters according to the initial operating parameters, wherein the torque values ​​corresponding to the target operating parameters are greater than the torque threshold; For each of the target operating condition parameters, a preset initial functional safety model is updated according to the target operating condition parameter and the vehicle type parameter to obtain a functional safety model; Determine, by using the functional safety model, a torque difference exceeding the torque threshold and a relative distance and relative speed between the vehicle and other vehicles corresponding to the torque difference; A fault tolerance time corresponding to the torque difference is determined according to the relative distance and the relative speed.

7. The method according to claim 1, characterized in that The determining that the preset operating condition satisfies a preset condition based on the torque difference and the linear relationship includes: determining, according to the torque difference and the linear relationship, a fault probability that a torque request sent by the functional layer under the preset working condition is faulty; When the failure probability is greater than a preset failure probability threshold, it is determined that the preset operating condition meets a preset condition.

8. The method according to claim 7, characterized in that The determining, according to the torque difference and the linear relationship, a fault probability that a torque request sent by the functional layer under the preset working condition has a fault includes: Determine a first torque difference range corresponding to the torque difference in the linear relationship, and a second torque difference range corresponding to the preset working condition in the linear relationship; determining a first integral value according to the first torque difference range and the linear relationship; determining a second integral value according to the second torque difference range and the linear relationship; The ratio of the first integral value to the second integral value is determined as the failure probability.

9. The method according to claim 7, characterized in that: After determining the fault probability that the torque request sent by the functional layer under the preset working condition has a fault according to the torque difference and the linear relationship, the method includes: The steps of obtaining a plurality of torque difference values ​​when the second torque value exceeds the torque threshold value and a pre-established linear relationship between the torque difference value and the fault tolerance time in real time; and determining a fault probability that the torque request sent by the functional layer under the preset working condition has a fault according to the torque difference value and the linear relationship; For each determined fault probability, determine whether the fault probability is greater than a current fault probability, where the current fault probability is the fault probability determined last time; In the case where it is determined that the failure probability is greater than the current failure probability, updating the current failure probability to the failure probability; When the second torque value is less than or equal to the torque threshold, the current fault probability is updated to a first preset value.

10. The method according to claim 7, characterized in that In the case where the failure probability is greater than a preset failure probability threshold, before determining that the preset operating condition satisfies a preset condition, the method further includes: Obtaining operating parameters of the vehicle corresponding to the failure probability under the preset operating condition; Based on the operating parameters, simulating a target failure probability that a torque request sent by the functional layer is faulty after the preset operating condition and other operating conditions are superimposed; When the target failure probability is greater than the failure probability, it is determined that the preset operating condition meets a preset condition.

11. A torque monitoring device for a vehicle, characterized in that: A function monitoring layer in a functional safety architecture applied to a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being used to monitor whether a torque request sent by the function layer has a fault, the device comprising: A first determination module, configured to determine a current first torque value of the vehicle when the vehicle is traveling under a preset working condition, and to obtain a current second torque value of the vehicle determined by the functional layer; a second determination module, configured to determine a torque offset corresponding to the first torque value, and determine a torque threshold value according to the first torque value and the torque offset; an acquisition module, configured to acquire, when it is determined that the second torque value and the first torque value have the same direction and the second torque value exceeds a range corresponding to the torque threshold, a plurality of torque difference values ​​at which the second torque value exceeds the torque threshold, and a pre-established linear relationship between the torque difference value and the fault tolerance time; A monitoring module is used to continue monitoring the next torque request sent by the functional layer based on the preset operating condition when it is determined based on the torque difference and the linear relationship that the preset operating condition meets the preset condition.

12. A vehicle, characterized in that: include: A processor and a memory, wherein the processor is used to execute a vehicle torque monitoring program stored in the memory to implement the vehicle torque monitoring method according to any one of claims 1 to 10.

Images