Vehicle torque monitoring method and device, vehicle and storage medium

Abstract

The invention relates to a torque monitoring method and device of a vehicle, the vehicle and a storage medium, the method is applied to a function monitoring layer in a function safety framework of the vehicle, the function safety framework comprises a function layer and the function monitoring layer, and the function monitoring layer is used for monitoring whether a torque request sent by the function layer has a fault or not. The method comprises the steps of determining a target simulation vehicle speed corresponding to a vehicle speed through a corresponding relation between the preset vehicle speed and the simulation vehicle speed under the condition that the received vehicle speed meets a preset correction condition; determining a target torque value corresponding to the vehicle according to the vehicle speed and the target simulation vehicle speed; and monitoring a torque request sent by the functional layer based on the target torque value. Therefore, fault response false triggering of the function monitoring layer can be reduced, the stability and safety of the vehicle are improved, and the user experience is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle torque monitoring method, device, vehicle and storage medium. 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 can easily lead to more special or extreme fault response false triggering during vehicle operation, affecting the stability and safety of the vehicle, and thus affecting the user experience. Summary of the invention

[0006] The present application provides a vehicle torque monitoring method, device, vehicle and storage medium to solve the technical problem in the prior art that the test cases cannot cover some special or extreme working conditions, which easily leads to the false triggering of fault responses of many special or extreme working conditions during the operation of the vehicle, 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 it is determined that the received vehicle speed satisfies the preset correction condition, determining a target simulated vehicle speed corresponding to the vehicle speed through a correspondence between the preset vehicle speed and the simulated vehicle speed;

[0009] Determining a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed;

[0010] Based on the target torque value, the torque request sent by the functional layer is monitored.

[0011] As a possible implementation manner, determining whether the received vehicle speed satisfies a preset correction condition includes:

[0012] Receiving the vehicle speed sent by a preset controller of the vehicle; wherein the preset controller collects the rear wheel speed of the vehicle and sends the rear wheel speed as the vehicle speed;

[0013] determining a speed difference between a last received vehicle speed and the vehicle speed;

[0014] In a case where the speed difference is greater than a preset speed threshold, it is determined that the received vehicle speed satisfies a preset correction condition.

[0015] As a possible implementation manner, the corresponding relationship is determined by:

[0016] Collecting working condition information of a preset working condition and operation information of the vehicle under the preset working condition, wherein the vehicle speed of the vehicle under the preset working condition satisfies a preset correction condition;

[0017] According to the working condition information and the operation information, simulate the jump speeds corresponding to the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed;

[0018] According to the plurality of jump speeds and the actual simulated speed corresponding to each of the jump speeds, a linear relationship between the vehicle speed of the vehicle under the preset working condition and the simulated vehicle speed is determined.

[0019] As a possible implementation manner, the preset working condition is slope operation, and the working condition information includes a plurality of different slopes;

[0020] The simulating, according to the working condition information and the operation information, the corresponding jump speeds of the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed, comprises:

[0021] For each of the slopes, obtaining a jump speed of the vehicle when running on the slope, and a running time corresponding to the jump speed;

[0022] determining an acceleration of the vehicle running on the slope based on the slope and the running information;

[0023] The actual simulation speed corresponding to the jump speed is determined according to the initial speed of the vehicle running on the slope, the acceleration, and the running time.

[0024] As a possible implementation manner, determining the target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed includes:

[0025] Based on the corresponding relationship, determining a correction relationship between the vehicle speed and the simulated vehicle speed;

[0026] According to the correction relationship, the vehicle speed and the target simulated vehicle speed are processed to obtain a target vehicle speed after the vehicle speed is corrected;

[0027] A target torque value corresponding to the vehicle is determined according to the target vehicle speed.

[0028] As a possible implementation manner, determining the target torque value corresponding to the vehicle according to the target vehicle speed includes:

[0029] Obtaining vehicle parameters of the vehicle currently running;

[0030] According to the vehicle parameters and the target vehicle speed, a target torque value corresponding to the target vehicle speed is queried from a preset torque table.

[0031] As a possible implementation manner, determining the target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed includes:

[0032] determining an initial torque value according to the vehicle speed;

[0033] Subtracting the target simulated vehicle speed from the vehicle speed to obtain a target speed difference between the target simulated vehicle speed and the vehicle speed;

[0034] Determining a target speed change rate corresponding to the target speed difference according to a preset correspondence relationship between the speed change rate and the speed difference;

[0035] determining a target correction torque value corresponding to the vehicle speed based on the target speed change rate;

[0036] The initial torque value is corrected according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

[0037] 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:

[0038] A first determination module is used to determine a target simulated vehicle speed corresponding to the vehicle speed by a correspondence relationship between a preset vehicle speed and a simulated vehicle speed when it is determined that the received vehicle speed satisfies a preset correction condition;

[0039] A second determination module, configured to determine a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed;

[0040] A monitoring module is used to monitor the torque request sent by the functional layer based on the target torque value.

[0041] As a possible implementation manner, the first determining module includes:

[0042] A receiving submodule, configured to receive the vehicle speed sent by a preset controller of the vehicle; wherein the preset controller collects the rear wheel speed of the vehicle and sends the rear wheel speed as the vehicle speed;

[0043] A first determination submodule, configured to determine a speed difference between a previous vehicle speed received last time and the vehicle speed;

[0044] The second determination submodule is used to determine whether the received vehicle speed meets a preset correction condition when the speed difference is greater than a preset speed threshold.

[0045] As a possible implementation manner, the device further includes:

[0046] A collection module, used for collecting working condition information of a preset working condition and operation information of the vehicle under the preset working condition, wherein the vehicle speed of the vehicle under the preset working condition satisfies a preset correction condition;

[0047] A simulation module, used for simulating the jump speeds corresponding to the vehicle under different sub-operating conditions of the preset operating condition and the actual simulation speed corresponding to each jump speed according to the operating condition information and the operation information;

[0048] The relationship determination module is used to determine the linear relationship between the vehicle speed and the simulated vehicle speed of the vehicle under the preset working condition according to the multiple jump speeds and the actual simulated speed corresponding to each jump speed.

[0049] As a possible implementation manner, the preset working condition is slope operation, and the working condition information includes a plurality of different slopes;

[0050] The simulation module comprises:

[0051] An acquisition submodule, for acquiring, for each of the slopes, a jump speed of the vehicle when running on the slope, and a running time corresponding to the jump speed;

[0052] A third determination submodule, configured to determine an acceleration of the vehicle running at the slope based on the slope and the running information;

[0053] The fourth determination submodule is used to determine the actual simulation speed corresponding to the jump speed according to the initial speed of the vehicle running on the slope, the acceleration, and the running time.

[0054] As a possible implementation manner, the second determining module includes:

[0055] a fifth determining submodule, configured to determine a correction relationship between the vehicle speed and the simulated vehicle speed based on the corresponding relationship;

[0056] A processing submodule, used for processing the vehicle speed and the target simulated vehicle speed according to the correction relationship to obtain a target vehicle speed after correcting the vehicle speed;

[0057] The sixth determination submodule is used to determine a target torque value corresponding to the vehicle according to the target vehicle speed.

[0058] As a possible implementation manner, the sixth determining submodule is specifically configured to:

[0059] Obtaining vehicle parameters of the vehicle currently running;

[0060] According to the vehicle parameters and the target vehicle speed, a target torque value corresponding to the target vehicle speed is queried from a preset torque table.

[0061] As a possible implementation manner, the second determining module is specifically configured to:

[0062] determining an initial torque value according to the vehicle speed;

[0063] Subtracting the target simulated vehicle speed from the vehicle speed to obtain a target speed difference between the target simulated vehicle speed and the vehicle speed;

[0064] Determining a target speed change rate corresponding to the target speed difference according to a preset correspondence relationship between the speed change rate and the speed difference;

[0065] determining a target correction torque value corresponding to the vehicle speed based on the target speed change rate;

[0066] The initial torque value is corrected according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

[0067] 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.

[0068] 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.

[0069] The technical solution provided by the embodiment of the present application is to determine the target simulated vehicle speed corresponding to the vehicle speed by the correspondence between the preset vehicle speed and the simulated vehicle speed when it is determined that the received vehicle speed meets the preset correction condition, determine the target simulated vehicle speed corresponding to the vehicle speed according to the correspondence between the preset vehicle speed and the simulated vehicle speed, and monitor the torque request sent by the functional layer based on the target torque value. This technical solution can determine the target simulated vehicle speed corresponding to the vehicle speed by the correspondence between the predetermined vehicle speed and the simulated speed under the extreme working conditions that meet the preset correction conditions, and determine the target torque value of the vehicle based on the vehicle speed and the target simulated vehicle speed. Since the target simulated vehicle speed is a simulated vehicle speed that does not jump when the vehicle is driving under the extreme working conditions, determining the target torque value of the vehicle based on the target simulated vehicle speed can prevent the torque value determined by the functional monitoring layer according to the jumped vehicle speed from being too different from the torque value determined by the functional layer according to the actual vehicle speed, thereby causing the fault response of the functional monitoring layer to be falsely triggered, thereby reducing the false triggering of the fault response of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] 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.

[0071] 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.

[0072] 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.

[0073] Figure 1 A flow chart of an embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0074] Figure 2 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0075] Figure 3 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0076] Figure 4 A flowchart of another embodiment of a vehicle torque monitoring method provided in an embodiment of the present application;

[0077] Figure 5 A block diagram of an embodiment of a vehicle torque monitoring device provided in an embodiment of the present application;

[0078] Figure 6 A schematic diagram of the structure of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0079] 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.

[0080] 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.

[0081] In order to solve the technical problem in the prior art that the test cases cannot cover some special or extreme conditions, which easily 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, vehicle and storage medium, which can determine the target simulated vehicle speed corresponding to the vehicle speed through the correspondence between the predetermined vehicle speed and the simulated speed under extreme conditions that meet the preset correction conditions, and determine the target torque value of the vehicle based on the vehicle speed and the target simulated vehicle speed. Since the target simulated vehicle speed is a simulated vehicle speed that does not jump when the vehicle is traveling under extreme conditions, determining the target torque value of the vehicle based on the target simulated vehicle speed can prevent the torque value determined by the functional monitoring layer according to the jumped vehicle speed from being too different from the torque value determined by the functional layer according to the actual vehicle speed, thereby causing the fault response of the functional monitoring layer to be falsely triggered, thereby reducing the false triggering of the fault response of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0082] 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.

[0083] join Figure 1 , is a flow chart of an embodiment of a torque monitoring method for a vehicle provided in an embodiment of the present application. As an embodiment, the torque monitoring method for a vehicle provided in an embodiment of the present application can be applied to a functional monitoring layer in a functional safety architecture of a vehicle. The functional safety architecture may include a functional layer and a functional monitoring layer. The functional monitoring layer may be used to monitor whether a torque request sent by the functional layer is faulty. Figure 1 As shown, the process may include the following steps:

[0084] Step 101: When it is determined that the received vehicle speed satisfies a preset correction condition, a target simulated vehicle speed corresponding to the vehicle speed is determined through a correspondence between the preset vehicle speed and the simulated vehicle speed.

[0085] The above-mentioned vehicle speed refers to the vehicle speed received by the functional monitoring layer located at the L2 layer in the functional safety architecture of the vehicle, wherein the functional monitoring layer receives the vehicle speed sent by the IPB (Integrated Power Brake) controller, and the IPB controller is based on the rear wheel speed of the vehicle. Therefore, the vehicle speed can be the rear wheel speed of the vehicle.

[0086] The above-mentioned correction condition refers to the condition that the received vehicle speed is inaccurate due to a temporary change in the vehicle's driving conditions. For example, the correction condition refers to a jump in the vehicle speed, that is, the vehicle speed changes significantly in an instant or within a short preset time (for example, 1 second). For example, the vehicle speed instantly drops from 23km / h to 1km / h.

[0087] The above-mentioned simulated vehicle speed refers to the simulated vehicle speed when the vehicle speed does not jump under ideal conditions when the vehicle is pre-simulated driving under extreme operating conditions (driving on a slope, driving on ice, etc.) that are likely to produce a vehicle speed that needs to be corrected (for example, a vehicle speed jump). That is, when the vehicle is running under actual extreme operating conditions, the speed of the vehicle is the vehicle speed that jumps, and when the simulated vehicle is running under extreme operating conditions, the speed of the vehicle is the simulated speed that does not jump.

[0088] The above correspondence is the correspondence between the actual vehicle speed and the simulated vehicle speed, which may be a linear relationship or a one-to-one correspondence represented by a table, and the embodiment of the present application does not impose any limitation on this.

[0089] In practical applications, the above functional safety architecture can generally be divided into three layers: L1 layer: functional layer, L2 layer: functional monitoring layer, and L3 layer: hardware monitoring layer. The above 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 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.

[0090] In actual applications, the above-mentioned functional layer can determine the torque value of the front and rear motors under the current operating conditions of the vehicle according to the vehicle's operating parameters, and send a torque request corresponding to the torque value to the front and rear motors of the vehicle. The functional monitoring layer monitors the torque request sent by the functional layer to determine whether there is a fault in the torque request sent by the functional layer. If a fault exists, a fault response is triggered and a corresponding fault response strategy is executed to ensure the stability and safety of the vehicle operation.

[0091] Furthermore, when the functional monitoring layer monitors the torque request of the functional layer, it determines the torque value according to the operating parameters of the vehicle, compares the torque value with the torque value in the torque request sent by the functional layer, and triggers a fault response when the fault triggering condition is met.

[0092] Among them, the difference between the function monitoring layer and the functional layer is that the vehicle operating parameters and torque determination logic adopted by the two are different. 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. The vehicle speed sent by the IPB controller is the rear wheel speed of the vehicle. Therefore, when the rear wheel speed of the vehicle jumps, it has less impact on the torque value determined by the functional layer, but has a greater impact on the torque value determined by the function monitoring layer. This results in that when the function monitoring layer compares the torque value determined by itself with the torque value determined by the functional layer, the two torque values ​​reach the fault trigger condition of the fault response false triggering, thereby causing the fault response to be falsely triggered.

[0093] In actual scenarios, when a vehicle is traveling on an icy or flooded downhill road, the rear wheels of the vehicle are prone to slipping or becoming airborne, which causes the rear wheel speed of the vehicle to jump from high speed to low speed, for example, from a speed of more than ten to a speed of 1 to 2, thereby causing the fault response of the false triggering function monitoring layer under the above working conditions to be falsely triggered.

[0094] In this regard, after receiving the vehicle speed, the functional monitoring layer can first determine whether the received vehicle speed meets the preset correction conditions, and when it is determined that the vehicle speed meets the above correction conditions, determine the target simulated vehicle speed corresponding to the vehicle speed through the correspondence between the preset vehicle speed and the simulated vehicle speed.

[0095] As an optional implementation, when determining whether the received vehicle speed meets the correction condition, the vehicle speed sent by the preset controller of the vehicle can be received, wherein the preset controller collects the rear wheel speed of the vehicle and sends the rear wheel speed as the vehicle speed. Based on this, the speed difference between the last vehicle speed received last time and the vehicle speed can be determined, and when it is determined that the speed difference is greater than the preset speed threshold, it is determined that the received vehicle speed has jumped, that is, it meets the preset correction condition. The threshold controller can be an IPB controller, and the preset speed threshold can be a pre-set speed threshold, such as 12km / h.

[0096] As another optional implementation, when determining whether the received vehicle speed satisfies the above correction condition, the current front wheel speed of the vehicle may be acquired and compared with the vehicle speed.

[0097] Optionally, when the difference between the front wheel speed and the vehicle speed is greater than a preset threshold, it means that the front wheel speed and the rear wheel speed of the vehicle are significantly different. Therefore, it can be determined that the vehicle speed has jumped, that is, the correction condition is met.

[0098] On the contrary, when the difference between the front wheel speed and the vehicle speed is less than the preset threshold, it means that the difference between the front wheel speed and the rear wheel speed of the vehicle is small. Therefore, it can be determined that the vehicle speed has not jumped, that is, the above correction condition is not met.

[0099] As an optional implementation method, when the above corresponding relationship is a linear relationship, the function monitoring layer can determine the linear function corresponding to the linear relationship, and use the linear function to calculate the above vehicle speed to obtain the target simulated vehicle speed corresponding to the vehicle speed.

[0100] As another optional implementation, when the above correspondence is a table, the function monitoring layer can use the above vehicle speed as a keyword to search the above table to obtain a target correspondence including the vehicle speed. Afterwards, the simulated vehicle speed included in the above target correspondence can be determined as the target simulated vehicle speed.

[0101] As for how to determine the corresponding relationship between the vehicle speed and the simulated vehicle speed, it can be respectively described below. Figure 2 and Figure 3 The process shown is explained and will not be described in detail here.

[0102] Step 102: Determine a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed.

[0103] Step 103: Monitor the torque request sent by the functional layer according to the target torque value.

[0104] The following is a unified description of step 102 and step 103:

[0105] In some embodiments of the present application, after determining the target simulated vehicle speed corresponding to the vehicle speed, the functional monitoring layer can determine the target torque value corresponding to the vehicle based on the above vehicle speed and the target simulated vehicle speed, and monitor the torque value sent by the functional layer based on the target torque value.

[0106] Among them, since the target simulation speed is the actual speed of the simulated vehicle under the working conditions corresponding to the above-mentioned vehicle speed, the error of the target torque value determined based on the vehicle speed and the target simulation speed is small, so the accuracy of monitoring the torque request sent by the monitoring layer based on the target torque value is also higher, thereby reducing the false triggering of fault responses in the functional monitoring layer under extreme working conditions.

[0107] Furthermore, when monitoring the torque request sent by the functional layer, the target torque value may be compared with the torque value in the torque request in terms of direction to obtain a comparison result.

[0108] Optionally, when the comparison result indicates that the target torque value is opposite to the torque value in the torque request and the duration of the duration reaches a preset duration, it can be determined that there is a fault in the torque request, so the function monitoring layer can trigger a fault response and take corresponding fault measures to ensure the stability and safety of the vehicle. The preset duration is a pre-set duration, such as 300ms.

[0109] The technical solution provided by the embodiment of the present application is to determine the target simulated vehicle speed corresponding to the vehicle speed by the correspondence between the preset vehicle speed and the simulated vehicle speed when it is determined that the received vehicle speed meets the preset correction condition, determine the target simulated vehicle speed corresponding to the vehicle speed according to the correspondence between the preset vehicle speed and the simulated vehicle speed, and monitor the torque request sent by the functional layer based on the target torque value. This technical solution can determine the target simulated vehicle speed corresponding to the vehicle speed by the correspondence between the predetermined vehicle speed and the simulated speed under the extreme working conditions that meet the preset correction conditions, and determine the target torque value of the vehicle based on the vehicle speed and the target simulated vehicle speed. Since the target simulated vehicle speed is a simulated vehicle speed that does not jump when the vehicle is driving under the extreme working conditions, determining the target torque value of the vehicle based on the target simulated vehicle speed can prevent the torque value determined by the functional monitoring layer according to the jumped vehicle speed from being too different from the torque value determined by the functional layer according to the actual vehicle speed, thereby causing the fault response of the functional monitoring layer to be falsely triggered, thereby reducing the false triggering of the fault response of the functional monitoring layer, thereby improving the stability and safety of the vehicle and enhancing the user experience.

[0110] 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 description is given of how to determine the corresponding relationship between the vehicle speed and the simulated vehicle speed. Figure 2 As shown, the process may include the following steps:

[0111] Step 201: Collect operating condition information of a preset operating condition and operation information of the vehicle under the preset operating condition, wherein the vehicle speed of the vehicle under the preset operating condition satisfies a preset correction condition.

[0112] Step 202: Based on the above working condition information and operation information, simulate the jump speeds corresponding to the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed.

[0113] The following is a unified description of step 201 and step 202:

[0114] The above-mentioned preset operating condition refers to the operating condition where the vehicle speed meets the preset correction condition (for example, prone to jumps). Since the vehicle speed received by the functional monitoring layer is the rear wheel speed of the vehicle, the preset operating condition is the operating condition where the rear wheel speed of the vehicle is prone to jumps, such as icy conditions, or downhill flooded road conditions.

[0115] Furthermore, the preset operating condition may include a plurality of different sub-operating conditions. For example, when the preset operating condition is a downhill flooded road condition, the sub-operating condition may include downhill flooded road conditions corresponding to different slopes.

[0116] Correspondingly, the above-mentioned operating condition information refers to information related to the preset operating condition. For example, when the above-mentioned preset operating condition is an icy surface condition, the above-mentioned operating condition information may be the friction between the ice surface and the vehicle tires; when the above-mentioned preset operating condition is a downhill flooded road condition, the above-mentioned operating condition information may be the slope of the road surface.

[0117] The above-mentioned operating information refers to the operating parameters of the vehicle under preset working conditions, which may include but are not limited to: front wheel speed, IPB speed, driver's action, wheel direction, steering control and other information.

[0118] The actual simulated speed refers to the speed of the rear wheel of the simulated vehicle when a jump occurs, or the speed when no jump occurs.

[0119] In the embodiment of the present application, for a preset operating condition where the vehicle is prone to speed jumps, the functional monitoring layer can collect the operating condition information of the above preset operating condition, as well as the operation information of the vehicle under the preset operating condition.

[0120] As a possible implementation method, technicians can pre-collect operating condition information of multiple operating conditions and the operating information of the vehicle under each operating condition, and store the above operating conditions, operating condition information and operating information, as well as the correspondence between the three, in a preset storage medium. Based on this, the functional monitoring layer can obtain the operating condition information of the above preset operating conditions and the operating information of the vehicle under the preset operating conditions from the above storage medium.

[0121] As another possible implementation manner, the function monitoring layer may obtain the operating condition information of the preset operating condition input by the user and the operation information of the vehicle under the preset operating condition through a preset visual interface.

[0122] In one embodiment, after obtaining the operating condition information of the above-mentioned preset operating condition and the operating information of the vehicle under the preset operating condition, the functional monitoring layer can simulate the corresponding jump speeds of the vehicle under different sub-conditions of the preset operating condition and the actual simulation speed corresponding to each jump speed based on the above-mentioned operating condition information and operating information.

[0123] As an optional implementation, the preset working condition may be slope operation, and the working condition information may include multiple different slopes. Based on this, when simulating the jump speeds corresponding to different sub-working conditions of the preset working condition and the actual simulation speed corresponding to each jump speed, the jump speed of the vehicle when running on the slope and the running time corresponding to the jump speed when the jump speed occurs can be obtained for each slope.

[0124] As an exemplary implementation, a simulation model of vehicle operation can be constructed, and the simulation model can simulate different sub-operating conditions of the above-mentioned preset operating conditions. Based on this, the operation of the vehicle in the preset operating condition can be simulated by the simulation model according to the vehicle operation information, so as to obtain the jump speed of the vehicle in each sub-operating condition and the operation time corresponding to each jump speed. Among them, each sub-operating condition can correspond to one or more jump speeds, which is not limited in the embodiment of the present application.

[0125] Afterwards, the acceleration of the vehicle running on the slope can be determined based on the above slope and running information.

[0126] As an exemplary embodiment, the acceleration may include uphill acceleration and downhill acceleration.

[0127] Based on this, the rolling resistance coefficient determined by the vehicle mass and tire friction, as well as the vehicle's gravity, can be determined first. Then, the rolling resistance of the vehicle running on the slope and the climbing resistance can be determined based on the slope, the vehicle's gravity, and the rolling resistance coefficient.

[0128] Specifically, the rolling resistance and climbing resistance can be determined by the following formula (1) and formula (2) respectively:

[0129] F f =mgf*cosα Formula (I)

[0130] F i =mgf*sinα Formula (II)

[0131] Among them, the above F f is the rolling resistance, mg is the gravity of the vehicle, f is the rolling coefficient, α is the slope, and F i is the above climbing resistance.

[0132] Finally, the power provided by the vehicle itself and the braking force provided by the brakes can be obtained, and based on the above power, braking force, rolling resistance and climbing resistance, the uphill acceleration and downhill acceleration of the vehicle running on the slope can be determined.

[0133] Specifically, the uphill acceleration and downhill acceleration of the vehicle at the slope can be determined by the following formula (III) and formula (IV) respectively:

[0134] a1=(F q -F f -F i -F w ) / m formula (three)

[0135] a2=(F q -F f +F i -F w ) / m formula (IV)

[0136] Among them, a1 is the uphill acceleration, and F q For the above power, the above F f is the rolling resistance, the above F i is the climbing resistance, the above F w is the braking force, and a2 is the downhill acceleration.

[0137] Finally, the actual simulation speed corresponding to the vehicle jump speed can be determined according to the initial speed, acceleration, and running time of the vehicle on the above slope.

[0138] As an exemplary implementation, the actual simulation speed corresponding to the vehicle jump speed may be determined by the actual simulation speed formula shown in the following formula (V):

[0139] V t =V0+at formula (V)

[0140] Among them, the above V t is the actual simulation speed, V0 is the initial speed, a is the acceleration of the vehicle, when the vehicle runs uphill, the acceleration may be the uphill acceleration; when the vehicle runs downhill, the acceleration may be the downhill acceleration, and t is the running time.

[0141] Based on the above calculations, different jump speeds corresponding to different slopes and the actual simulation speed corresponding to each jump speed can be obtained. Furthermore, in order to more clearly understand the jump of vehicle speed, the front wheel speed of the vehicle can also be obtained in the above process, and finally the corresponding relationship shown in the following Table 1 can be obtained:

[0142] Table 1

[0143] Slope (up / down) 1 2 3 4 5 6 7 8 9 Front wheel speed 10 12 14 16 18 20 22 24 26 Jump speed 1 1.2 1.5 1.7 1.9 2 2.2 2.3 2.6 Actual simulation speed 8.7 10.5 12.7 13.6 14.8 17.4 19.5 21.9 24.1

[0144] Step 203: Determine a linear relationship between the vehicle speed under a preset working condition and the simulated vehicle speed according to the multiple jump speeds and the actual simulated speed corresponding to each jump speed.

[0145] In an embodiment of the present application, the functional monitoring layer can determine the linear relationship between the vehicle speed and the simulated vehicle speed under the above-mentioned preset working conditions based on the multiple jump speeds obtained above and the actual simulated speed corresponding to each jump speed, and determine the linear relationship as the corresponding relationship between the vehicle speed and the simulated vehicle speed.

[0146] In addition, the correspondence between the above vehicle speed and the simulated vehicle speed can also be determined in the form of a table. For example, in the above Table 1, multiple jump speeds and the actual simulated speed corresponding to each jump speed can be filled into the above Table 1 to obtain the correspondence between the vehicle speed and the simulated vehicle speed.

[0147] The technical solution provided by the embodiment of the present application collects the working condition information of the preset working condition and the running information of the vehicle under the preset working condition, wherein the vehicle speed of the vehicle under the above-mentioned preset working condition meets the preset correction condition, and according to the above-mentioned working condition information and running information, simulates the corresponding jump speeds of the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed, and determines the linear relationship between the vehicle speed of the vehicle under the preset working condition and the simulated vehicle speed according to the multiple jump speeds and the actual simulated speed corresponding to each jump speed. This technical solution simulates the multiple jump speeds of the vehicle and the actual simulated speed corresponding to each jump speed through the working condition information of the preset working condition and the running information of the vehicle under the preset working condition, so as to determine the linear relationship between the vehicle speed of the vehicle under the preset working condition and the simulated vehicle speed according to the jump speed and the actual simulated speed corresponding to each jump speed, thereby realizing accurate determination of the linear relationship between the vehicle speed and the simulated vehicle speed, thereby reducing the false triggering of the fault response of the functional monitoring layer, improving the stability and safety of the vehicle, and enhancing the user experience.

[0148] 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 2 Based on the process shown, it is described how to determine the target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed.

[0149] like Figure 3 As shown, the process may include the following steps:

[0150] Step 301: Determine a correction relationship between the vehicle speed and the simulated vehicle speed based on the corresponding relationship.

[0151] The above linear relationship is Figure 2 The linear relationship between the jump speed determined in the process shown and the actual simulation speed.

[0152] The above-mentioned correction relationship refers to a relationship used to correct the vehicle speed, which can be a functional relationship for correcting the vehicle speed by simulating the vehicle speed, or a vehicle speed correction model for correcting the vehicle speed by simulating the vehicle speed.

[0153] In the present application embodiment, Figure 1 As can be seen from the process description shown, the above vehicle speed is the speed at which the jump occurs, and the above linear relationship is the linear relationship between the jump speed and the actual simulation speed. Based on this, the correction relationship between the vehicle speed and the simulation speed can be determined according to the above linear relationship.

[0154] As an optional implementation method, a vehicle speed correction model for the vehicle under the above-mentioned preset working conditions may be trained based on the linear relationship between the above-mentioned vehicle speed and the simulated vehicle speed.

[0155] As another optional implementation, the vehicle speed correction function of the vehicle under the above-mentioned preset working condition may be determined according to the linear relationship between the above-mentioned vehicle speed and the simulated vehicle speed.

[0156] As an exemplary implementation, the vehicle speed correction function shown in the following formula (VI) may be determined:

[0157]

[0158] Wherein, the above V is the corrected target vehicle speed, the above Spd IPB is the jump speed, that is, the vehicle speed after the jump. m It is the actual simulation speed corresponding to the jump speed.

[0159] Furthermore, in order to save computing resources, a jump threshold can be set for the vehicle speed jump. When the vehicle speed jumps at a speed greater than the jump threshold, the vehicle speed that jumps is corrected. The above jump threshold can be 6km / h or other speed values, and the embodiment of the present application does not impose any restrictions on this.

[0160] Step 302: Process the vehicle speed and the target simulated vehicle speed according to the correction relationship to obtain a target vehicle speed after correcting the vehicle speed.

[0161] The target vehicle speed refers to the vehicle speed after correcting the received vehicle speed.

[0162] In some embodiments of the present application, the correction relationship may be a vehicle speed correction model, because the vehicle speed correction model may correct the jump speed according to the vehicle speed and the corresponding simulation. Based on this, after determining the target simulation speed corresponding to the vehicle speed, the functional monitoring layer may input the vehicle speed and the target simulation speed into the vehicle speed correction model to obtain the target vehicle speed output by the vehicle speed correction model.

[0163] In other embodiments of the present application, the above-mentioned correction relationship may be a vehicle speed correction function. Based on this, after determining the target simulated vehicle speed corresponding to the above-mentioned vehicle speed, the functional monitoring layer may calculate the vehicle speed and the target simulated vehicle speed through the above-mentioned vehicle speed correction function to obtain the target vehicle speed after the vehicle speed is corrected.

[0164] Step 303: Determine a target torque value corresponding to the vehicle according to the target vehicle speed.

[0165] In some embodiments of the present application, after the vehicle speed is corrected to obtain a target vehicle speed, a target torque value corresponding to the vehicle may be determined based on the target vehicle speed.

[0166] As an optional implementation, the vehicle parameters of the vehicle currently running can be obtained, and based on the above vehicle parameters and the target vehicle speed, the target torque value corresponding to the target vehicle speed can be queried from a preset torque table. The above vehicle parameters may include but are not limited to: parameters such as accelerator pedal opening.

[0167] The technical solution provided in the embodiment of the present application determines the correction relationship between the vehicle speed and the simulated vehicle speed based on the corresponding relationship, processes the vehicle speed and the target simulated vehicle speed according to the above correction relationship, obtains the target vehicle speed after the above vehicle speed is corrected, and determines the target torque value corresponding to the vehicle according to the above target vehicle speed. This technical solution can determine the correction relationship between the vehicle speed and the simulated vehicle speed according to the corresponding relationship between the vehicle speed and the simulated vehicle speed after the vehicle speed jumps, thereby correcting the vehicle speed according to the correction relationship to determine the target torque value according to the corrected target vehicle speed. Since the target vehicle speed is a more accurate vehicle speed after the correction, the determined target torque value is also more accurate, thereby achieving accurate determination of the target torque value of the vehicle, thereby reducing the fault response false triggering of the functional monitoring layer, improving the stability and safety of the vehicle, and enhancing the user experience.

[0168] 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 2Based on the process shown, it is described how to determine the target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed.

[0169] like Figure 4 As shown, the process may include the following steps:

[0170] Step 401: Determine an initial torque value according to the vehicle speed.

[0171] The above-mentioned initial torque value refers to a torque value determined according to the currently received vehicle speed. Since the vehicle speed currently meets the correction condition, the initial torque value is also the torque value that needs to be corrected.

[0172] In some embodiments of the present application, after receiving the vehicle speed, the initial torque value that needs to be corrected may be determined based on the vehicle speed.

[0173] As an optional implementation, the vehicle parameters of the vehicle currently running can be obtained, and based on the above vehicle parameters and vehicle speed, the initial torque value corresponding to the vehicle speed can be queried from a preset torque table. The above vehicle parameters may include but are not limited to: parameters such as accelerator pedal opening.

[0174] Step 402: Subtract the target simulated vehicle speed from the vehicle speed to obtain a target speed difference between the target simulated vehicle speed and the vehicle speed.

[0175] Step 403: Determine a target speed change rate corresponding to the target speed difference according to a preset correspondence relationship between the speed change rate and the speed difference.

[0176] Step 404: Determine a target correction torque value corresponding to the vehicle speed based on the target speed change rate.

[0177] Step 405: Correct the initial torque value according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

[0178] The following is a unified description of steps 402 to 405:

[0179] The corresponding relationship between the speed change rate and the speed difference is the relationship between the speed difference between the vehicle speed obtained by the pre-simulation and the simulated vehicle speed and the corresponding speed change rate, and can be a curve relationship or a linear relationship, which is not limited in the embodiment of the present application. Optionally, it can be the corresponding relationship between the speed change rate and the speed difference of the vehicle speed change at intervals of a preset time period, such as the vehicle speed change rate every 10ms.

[0180] In the embodiment of the present application, after determining the correspondence between the vehicle speed and the simulated vehicle speed, the correspondence between the vehicle speed change rate and the speed difference (the difference between the simulated speed and the vehicle speed) can be further determined based on the correspondence.

[0181] Based on this, the functional monitoring layer can subtract the determined target simulated vehicle speed from the vehicle speed to obtain the target speed difference between the target simulated vehicle speed and the vehicle speed, and determine the target speed change rate corresponding to the above target speed difference based on the corresponding relationship between the above vehicle speed change rate and the speed difference.

[0182] Afterwards, a target correction torque value corresponding to the vehicle speed may be determined based on the target speed change rate.

[0183] As an optional implementation, the current accelerator pedal opening value of the vehicle can be obtained, and a preset correction torque value table can be searched according to the accelerator pedal opening value and the target speed change rate to determine a target corresponding relationship including the accelerator pedal opening value and the target speed change rate, and the correction torque value included in the target corresponding relationship can be determined as the target correction torque value. The correction torque value table is a pre-simulated table including the accelerator pedal opening value, the speed change rate, the correction torque value, and the corresponding relationship between the three.

[0184] Finally, the initial torque value may be corrected according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

[0185] As an optional implementation, the target corrected torque value may be added to the initial torque value to obtain the target torque value.

[0186] The technical solution provided by the embodiment of the present application determines the initial torque value according to the vehicle speed, subtracts the target simulated vehicle speed from the vehicle speed to obtain the target speed difference between the target simulated vehicle speed and the vehicle speed, determines the target speed change rate corresponding to the target speed difference according to the correspondence between the preset speed change rate and the speed difference, determines the target correction torque value corresponding to the vehicle speed based on the target speed change rate, and corrects the initial torque value according to the target correction torque value to obtain the target torque value corresponding to the vehicle. This technical solution determines the target speed change rate of the vehicle speed according to the speed difference between the vehicle speed and the target simulated vehicle speed, and determines the target correction torque value for correcting the current torque of the vehicle according to the target speed change rate, thereby correcting the initial torque value corresponding to the vehicle speed according to the target correction torque value to obtain the target torque value. Since the correction torque value is determined based on the target simulated vehicle speed, the initial torque value of the vehicle speed is corrected by the correction torque value, so that the target torque value of the vehicle can be determined more accurately, and the target torque value of the vehicle is accurately determined, thereby reducing the fault response false triggering of the functional monitoring layer, improving the stability and safety of the vehicle, and enhancing the user experience.

[0187] See also Figure 5 , 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 5 The device shown can be applied to a functional monitoring layer in a functional safety architecture of a vehicle, wherein the functional safety architecture includes a functional layer and a functional monitoring layer, wherein the functional monitoring layer is used to monitor whether a torque request sent by the functional layer has a fault. Figure 5 As shown, the device may include:

[0188] A first determination module 51 is used to determine a target simulated vehicle speed corresponding to the vehicle speed by using a correspondence between a preset vehicle speed and a simulated vehicle speed when it is determined that the received vehicle speed satisfies a preset correction condition;

[0189] A second determination module 52, configured to determine a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed;

[0190] The monitoring module 53 is used to monitor the torque request sent by the functional layer based on the target torque value.

[0191] As a possible implementation manner, the first determining module 51 includes:

[0192] A receiving submodule, configured to receive the vehicle speed sent by a preset controller of the vehicle; wherein the preset controller collects the rear wheel speed of the vehicle and sends the rear wheel speed as the vehicle speed;

[0193] A first determination submodule, configured to determine a speed difference between a previous vehicle speed received last time and the vehicle speed;

[0194] The second determination submodule is used to determine whether the received vehicle speed meets a preset correction condition when the speed difference is greater than a preset speed threshold.

[0195] As a possible implementation, the device further includes (not shown in the figure):

[0196] A collection module, used for collecting working condition information of a preset working condition and operation information of the vehicle under the preset working condition, wherein the vehicle speed of the vehicle under the preset working condition satisfies a preset correction condition;

[0197] A simulation module, used for simulating the jump speeds corresponding to the vehicle under different sub-operating conditions of the preset operating condition and the actual simulation speed corresponding to each jump speed according to the operating condition information and the operation information;

[0198] The relationship determination module is used to determine the linear relationship between the vehicle speed and the simulated vehicle speed of the vehicle under the preset working condition according to the multiple jump speeds and the actual simulated speed corresponding to each jump speed.

[0199] As a possible implementation manner, the preset working condition is slope operation, and the working condition information includes a plurality of different slopes;

[0200] The simulation module comprises:

[0201] An acquisition submodule, for acquiring, for each of the slopes, a jump speed of the vehicle when running on the slope, and a running time corresponding to the jump speed;

[0202] A third determination submodule, configured to determine an acceleration of the vehicle running at the slope based on the slope and the running information;

[0203] The fourth determination submodule is used to determine the actual simulation speed corresponding to the jump speed according to the initial speed of the vehicle running on the slope, the acceleration, and the running time.

[0204] As a possible implementation, the second determining module 52 includes:

[0205] a fifth determining submodule, configured to determine a correction relationship between the vehicle speed and the simulated vehicle speed based on the corresponding relationship;

[0206] A processing submodule, used for processing the vehicle speed and the target simulated vehicle speed according to the correction relationship to obtain a target vehicle speed after correcting the vehicle speed;

[0207] The sixth determination submodule is used to determine a target torque value corresponding to the vehicle according to the target vehicle speed.

[0208] As a possible implementation manner, the sixth determining submodule is specifically configured to:

[0209] Obtaining vehicle parameters of the vehicle currently running;

[0210] According to the vehicle parameters and the target vehicle speed, a target torque value corresponding to the target vehicle speed is queried from a preset torque table.

[0211] As a possible implementation manner, the second determining module 52 is specifically configured to:

[0212] determining an initial torque value according to the vehicle speed;

[0213] Subtracting the target simulated vehicle speed from the vehicle speed to obtain a target speed difference between the target simulated vehicle speed and the vehicle speed;

[0214] Determining a target speed change rate corresponding to the target speed difference according to a preset correspondence relationship between the speed change rate and the speed difference;

[0215] determining a target correction torque value corresponding to the vehicle speed based on the target speed change rate;

[0216] The initial torque value is corrected according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

[0217] like Figure 6 As shown, it is a schematic diagram of the structure of a vehicle provided by an embodiment of the present application, including a processor 61, a communication interface 62, a memory 63 and a communication bus 64, wherein the processor 61, the communication interface 62, and the memory 63 communicate with each other through the communication bus 64.

[0218] Memory 63, used for storing computer programs;

[0219] In one embodiment of the present application, the processor 61 is used to execute the program stored in the memory 63 to implement the torque monitoring method of the vehicle provided by any of the above method embodiments. The method can be applied to the function monitoring layer in the functional safety architecture of the vehicle. The functional safety architecture includes a function layer and a function monitoring layer. The function monitoring layer is used to monitor whether the torque request sent by the function layer has a fault, including:

[0220] When it is determined that the received vehicle speed satisfies the preset correction condition, determining a target simulated vehicle speed corresponding to the vehicle speed through a correspondence between the preset vehicle speed and the simulated vehicle speed;

[0221] Determining a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed;

[0222] Based on the target torque value, the torque request sent by the functional layer is monitored.

[0223] 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.

[0224] 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.

[0225] 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.

[0226] 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.

[0227] 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 it is determined that the received vehicle speed satisfies the preset correction condition, determining a target simulated vehicle speed corresponding to the vehicle speed through a correspondence between the preset vehicle speed and the simulated vehicle speed; Determining a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed; Based on the target torque value, the torque request sent by the functional layer is monitored.

2. The method according to claim 1, characterized in that The step of determining whether the received vehicle speed satisfies a preset correction condition includes: Receiving the vehicle speed sent by a preset controller of the vehicle; wherein the preset controller collects the rear wheel speed of the vehicle and sends the rear wheel speed as the vehicle speed; determining a speed difference between a last received vehicle speed and the vehicle speed; In a case where the speed difference is greater than a preset speed threshold, it is determined that the received vehicle speed satisfies a preset correction condition.

3. The method according to claim 1, characterized in that The corresponding relationship is determined by: Collecting working condition information of a preset working condition and operation information of the vehicle under the preset working condition, wherein the vehicle speed of the vehicle under the preset working condition satisfies a preset correction condition; According to the working condition information and the operation information, simulate the jump speeds corresponding to the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed; According to the plurality of jump speeds and the actual simulated speed corresponding to each of the jump speeds, a linear relationship between the vehicle speed of the vehicle under the preset working condition and the simulated vehicle speed is determined.

4. The method according to claim 3, characterized in that The preset working condition is slope operation, and the working condition information includes a plurality of different slopes; The simulating, according to the working condition information and the operation information, the corresponding jump speeds of the vehicle under different sub-working conditions of the preset working condition, and the actual simulated speed corresponding to each jump speed, comprises: For each of the slopes, obtaining a jump speed of the vehicle when running on the slope, and a running time corresponding to the jump speed; determining an acceleration of the vehicle running on the slope based on the slope and the running information; An actual simulation speed corresponding to the jump speed is determined according to an initial speed of the vehicle running on the slope, the acceleration, and the running time.

5. The method according to claim 1, characterized in that The determining, according to the vehicle speed and the target simulated vehicle speed, a target torque value corresponding to the vehicle comprises: Based on the corresponding relationship, determining a correction relationship between the vehicle speed and the simulated vehicle speed; According to the correction relationship, the vehicle speed and the target simulated vehicle speed are processed to obtain a target vehicle speed after the vehicle speed is corrected; A target torque value corresponding to the vehicle is determined according to the target vehicle speed.

6. The method according to claim 5, characterized in that Determining a target torque value corresponding to the vehicle according to the target vehicle speed includes: Obtaining vehicle parameters of the vehicle currently running; According to the vehicle parameters and the target vehicle speed, a target torque value corresponding to the target vehicle speed is queried from a preset torque table.

7. The method according to claim 1, characterized in that The determining, according to the vehicle speed and the target simulated vehicle speed, a target torque value corresponding to the vehicle comprises: determining an initial torque value according to the vehicle speed; Subtracting the target simulated vehicle speed from the vehicle speed to obtain a target speed difference between the target simulated vehicle speed and the vehicle speed; Determining a target speed change rate corresponding to the target speed difference according to a preset correspondence relationship between the speed change rate and the speed difference; determining a target correction torque value corresponding to the vehicle speed based on the target speed change rate; The initial torque value is corrected according to the target corrected torque value to obtain a target torque value corresponding to the vehicle.

8. A torque monitoring device for a vehicle, characterized in that: A function monitoring layer in a functional safety architecture of a vehicle, the functional safety architecture comprising a function layer and a function monitoring layer, the function monitoring layer being used to monitor whether a torque request sent by the function layer has a fault, the device comprising: A first determination module is used to determine a target simulated vehicle speed corresponding to the vehicle speed by a correspondence relationship between a preset vehicle speed and a simulated vehicle speed when it is determined that the received vehicle speed satisfies a preset correction condition; A second determination module, configured to determine a target torque value corresponding to the vehicle according to the vehicle speed and the target simulated vehicle speed; A monitoring module is used to monitor the torque request sent by the functional layer based on the target torque value.

9. A vehicle, characterized in that: The vehicle comprises 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 7.

10. A storage medium, characterized in that: The storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the vehicle torque monitoring method according to any one of claims 1 to 7.

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