Torque monitoring method, system and device, controller, storage medium and product

Abstract

The invention discloses a torque monitoring method, system and device, a controller, a storage medium and a product. The torque monitoring method comprises the steps that energy conversion data of a vehicle and motion data of the vehicle are acquired; determining a first actual output torque of the motor according to the energy conversion data of the vehicle; determining a second actual output torque of the motor according to the motion data of the vehicle; performing rationality verification on the first actual output torque and the second actual output torque to obtain a rationality verification result; comparing at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result under the condition that the rationality verification result is that verification is passed; and executing a corresponding control strategy according to the torque comparison result. According to the embodiment of the invention, the accuracy and safety of torque monitoring are improved under the condition that the hardware cost is saved.

Description

Technical Field

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

[0002] Energy conservation and emission reduction are key to the sustainable development of the automotive industry. Due to their energy-saving and environmentally friendly advantages, electric vehicles have become an important component of the industry's sustainable development. For electric vehicles, monitoring the motor's output torque is a crucial factor in ensuring safe vehicle operation. Summary of the Invention

[0003] The present application provides a torque monitoring method, system, device, controller, storage medium and product, which can monitor the output torque of a motor without increasing the hardware cost.

[0004] In a first aspect, the present application provides a torque monitoring method, which includes: obtaining energy conversion data and motion data of a vehicle; determining a first actual output torque of a motor based on the energy conversion data of the vehicle; determining a second actual output torque of the motor based on the motion data of the vehicle; performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; when the rationality check result is a passed check, comparing at least one of the first actual output torque and the second actual output torque with a target output torque of the expected motor output to obtain a torque comparison result; and executing a corresponding control strategy based on the torque comparison result.

[0005] In the technical solution of the embodiment of the present application, on the one hand, by calculating the first actual output torque of the motor and the second actual output torque of the motor, and performing rationality verification on the first actual output torque of the motor and the second actual output torque of the motor, the first actual output torque of the motor and the second actual output torque of the motor can be verified with each other, thereby improving the accuracy of the calculated actual output torque of the motor, thereby helping to improve the vehicle safety integrity level that can be achieved by torque monitoring, making torque monitoring safe and effective; on the other hand, by calculating the first actual output torque of the motor through the vehicle's energy conversion data, and calculating the second actual output torque of the motor through the vehicle's motion data, it is no longer necessary to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs.

[0006] In some embodiments, the vehicle's energy conversion data includes an energy conversion efficiency of the motor, a first transmission efficiency between the motor and a gearbox, a second transmission efficiency between the gearbox and a wheel, a gear ratio of the gearbox, and an angular velocity of the wheel. Determining a first actual output torque of the motor based on the vehicle's energy conversion data includes: obtaining an input power of the motor; calculating an output power of the motor based on the input power of the motor, the energy conversion efficiency of the motor, the first transmission efficiency, and the second transmission efficiency; and obtaining the first actual output torque based on the output power of the motor, the gear ratio of the gearbox, and the angular velocity of the wheel.

[0007] In some embodiments, the energy conversion data of the vehicle also includes the voltage of the DC bus, the current of the DC bus, the power consumption of the electrical components in the vehicle and the power loss of the DC bus; obtaining the input power of the motor includes: calculating the input power of the DC bus based on the voltage of the DC bus and the current of the DC bus; obtaining the input power of the motor based on the input power of the DC bus, the power consumption of the electrical components and the power loss of the DC bus.

[0008] In some embodiments, the motion data of the vehicle includes the radius of the wheel, the first transmission efficiency between the motor and the gearbox, the second transmission efficiency between the gearbox and the wheel, and the transmission ratio of the gearbox; determining the second actual output torque of the motor based on the motion data of the vehicle includes: obtaining the driving force of the vehicle and the resistance encountered by the vehicle; calculating the torque required by the wheel based on the driving force of the vehicle, the resistance encountered by the vehicle and the radius of the wheel; determining the second actual output torque of the motor based on the torque required by the wheel, the transmission ratio of the gearbox, the first transmission efficiency and the second transmission efficiency.

[0009] In some embodiments, the resistance encountered by the vehicle includes at least one of air resistance encountered by the vehicle, rolling resistance of the wheels, slope resistance encountered by the vehicle, and acceleration resistance encountered by the vehicle.

[0010] When the resistance encountered by the vehicle includes the air resistance encountered by the vehicle, the vehicle's motion data also includes the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed. The air resistance encountered by the vehicle is determined based on the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed.

[0011] When the resistance encountered by the vehicle includes the rolling resistance of the wheels, the vehicle's motion data also includes the vehicle's total mass, gravitational acceleration and the rolling resistance coefficient of the wheels. The rolling resistance of the wheels is determined based on the vehicle's total mass, gravitational acceleration and the rolling resistance coefficient of the wheels.

[0012] When the resistance encountered by the vehicle includes the slope resistance encountered by the vehicle, the vehicle's motion data also includes the vehicle's total mass, the acceleration of gravity, and the angle between the slope surface on which the vehicle is located and the horizontal plane. The slope resistance encountered by the vehicle is determined based on the vehicle's total mass, the acceleration of gravity, and the angle between the slope surface on which the vehicle is located and the horizontal plane.

[0013] When the resistance encountered by the vehicle includes the acceleration resistance of the vehicle, the vehicle's motion data also includes the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient. The acceleration resistance of the vehicle is determined based on the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient.

[0014] In some embodiments, the first actual output torque includes multiple first sub-actual output torques of the motor in the target time period, and the second actual output torque includes multiple second sub-actual output torques of the motor in the target time period; the first actual output torque and the second actual output torque are checked for rationality to obtain a rationality check result, including: comparing the first torque range distributed by the multiple first sub-actual output torques with the second torque range distributed by the multiple second sub-actual output torques to obtain a first comparison result; comparing the first change rate between the first sub-actual output torques corresponding to two different moments in the target time period with the second change rate between the second sub-actual output torques corresponding to the two different moments to obtain a second comparison result; and obtaining a rationality check result based on the first comparison result and the second comparison result.

[0015] In some embodiments, a rationality check result is obtained based on the first comparison result and the second comparison result, including: when the first comparison result is that the deviation between the first torque range and the second torque range is less than or equal to the first preset threshold, and the second comparison result is that the deviation between the first change rate and the second change rate is less than or equal to the second preset threshold, determining that the rationality check result is a passed check; when the first comparison result is that the deviation between the first torque range and the second torque range is greater than the first preset threshold, and / or the second comparison result is that the deviation between the first change rate and the second change rate is greater than the second preset threshold, determining that the rationality check result is a failed check.

[0016] In some embodiments, according to the torque comparison result, a corresponding control strategy is executed, including: when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, a first interrupt signal is sent to the motor controller, and the first interrupt signal is used to instruct the motor controller to execute a first degradation strategy, and the first degradation strategy includes reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

[0017] In some embodiments, after sending a first interrupt signal to the motor controller, executing a corresponding control strategy based on the torque comparison result, it also includes: when the first degradation strategy fails to execute, sending a second interrupt signal to the high-voltage power supply system, and the second interrupt signal is used to instruct the high-voltage power supply system to stop supplying power to the motor.

[0018] In some embodiments, before sending a first interrupt signal to the motor controller, executing a corresponding control strategy based on the torque comparison result, also includes: sending a first demotion instruction to the motor controller, the first demotion instruction is used to instruct the motor controller to execute a second demotion strategy, the second demotion strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0019] In some embodiments, after performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result, the torque monitoring method also includes: when the rationality check result is that the check fails, outputting an alarm message and sending a second downgrade instruction to the motor controller, the second downgrade instruction is used to instruct the motor controller to execute a third downgrade strategy, the third downgrade strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0020] In the second aspect, the present application provides a torque monitoring system, which includes a vehicle controller and a motor controller, the vehicle controller is electrically connected to the motor controller, and the motor controller is electrically connected to the motor; the vehicle controller is used to: obtain the vehicle's energy conversion data and the vehicle's motion data; determine the first actual output torque of the motor based on the vehicle's energy conversion data; determine the second actual output torque of the motor based on the vehicle's motion data; perform a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; when the rationality check result is that the check passes, compare at least one of the first actual output torque and the second actual output torque with the target output torque of the expected motor output to obtain a torque comparison result; and execute a corresponding control strategy based on the torque comparison result.

[0021] In some embodiments, the vehicle controller is specifically used to send a first interrupt signal to the motor controller when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold; the motor controller is used to respond to the first interrupt signal and execute a first degradation strategy, the first degradation strategy including reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

[0022] In some embodiments, the vehicle controller is electrically connected to the high-voltage power supply system in the vehicle, and the high-voltage power supply system is electrically connected to the motor; the vehicle controller is also used to send a second interrupt signal to the high-voltage power supply system when the first degradation strategy fails to execute, and the second interrupt signal is used to instruct the high-voltage power supply system to stop supplying power to the motor.

[0023] In some embodiments, the vehicle controller is also used to send a first degradation instruction to the motor controller before sending a first interrupt signal to the motor controller; the motor controller is used to execute a second degradation strategy in response to the first degradation instruction, and the second degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0024] In some embodiments, the vehicle controller is specifically used to output an alarm message and send a second degradation instruction to the motor controller when the rationality check result is failure; the motor controller is used to respond to the second degradation instruction and execute a third degradation strategy, and the third degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0025] In a third aspect, the present application provides a torque monitoring device, which includes: an acquisition module for acquiring energy conversion data and motion data of a vehicle; a first determination module for determining a first actual output torque of the motor based on the energy conversion data of the vehicle; a second determination module for determining a second actual output torque of the motor based on the motion data of the vehicle; a verification module for performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; a first comparison module for comparing at least one of the first actual output torque and the second actual output torque with a target output torque of the expected motor output to obtain a torque comparison result when the rationality check result is a passed check; and an execution module for executing a corresponding control strategy based on the torque comparison result.

[0026] In a fourth aspect, the present application provides a controller comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein when the computer program is executed by the processor, the steps of the torque monitoring method provided in the first aspect are implemented.

[0027] In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque monitoring method provided in the first aspect are implemented.

[0028] In a sixth aspect, the present application provides a computer program product. When the instructions in the computer program product are executed by the processor of the controller, the controller executes the steps of the torque monitoring method provided in the first aspect.

[0029] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] Figure 1 A schematic flow chart of a torque monitoring method provided in some embodiments of the present application;

[0032] Figure 2 A schematic diagram of the flow of S102 in the torque monitoring method provided in some embodiments of the present application;

[0033] Figure 3 A schematic flow chart of S201 in the torque monitoring method provided in some embodiments of the present application;

[0034] Figure 4 A schematic flow chart of S103 in the torque monitoring method provided in some embodiments of the present application;

[0035] Figure 5 It is a force analysis diagram of the vehicle during driving;

[0036] Figure 6 A schematic flow chart of S104 in the torque monitoring method provided in some embodiments of the present application;

[0037] Figure 7 A schematic structural diagram of a torque monitoring system provided in some embodiments of the present application;

[0038] Figure 8 A schematic flow chart of a torque monitoring method provided in some other embodiments of the present application;

[0039] Figure 9 A schematic flow chart of a torque monitoring method provided in some embodiments of the present application;

[0040] Figure 10 A schematic structural diagram of a torque monitoring device provided in some embodiments of the present application;

[0041] Figure 11 A schematic diagram of the hardware structure of the controller provided in some embodiments of the present application is shown. DETAILED DESCRIPTION

[0042] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present application by illustrating the examples of the present application.

[0043] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0044] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0045] In the embodiments of the present application, the term “electrically connected” may refer to a direct electrical connection between two components, or may refer to an electrical connection between two components via one or more other components.

[0046] It will be apparent to those skilled in the art that various modifications and variations can be made in this application without departing from the spirit or scope of this application. Therefore, this application is intended to cover modifications and variations of this application that fall within the scope of the corresponding claims (technical solutions claimed for protection) and their equivalents. It should be noted that the embodiments provided in the examples of this application can be combined with each other without contradiction.

[0047] Before describing the technical solutions provided by the embodiments of the present application, in order to facilitate understanding of the embodiments of the present application, the present application first specifically describes the problems existing in the related art:

[0048] Energy conservation and emission reduction are key to the sustainable development of the automotive industry. Due to their energy-saving and environmentally friendly advantages, electric vehicles have become an important component of the industry's sustainable development. For electric vehicles, monitoring the motor's output torque is a crucial factor in ensuring safe vehicle operation.

[0049] In some solutions of the related art, when determining the actual output torque of the motor, motor-related information is collected through additional sensors, and then the actual output torque of the motor is calculated based on the motor-related information. For example, the phase current of the motor is collected through an additional current Hall sensor, and the angle value of the motor is collected through an additional resolver sensor, and then the actual output torque of the motor is calculated based on motor-related information such as the phase current of the motor and the angle value of the motor. Since additional hardware such as current Hall sensors and resolver sensors need to be provided, there is a problem of high hardware cost. In addition, the solutions of the related art also have the problem that it is difficult to meet the higher Automotive Safety Integration Level (ASIL) for monitoring the output torque of the motor.

[0050] In view of the above research findings of the inventors, the embodiments of the present application provide a torque monitoring method, system, device, controller, storage medium and product, which can solve at least one of the above technical problems existing in the related art.

[0051] The present application calculates the first actual output torque of the motor using the vehicle's energy conversion data and calculates the second actual output torque of the motor using the vehicle's motion data. This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs. Furthermore, by calculating the first actual output torque of the motor and the second actual output torque of the motor and performing a rationality check on the first actual output torque of the motor and the second actual output torque of the motor, the first actual output torque of the motor and the second actual output torque of the motor can be mutually verified, thereby improving the accuracy of the calculated actual output torque of the motor, thereby facilitating an improvement in the vehicle safety integrity level that can be achieved through torque monitoring, and thus making torque monitoring safe and effective.

[0052] The following first introduces the torque monitoring method provided in the embodiment of the present application.

[0053] Figure 1 Schematic diagram of the process of torque monitoring method provided in some embodiments of the present application. Figure 1 As shown, the torque monitoring method provided in the embodiment of the present application may include the following steps S101 to S106.

[0054] S101: Acquire vehicle energy conversion data and vehicle motion data.

[0055] Vehicle energy conversion data may include data related to energy conversion between the vehicle's power supply and power consumption equipment. Power supply equipment may include power batteries, and power consumption equipment may include motors and other high-voltage power consumption equipment. For example, other high-voltage power consumption equipment includes, but is not limited to, air conditioners. Vehicle motion data may include basic vehicle data and data reflecting the vehicle's current motion state. For example, basic vehicle data may include the vehicle's gross mass and wheel radius, while data reflecting the vehicle's current motion state may include, for example, the vehicle's acceleration.

[0056] S102 : Determine a first actual output torque of the motor according to energy conversion data of the vehicle.

[0057] In S102, for example, the output power of the motor can be determined based on the vehicle's energy conversion data, and the actual output torque of the motor can be determined based on the corresponding relationship between the motor's output power and the motor's output torque. For ease of distinction, the actual output torque of the motor determined based on the vehicle's energy conversion data is referred to as the first actual output torque of the motor.

[0058] S103: Determine a second actual output torque of the motor according to the motion data of the vehicle.

[0059] In S103, for example, a force analysis can be performed on the vehicle to determine the wheel torque required based on the vehicle's motion data. The actual output torque of the motor can then be calculated based on the wheel torque required. For ease of distinction, the actual output torque of the motor determined based on the vehicle's motion data is referred to as the second actual output torque of the motor.

[0060] It should be noted that S102 and S103 can be executed simultaneously, or S102 can be executed before S103, or S102 can be executed after S103. This application does not limit this.

[0061] S104: Perform a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result.

[0062] In S104, a rationality check is performed on the first actual output torque and the second actual output torque, that is, the accuracy of the first actual output torque and the second actual output torque is checked. For example, in some examples, the first actual output torque and the second actual output torque can be compared. If the deviation between the first actual output torque and the second actual output torque is greater than a preset threshold, the rationality check result is a failure. If the deviation between the first actual output torque and the second actual output torque is less than or equal to the preset threshold, the rationality check result is a passing. The size of the preset threshold can be flexibly adjusted according to actual circumstances and is not limited in this application.

[0063] S105 : When the rationality check result is passed, at least one of the first actual output torque and the second actual output torque is compared with the target output torque expected to be output by the motor to obtain a torque comparison result.

[0064] After performing a rationality check on the first actual output torque and the second actual output torque, if the rationality check result is passed, at least one of the first actual output torque and the second actual output torque can be compared with the target output torque of the expected motor output, for example, the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque of the expected motor output can be compared to obtain a torque comparison result.

[0065] S106: Execute a corresponding control strategy according to the torque comparison result.

[0066] Different control strategies can be implemented for different torque comparison results. For example, if the torque comparison result shows a small deviation between at least one of the first actual output torque and the second actual output torque and the target output torque expected from the motor, the motor output torque can be maintained. If the torque comparison result shows a large deviation between at least one of the first actual output torque and the second actual output torque and the target output torque expected from the motor, the motor output torque can be reduced, the motor speed can be lowered, or the motor can be shut down to ensure vehicle safety.

[0067] The torque monitoring method provided in the embodiments of the present application calculates the first actual output torque of the motor using the vehicle's energy conversion data and calculates the second actual output torque of the motor using the vehicle's motion data. This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs. Furthermore, by calculating the first actual output torque of the motor and the second actual output torque of the motor and performing a rationality check on the first actual output torque of the motor and the second actual output torque of the motor, the first actual output torque of the motor and the second actual output torque of the motor can be mutually verified, thereby improving the accuracy of the calculated actual output torque of the motor, thereby facilitating an improvement in the vehicle safety integrity level that can be achieved by torque monitoring, such as reaching ASIL C or above, making torque monitoring safe and effective.

[0068] The following describes the process of determining the first actual output torque of the motor in S102 and the process of determining the second actual output torque of the motor in S103 by way of example.

[0069] According to some embodiments of the present application, optionally, the energy conversion data of the vehicle may include the energy conversion efficiency of the motor, the first transmission efficiency between the motor and the gearbox, the second transmission efficiency between the gearbox and the wheels, the transmission ratio of the gearbox and the angular velocity of the wheels.

[0070] In some embodiments, the motor can be connected to the wheel via a gearbox. The motor's energy conversion efficiency, the first transmission efficiency between the motor and the gearbox, the second transmission efficiency between the gearbox and the wheel, and the gear ratio of the gearbox can be pre-stored in memory and retrieved from the memory when in use. The wheel's angular velocity can be collected in real time or at regular intervals. For example, in some examples, the wheel's angular velocity can be retrieved from the vehicle's brake control system.

[0071] Figure 2 This is a flow chart of S102 in the torque monitoring method provided in some embodiments of the present application. Figure 2 As shown, according to some embodiments of the present application, optionally, S102, determining the first actual output torque of the motor according to the energy conversion data of the vehicle, may include the following steps S201 to S203.

[0072] S201: Obtain the input power of the motor.

[0073] S202 : Calculate the output power of the motor according to the input power of the motor, the energy conversion efficiency of the motor, the first transmission efficiency, and the second transmission efficiency.

[0074] For example, in some examples, the input power of the motor, the energy conversion efficiency of the motor, and the product of the first transmission efficiency and the second transmission efficiency can be calculated to obtain the output power of the motor.

[0075] For example, in some specific examples, the output power of the motor can be calculated according to the following expression.

[0076] P_motor output = P_motor input × η_motor × η1 × η2 (1)

[0077] Among them, P_motor output represents the output power of the motor, P_motor input represents the input power of the motor, η_motor represents the energy conversion efficiency of the motor, η1 represents the first transmission efficiency between the motor and the gearbox, and η2 represents the second transmission efficiency between the gearbox and the wheels.

[0078] S203 : Obtain a first actual output torque according to the output power of the motor, the transmission ratio of the gearbox, and the angular velocity of the wheel.

[0079] For example, in some specific examples, the first actual output torque of the motor can be calculated according to the following expression.

[0080] T1_motor output = (P_motor output / n_wheel) / Rat_transmission (2)

[0081] Wherein, T1_motor_output represents the first actual output torque of the motor, Rat_transmission represents the transmission ratio of the gearbox, P_motor_output represents the output power of the motor, and n_wheel represents the angular velocity of the wheel.

[0082] In this way, the motor's output power is determined based on the vehicle's energy conversion data. The motor's actual output torque is then determined based on the corresponding relationship between the motor's output power and its output torque, as shown in Expression (2). This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs.

[0083] According to some embodiments of the present application, optionally, the energy conversion data of the vehicle may also include the voltage of the DC bus, the current of the DC bus, the power consumption of the electrical components in the vehicle, and the power loss of the DC bus. The DC bus may be a high-voltage DC bus connected to a power battery. Therefore, in some examples, the voltage of the DC bus may be regarded as the output voltage of the power battery, and the current of the DC bus may be regarded as the output current of the power battery. In some examples, the power consumption of the electrical components in the vehicle may be the power consumption of other high-voltage electrical components in the vehicle other than the motor. For example, other high-voltage electrical components other than the motor may include air conditioners and heating equipment, etc. The power loss of the DC bus is the line loss of the DC bus.

[0084] In some examples, the voltage of the DC bus can be obtained by a voltage sensor, and the current of the DC bus can be obtained by a current sensor. For example, the voltage of the DC bus can be obtained by a voltage sensor of a high-voltage power supply system in a vehicle, and the current of the DC bus can be obtained by a current sensor of the high-voltage power supply system.

[0085] In some examples, the power consumption of electrical components in a vehicle, such as the power consumption of other high-voltage electrical components in the vehicle other than the motor, can be determined based on historical data, that is, the power consumption of electrical components in the vehicle can be an estimated value, which is not limited in this application.

[0086] In some examples, the power loss of the DC bus can be calculated based on the current of the DC bus and the resistance of the DC bus.

[0087] Figure 3 This is a flow chart of S201 in the torque monitoring method provided in some embodiments of the present application. Figure 3As shown, according to some embodiments of the present application, optionally, S201, obtaining the input power of the motor, may include the following steps S301 and S302.

[0088] S301 : Calculate the input power of the DC bus according to the voltage and current of the DC bus.

[0089] For example, in some examples, the product of the voltage of the DC bus and the current of the DC bus may be calculated to obtain the input power of the DC bus.

[0090] For example, in some specific examples, the input power of the DC bus can be calculated according to the following expression.

[0091] P_bus input = Udc × Idc (3)

[0092] Where P_busInput represents the input power of the DC bus, Udc represents the voltage of the DC bus, and Idc represents the current of the DC bus.

[0093] S302 : Obtain the input power of the motor according to the input power of the DC bus, the power consumption of the electrical components, and the power loss of the DC bus.

[0094] For example, in some specific examples, the input power of the motor can be calculated according to the following expression.

[0095] P_motor input = P_bus input - P_power load - P_line loss (4)

[0096] P_Line Loss = (Idc) 2 ×R_c (5)

[0097] Where P_motor_input represents the input power of the motor, P_power_load represents the power consumption of the power-consuming components, P_line_loss represents the power loss of the DC bus, and R_c represents the resistance of the DC bus.

[0098] According to some embodiments of the present application, optionally, the motion data of the vehicle may include the radius of the wheel, the first transmission efficiency between the motor and the gearbox, the second transmission efficiency between the gearbox and the wheel, and the transmission ratio of the gearbox.

[0099] Figure 4 This is a flow chart of S103 in the torque monitoring method provided in some embodiments of the present application. Figure 4 As shown, according to some embodiments of the present application, optionally, S103, determining the second actual output torque of the motor according to the motion data of the vehicle, may include the following steps S401 to S403.

[0100] S401: Obtain the driving force of the vehicle and the resistance experienced by the vehicle.

[0101] Figure 5 It is a force analysis diagram of a vehicle during driving. Figure 5 As shown in the figure, a vehicle can move forward under the influence of the resulting driving force, although it may also experience resistance. The resulting driving force is represented by F1, and the resistance is represented by F2. The resulting driving force F1 can be calculated using Newton's second law: F1 = m × a, where m represents the vehicle's total mass and a represents its acceleration.

[0102] S402: Calculate the torque required by the wheel according to the driving force of the vehicle, the resistance of the vehicle, and the radius of the wheel.

[0103] For example, in some examples, the sum of the vehicle's driving force and the resistance experienced by the vehicle may be calculated, and then the product of the sum and the radius of the wheel may be calculated to obtain the torque required by the wheel.

[0104] For example, in some specific examples, the torque required by the wheels can be calculated according to the following expression.

[0105] T_wheel = (F1 + F2) × R_tire (6)

[0106] Where T_wheel represents the torque required by the wheel, F1 represents the driving force of the vehicle, F2 represents the resistance experienced by the vehicle, and R_tire represents the radius of the wheel.

[0107] S403 : Determine a second actual output torque of the motor according to the torque required by the wheels, the transmission ratio of the gearbox, the first transmission efficiency, and the second transmission efficiency.

[0108] For example, in some specific examples, the second actual output torque of the motor can be calculated according to the following expression.

[0109] T2_motor output = T_wheel / Rat_drive / η1 / η2 (7)

[0110] Among them, T2_motor output represents the second actual output torque of the motor, T_wheel represents the torque required by the wheel, Rat_transmission represents the transmission ratio of the gearbox, η1 represents the first transmission efficiency between the motor and the gearbox, and η2 represents the second transmission efficiency between the gearbox and the wheel.

[0111] In this way, the torque required by the wheel is calculated based on the vehicle's combined driving force, the resistance it encounters, and the wheel radius. The motor's second actual output torque is then inferred based on the required wheel torque. This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, saving hardware costs.

[0112] According to some embodiments of the present application, optionally, the resistance encountered by the vehicle may include at least one of the air resistance encountered by the vehicle, the rolling resistance of the wheels, the slope resistance encountered by the vehicle, and the acceleration resistance of the vehicle.

[0113] When the resistance encountered by the vehicle includes the air resistance encountered by the vehicle, the vehicle's motion data may also include the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed. The air resistance encountered by the vehicle is determined based on the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed.

[0114] The air resistance coefficient, air density and the frontal area of ​​the vehicle can be determined in advance. After the size of the vehicle is determined, the frontal area of ​​the vehicle can also be determined. The speed of the vehicle can be obtained in real time or at intervals.

[0115] For example, in some specific examples, the air resistance of the vehicle can be calculated according to the following expression.

[0116]

[0117] Among them, F_air resistance represents the air resistance of the vehicle, Cd represents the air resistance coefficient, ρ represents the air density, A represents the frontal area of ​​the vehicle, and V represents the speed of the vehicle.

[0118] If the resistance experienced by the vehicle includes rolling resistance of the wheels, the vehicle's motion data may also include the vehicle's total mass, gravitational acceleration, and the wheel's rolling resistance coefficient. The wheel's rolling resistance is determined based on the vehicle's total mass, gravitational acceleration, and the wheel's rolling resistance coefficient. The vehicle's total mass, gravitational acceleration, and the wheel's rolling resistance coefficient can be predetermined. The wheel's rolling resistance is the resistance generated by friction between the wheel and the road surface.

[0119] For example, in some specific examples, the rolling resistance of the wheel can be calculated according to the following expression.

[0120] F_rolling resistance = m × g × f (9)

[0121] Among them, F_rolling resistance represents the rolling resistance of the wheel, m represents the total mass of the vehicle, g represents the acceleration due to gravity, and f represents the rolling resistance coefficient of the wheel.

[0122] In the case where the resistance experienced by the vehicle includes the slope resistance experienced by the vehicle, the vehicle's motion data may also include the vehicle's total mass, gravitational acceleration, and the angle between the slope on which the vehicle is located and the horizontal plane. The slope resistance experienced by the vehicle is determined based on the vehicle's total mass, gravitational acceleration, and the angle between the slope on which the vehicle is located and the horizontal plane. Figure 5As shown, θ represents the angle between the slope p1 on which the vehicle is located and the horizontal plane p2.

[0123] For example, in some specific examples, the slope resistance experienced by the vehicle can be calculated according to the following expression.

[0124] F_slope resistance = m × g × sin(θ) (10)

[0125] Where F_slope_resistance represents the rolling resistance of the wheels, m represents the total mass of the vehicle, g represents the acceleration due to gravity, and θ represents the angle between the slope on which the vehicle is located and the horizontal plane.

[0126] When the resistance encountered by the vehicle includes the acceleration resistance of the vehicle, the vehicle's motion data may also include the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient. The acceleration resistance of the vehicle is determined based on the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient.

[0127] For example, in some specific examples, the acceleration resistance of the vehicle can be calculated according to the following expression.

[0128] F_acceleration resistance = δ × m × a (11)

[0129] Where F_acceleration resistance represents the rolling resistance of the wheel, δ represents the rotational mass conversion factor, m represents the total mass of the vehicle, and a represents the acceleration of the vehicle.

[0130] The rationality check of S104 is described below.

[0131] As previously described, as an implementation of S104, the first actual output torque and the second actual output torque may be compared. If the deviation between the first actual output torque and the second actual output torque is greater than a preset threshold, the rationality check result is a check failure. If the deviation between the first actual output torque and the second actual output torque is less than or equal to the preset threshold, the rationality check result is a check pass.

[0132] According to some embodiments of the present application, a first actual output torque of the motor at the target time can optionally be compared with a second actual output torque of the motor at the target time. If the deviation between the first actual output torque of the motor at the target time and the second actual output torque of the motor at the target time is greater than a preset threshold, the rationality check result is a check failure. If the deviation between the first actual output torque of the motor at the target time and the second actual output torque of the motor at the target time is less than or equal to the preset threshold, the rationality check result is a check pass. The target time can be any time.

[0133] According to other embodiments of the present application, the first actual output torque may optionally include multiple first sub-actual output torques of the motor during a target time period, and the second actual output torque may include multiple second sub-actual output torques of the motor during the target time period. It will be appreciated that the target time period may include multiple moments, each of which may correspond to a first sub-actual output torque and a second sub-actual output torque. A first actual output torque curve may be obtained by fitting the multiple first sub-actual output torques, and a second actual output torque curve may be obtained by fitting the multiple second sub-actual output torques.

[0134] Figure 6 This is a flow chart of S104 in the torque monitoring method provided in some embodiments of the present application. Figure 6 As shown, S104, performing rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result, may include the following steps S601 to S603.

[0135] S601: Compare a first torque range in which a plurality of first sub-actual output torques are distributed with a second torque range in which a plurality of second sub-actual output torques are distributed to obtain a first comparison result.

[0136] In some examples, for example, the first torque range can be a torque range between a minimum first sub-actual output torque and a maximum first sub-actual output torque among multiple first sub-actual output torques, and the first torque range can include a boundary value, and the boundary value of the first torque range can include the minimum first sub-actual output torque and the maximum first sub-actual output torque.

[0137] For example, the second torque range can be a torque range between the minimum second sub-actual output torque and the maximum second sub-actual output torque among multiple second sub-actual output torques. The second torque range can include boundary values, and the boundary values ​​of the second torque range can include the minimum second sub-actual output torque and the maximum second sub-actual output torque.

[0138] In some specific embodiments, the overlap ratio between the target overlap range and the preset torque range can optionally be calculated to obtain the first comparison result. The target overlap range can be the overlap range between the first torque range and the second torque range. For example, if the first torque range is [0, 100] and the second torque range is [10, 110], the first torque range and the second torque range overlap between 10 and 100, i.e., the target overlap range is 10-100. Then, based on the target overlap range and the preset torque range, the overlap ratio between the target overlap range and the preset torque range is calculated. For example, in some specific examples, a first difference between the maximum value in the target overlap range and the minimum value in the target overlap range, a second difference between the maximum value in the preset torque range and the minimum value in the preset torque range, and a ratio of the first difference to the second difference can be calculated to obtain the overlap ratio between the target overlap range and the preset torque range. The preset torque range can be the first torque range, the second torque range, or a torque range predetermined based on historical data, which is not limited in this application.

[0139] The overlap ratio between the target overlap range and the preset torque range can reflect the deviation between the first torque range and the second torque range. For example, a larger overlap ratio between the target overlap range and the preset torque range can indicate a smaller deviation between the first torque range and the second torque range. A smaller overlap ratio between the target overlap range and the preset torque range can indicate a larger deviation between the first torque range and the second torque range.

[0140] In this way, by calculating the overlap ratio between the target overlap range and the preset torque range, a first comparison result is obtained, which can realize the rationality verification of the first torque range and the second torque range. The first torque range and the second torque range can be mutually verified, thereby improving the accuracy of the calculated actual output torque of the motor, which is beneficial to improving the vehicle safety integrity level that can be achieved by torque monitoring, such as reaching ASIL C or above, making torque monitoring safe and effective.

[0141] In other specific embodiments, optionally, for example, the deviation between the first torque range and the preset torque range may be calculated, and the deviation between the second torque range and the preset torque range may be calculated, so as to obtain the first comparison result.

[0142] For example, if the deviation between the first torque range and the preset torque range is greater than a first preset deviation threshold, this indicates a significant deviation between the first torque range and the preset torque range, indicating an abnormality within the first torque range. Accordingly, the rationality check result may be a failure. The first preset deviation threshold can be flexibly adjusted based on actual circumstances and is not limited in this application.

[0143] Similarly, if the deviation between the second torque range and the preset torque range is greater than the first preset deviation threshold, it can be indicated that the deviation between the second torque range and the preset torque range is large, and an abnormality exists in the second torque range. Accordingly, the rationality check result can be a check failure.

[0144] In some other specific embodiments, optionally, for example, a first overlapping range between the first torque range and the preset torque range can be calculated, a second overlapping range between the second torque range and the preset torque range can be calculated, and the deviation between the first overlapping range and the second overlapping range can be compared to obtain a first comparison result.

[0145] For example, if the deviation between the first overlap range and the second overlap range is greater than a second preset deviation threshold, this indicates a significant deviation between the first overlap range and the second overlap range, and thus a significant deviation between the first torque range and the second torque range. Accordingly, the rationality check result may be a failure. The second preset deviation threshold can be flexibly adjusted based on actual circumstances and is not limited in this application.

[0146] It should be noted that the above numerical ranges are merely examples and are listed to facilitate a better understanding of the above embodiments, and do not constitute a limitation to the present application.

[0147] S602: Compare a first change rate between first sub-actual output torques corresponding to two different moments in the target time period with a second change rate between second sub-actual output torques corresponding to two different moments to obtain a second comparison result.

[0148] As previously described, a first actual output torque curve can be obtained by fitting multiple first sub-actual output torques, and a second actual output torque curve can be obtained by fitting multiple second sub-actual output torques. The first rate of change can be the slope between the first sub-actual output torques corresponding to two different moments in the first actual output torque curve, and the second rate of change can be the slope between the second sub-actual output torques corresponding to two different moments in the second actual output torque curve.

[0149] For example, the target time period may include a first moment t1 and a second moment t2, where the first moment t1 and the second moment t2 are any two different moments. A first rate of change between the first sub-actual output torque corresponding to the first moment t1 and the first sub-actual output torque corresponding to the second moment t2 can be calculated, such as a first slope of the first actual output torque curve between the first moment t1 and the second moment t2. A second rate of change between the second sub-actual output torque corresponding to the first moment t1 and the second sub-actual output torque corresponding to the second moment t2 can be calculated, such as a second slope of the second actual output torque curve between the first moment t1 and the second moment t2. The first rate of change and the second rate of change are then compared, such as by comparing the first slope and the second slope, to obtain a second comparison result.

[0150] S603: Obtain a rationality check result according to the first comparison result and the second comparison result.

[0151] According to some embodiments of the present application, optionally, S603, obtaining a rationality check result according to the first comparison result and the second comparison result, may include the following steps:

[0152] When the first comparison result is that the deviation between the first torque range and the second torque range is less than or equal to the first preset threshold, and the second comparison result is that the deviation between the first change rate and the second change rate is less than or equal to the second preset threshold, determining that the rationality check result is a pass;

[0153] When the first comparison result is that the deviation between the first torque range and the second torque range is greater than the first preset threshold, and / or the second comparison result is that the deviation between the first change rate and the second change rate is greater than the second preset threshold, the rationality check result is determined to be check failure.

[0154] In some examples, the deviation between the first torque range and the second torque range can be a ratio of the deviation between the target overlap range and the preset torque range, where the deviation ratio between the target overlap range and the preset torque range = 1 - the overlap ratio between the target overlap range and the preset torque range. The values ​​of the first preset threshold and the second preset threshold can be flexibly adjusted according to actual circumstances and are not limited in this application.

[0155] The specific process of executing the corresponding control strategy according to the torque comparison result in S106 is described below with examples.

[0156] S106: Executing a corresponding control strategy based on the torque comparison result may include the following steps:

[0157] When the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, a first interrupt signal is sent to the motor controller, and the first interrupt signal is used to instruct the motor controller to execute a first degradation strategy. The first degradation strategy includes reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

[0158] Among them, the size of the third preset threshold can be flexibly adjusted according to actual conditions, and this application does not limit this.

[0159] If the torque comparison result shows that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, indicating that the actual output torque of the motor deviates significantly from the target output torque expected to be output by the motor, a first interrupt signal may be sent to the motor controller. In response to the first interrupt signal, the motor controller may execute a first degradation strategy, which may include reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop operating.

[0160] In this way, when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than the third preset threshold, a first interrupt signal is sent to the motor controller to reduce the speed of the motor, reduce the torque of the motor or control the motor to stop working, which can improve the safety of vehicle operation.

[0161] Figure 7 This is a schematic diagram of the structure of the torque monitoring system provided in some embodiments of the present application. Figure 7 As shown, the torque monitoring system 70 may include a vehicle control unit (VCU) 711 and a motor control unit (MCU) 712. The vehicle control unit 711 may be electrically connected to the braking control system 72, the driving assistance system 73 and the accelerator pedal 74 in the vehicle, respectively, to obtain the energy conversion data and motion data of the vehicle from the braking control system 72, the driving assistance system 73 and the accelerator pedal 74. The vehicle control unit 711 may be used to execute the various steps in the torque monitoring method provided in the embodiment of the present application, such as steps S101 to S106 above. The motor controller 712 may be electrically connected to the vehicle control unit 711 and the motor 75, respectively, and the motor controller 712 may be used to receive the torque request instruction sent by the vehicle control unit 711 to control the motor 75 to output the corresponding output torque. The motor controller 712 may also be used to receive a first interrupt signal sent by the vehicle control unit 711, and in response to the first interrupt signal, execute a first degradation strategy.

[0162] The high-voltage power supply system 76 in the vehicle can be electrically connected to the motor 75 and the high-voltage electrical components 77 in the vehicle via a DC bus L. The high-voltage power supply system 76 can be used to power the motor 75 and the high-voltage electrical components 77. In some examples, the high-voltage power supply system 76 may include a power battery, a main circuit relay, and a battery management system (BMS). The motor 75 is connected to the wheels 79 via a gearbox 78.

[0163] If the torque comparison result indicates that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, the vehicle controller 711 may send a first interrupt signal, also referred to as an internal interrupt signal, to the motor controller 712. The motor controller 712 may receive the first interrupt signal sent by the vehicle controller 711 and, in response to the first interrupt signal, execute a first degradation strategy.

[0164] In this way, when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than the third preset threshold, the vehicle controller sends a first interrupt signal to the motor controller, and the motor controller responds to the first interrupt signal to reduce the speed of the motor, reduce the torque of the motor or control the motor to stop working, which can improve the safety of vehicle operation.

[0165] S106, executing a corresponding control strategy according to the torque comparison result, may also include the following steps:

[0166] When the torque comparison result shows that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is less than or equal to the third preset threshold, return to step S101: obtain vehicle energy conversion data and vehicle motion data.

[0167] Figure 8 Schematic diagram of the flow chart of the torque monitoring method provided in some other embodiments of the present application. Figure 1 and Figure 8 As shown, according to some other embodiments of the present application, optionally, the torque monitoring method may include steps S101 to S106.

[0168] S101: Acquire vehicle energy conversion data and vehicle motion data.

[0169] S102 : Determine a first actual output torque of the motor according to energy conversion data of the vehicle.

[0170] S103: Determine a second actual output torque of the motor according to the motion data of the vehicle.

[0171] S104: Perform a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result.

[0172] S105 : When the rationality check result is passed, at least one of the first actual output torque and the second actual output torque is compared with the target output torque expected to be output by the motor to obtain a torque comparison result.

[0173] The specific processes from S101 to S105 have been described in detail above and will not be repeated here.

[0174] S106 , executing a corresponding control strategy according to the torque comparison result, which may include the following steps S1061 and S1062 .

[0175] S1061 : When the torque comparison result shows that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, send a first interrupt signal to the motor controller.

[0176] The first interrupt signal may also be referred to as an internal interrupt signal. The motor controller may be configured to receive the first interrupt signal and, in response to the first interrupt signal, execute a first degradation strategy.

[0177] In this way, when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than the third preset threshold, a first interrupt signal is sent to the motor controller. In response to the first interrupt signal, the motor controller reduces the speed of the motor, reduces the torque of the motor, or controls the motor to stop working, thereby improving the safety of vehicle operation.

[0178] S1062: When the first degradation strategy fails to be executed, send a second interrupt signal to the high-voltage power supply system, where the second interrupt signal is used to instruct the high-voltage power supply system to stop supplying power to the motor.

[0179] Combine Figure 7 As shown, in the case where the first degradation strategy fails to execute, an external interruption can be executed. That is, the vehicle controller 711 can send a second interruption signal to the high-voltage power supply system 76. The high-voltage power supply system 76 can stop supplying power to the motor 75 in response to the second interruption signal. For example, in some examples, the high-voltage power supply system 76 can disconnect the main circuit relay ( Figure 7 (not shown), thereby stopping the power supply to the motor 75.

[0180] If the first downgrade strategy is successfully executed, the process may return to step S101 .

[0181] From low to high, ASIL can be divided into five levels: QM, A, B, C and D. ASIL D is the highest vehicle safety integrity level, and QM is the lowest vehicle safety integrity level.

[0182] Considering that the motor controller is generally at the QM level, which is lower than the vehicle safety integrity level (such as ASIL B or ASIL C) that can be achieved by torque monitoring, the motor controller may not respond to the first interrupt signal sent by the vehicle controller and execute the first degradation strategy. Therefore, in some embodiments, if the first degradation strategy fails to execute, by introducing an external interrupt and sending a second interrupt signal to the high-voltage power supply system, the high-voltage power supply system stops supplying power to the motor, which can stop the motor from working and improve the safety of vehicle operation.

[0183] Figure 9 Schematic diagram of the flow of torque monitoring method provided in some embodiments of the present application. Figure 9 As shown, Figure 8 Different from the illustrated embodiment, according to some other embodiments of the present application, optionally, before S1061, sending the first interrupt signal to the motor controller, S106, executing the corresponding control strategy according to the torque comparison result, may further include the following step S1063:

[0184] A first degradation instruction is sent to the motor controller, where the first degradation instruction is used to instruct the motor controller to execute a second degradation strategy, where the second degradation strategy includes reducing the rotation speed of the motor and / or reducing the torque of the motor.

[0185] Accordingly, S1061 may specifically include the following steps: when the second degradation strategy fails to be executed, sending a first interrupt signal to the motor controller.

[0186] That is, before sending the first interrupt signal to the motor controller, a first degradation instruction may be sent to the motor controller. The first degradation instruction is used to instruct the motor controller to execute a second degradation strategy, which includes reducing the motor speed and / or reducing the motor torque.

[0187] In this way, before sending the first interrupt signal to the motor controller, sending the first degradation instruction to the motor controller is beneficial to reducing the speed of the motor and / or reducing the torque of the motor, thereby improving the safety of vehicle operation.

[0188] If the second downgrade strategy is successfully executed, the process may return to step S101 .

[0189] It should be noted that Figure 9 For the specific processes of steps S101 to S105 and S1062 shown, please refer to the above description of the specific processes of S101 to S105 and S1062, which will not be repeated here.

[0190] According to some embodiments of the present application, optionally, after performing a rationality check on the first actual output torque and the second actual output torque in S104 and obtaining a rationality check result, the torque monitoring method may further include the following steps:

[0191] If the rationality check result is failure, an alarm message is output and a second degradation instruction is sent to the motor controller. The second degradation instruction is used to instruct the motor controller to execute a third degradation strategy. The third degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0192] If the rationality check fails, it indicates a significant deviation between the first and second actual output torques, meaning that at least one of the first and second actual output torques is inaccurate. In this case, outputting an alarm alerts the user of an anomaly in the calculated actual motor output torque. Simultaneously, sending a second downgrade instruction to the motor controller reduces the motor speed and / or torque, keeping them within a relatively safe range and improving vehicle safety.

[0193] According to some embodiments of the present application, the torque monitoring method provided in the embodiments of the present application can optionally be applied to a vehicle controller, which can adopt the E-gas safety software architecture. The E-gas safety software architecture can include three layers: Level 1, Level 2, and Level 3. Level 1 is the function implementation layer, Level 2 is the function monitoring layer, and Level 3 is the controller monitoring layer.

[0194] Level 1 of the vehicle controller can be used to send a torque request command to the motor controller so that the motor controller controls the motor to output the corresponding output torque.

[0195] The Level 3 of the vehicle controller can be used to monitor vehicle controller faults, such as power failure, storage failure, and program operation failure. The Level 3 of the vehicle controller can also be used to send a first interrupt signal to the motor controller if the second degradation strategy fails to execute.

[0196] The Level 2 of the vehicle controller can be used to monitor functional control, for example, it can be used to execute the above steps S101 to S106. In some examples, when the Level 2 of the vehicle controller verifies the vehicle energy conversion data and vehicle motion data obtained in S101, it can, for example, be inspected according to the ASIL C standard. When the Level 2 of the vehicle controller executes S102, it can, for example, meet the requirements of ASIL A or ASIL C. When the Level 2 of the vehicle controller executes S103, it can, for example, meet the requirements of ASIL B or ASIL C. When the Level 2 of the vehicle controller executes S104, S105, or S106, it can, for example, meet the requirements of ASIL C.

[0197] Based on the same technical concept as the torque monitoring method provided in the above embodiment, the present application also provides a specific implementation of a torque monitoring system. Please refer to the following embodiment.

[0198] Combine Figure 7 As shown, the torque monitoring system 70 of the embodiment of the present application may include a vehicle controller 711 and a motor controller 712 , the vehicle controller 711 is electrically connected to the motor controller 712 , and the motor controller 712 is electrically connected to the motor 75 .

[0199] The vehicle controller 711 can be used to: obtain the vehicle's energy conversion data and the vehicle's motion data; determine the first actual output torque of the motor based on the vehicle's energy conversion data; determine the second actual output torque of the motor based on the vehicle's motion data; perform a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; when the rationality check result is a passed check, compare at least one of the first actual output torque and the second actual output torque with the target output torque of the expected motor output to obtain a torque comparison result; and execute a corresponding control strategy based on the torque comparison result.

[0200] The specific implementation methods of each of the above processes have been described in detail in the torque monitoring method provided in the above embodiment, and will not be repeated here for the sake of brevity.

[0201] The torque monitoring system provided in the embodiments of the present application calculates the first actual output torque of the motor using the vehicle's energy conversion data and calculates the second actual output torque of the motor using the vehicle's motion data. This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs. Furthermore, by calculating the first actual output torque of the motor and the second actual output torque of the motor and performing a rationality check on the first actual output torque of the motor and the second actual output torque of the motor, the first actual output torque of the motor and the second actual output torque of the motor can be mutually verified, thereby improving the accuracy of the calculated actual output torque of the motor, thereby facilitating an improvement in the vehicle safety integrity level that can be achieved by torque monitoring, and thus making torque monitoring safe and effective.

[0202] like Figure 7 As shown, according to some embodiments of the present application, the vehicle controller 711 can optionally be configured to send a first interrupt signal to the motor controller when the torque comparison result shows that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold. The motor controller 712 can be configured to execute a first degradation strategy in response to the first interrupt signal, the first degradation strategy including reducing the motor speed, reducing the motor torque, or controlling the motor to stop operating.

[0203] In this way, when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than the third preset threshold, a first interrupt signal is sent to the motor controller to reduce the speed of the motor, reduce the torque of the motor or control the motor to stop working, which can improve the safety of vehicle operation.

[0204] like Figure 7 As shown, according to some embodiments of the present application, optionally, the vehicle controller 711 can be electrically connected to the high-voltage power supply system 76 in the vehicle, and the high-voltage power supply system 76 can be electrically connected to the motor 75. The vehicle controller 711 can also be configured to send a second interrupt signal to the high-voltage power supply system 76 when the first degradation strategy fails to execute, and the second interrupt signal is configured to instruct the high-voltage power supply system 76 to stop supplying power to the motor 75.

[0205] In this way, when the first degradation strategy fails to execute, by introducing an external interrupt and sending a second interrupt signal to the high-voltage power supply system, the high-voltage power supply system stops supplying power to the motor, which can stop the motor from working and improve the safety of vehicle operation.

[0206] According to some embodiments of the present application, optionally, the vehicle controller 711 may be further configured to send a first degradation instruction to the motor controller 712 before sending the first interrupt signal to the motor controller 712. The motor controller 712 may be configured to execute a second degradation strategy in response to the first degradation instruction, where the second degradation strategy may include reducing the speed of the motor and / or reducing the torque of the motor.

[0207] In this way, before sending the first interrupt signal to the motor controller, sending the first degradation instruction to the motor controller is beneficial to reducing the speed of the motor and / or reducing the torque of the motor, thereby improving the safety of vehicle operation.

[0208] According to some embodiments of the present application, optionally, the vehicle controller 711 can be specifically configured to output an alarm message and send a second degradation instruction to the motor controller 712 when the rationality check result is a check failure.

[0209] The motor controller 712 may be configured to execute a third degrading strategy in response to the second degrading instruction. The third degrading strategy may include reducing the speed of the motor and / or reducing the torque of the motor.

[0210] If the rationality check fails, this indicates a significant deviation between the first and second actual output torques, meaning that at least one of the first and second actual output torques is inaccurate. In this case, outputting an alarm alerts the user of an anomaly in the calculated actual motor output torque. Simultaneously, sending a second downgrade instruction to the motor controller reduces the motor speed and / or torque, keeping them within a relatively safe range and improving vehicle safety.

[0211] It should be noted that the vehicle controller 711 can be used to execute the steps of the torque monitoring method provided in any of the above embodiments. For the specific implementation of each step, please refer to the above. For the sake of brevity, it will not be repeated here.

[0212] Based on the same technical concept as the torque monitoring method provided in the above embodiment, the present application also provides a specific implementation of a torque monitoring device. Please refer to the following embodiment.

[0213] Figure 10 This is a schematic diagram of the structure of the torque monitoring device provided in some embodiments of the present application. Figure 10 As shown, the torque monitoring device 100 provided in the embodiment of the present application may include the following modules:

[0214] An acquisition module 1001 is used to acquire energy conversion data and motion data of a vehicle;

[0215] A first determining module 1002 is configured to determine a first actual output torque of the motor according to energy conversion data of the vehicle;

[0216] A second determining module 1003 is configured to determine a second actual output torque of the motor according to the motion data of the vehicle;

[0217] A verification module 1004 is configured to perform a rationality verification on the first actual output torque and the second actual output torque to obtain a rationality verification result;

[0218] A first comparison module 1005 is configured to compare at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result when the rationality check result is a passed check;

[0219] The execution module 1006 is used to execute the corresponding control strategy according to the torque comparison result.

[0220] The torque monitoring device provided in the embodiments of the present application calculates the first actual output torque of the motor using the vehicle's energy conversion data and calculates the second actual output torque of the motor using the vehicle's motion data. This eliminates the need to rely on motor-related information provided by additional sensors to calculate the actual output torque, thereby saving hardware costs. Furthermore, by calculating the first actual output torque of the motor and the second actual output torque of the motor and performing a rationality check on the first actual output torque of the motor and the second actual output torque of the motor, the first actual output torque of the motor and the second actual output torque of the motor can be mutually verified, thereby improving the accuracy of the calculated actual output torque of the motor, thereby facilitating an improvement in the vehicle safety integrity level that can be achieved by torque monitoring, and thus making torque monitoring safe and effective.

[0221] According to some embodiments of the present application, optionally, the energy conversion data of the vehicle includes the energy conversion efficiency of the motor, the first transmission efficiency between the motor and the gearbox, the second transmission efficiency between the gearbox and the wheels, the transmission ratio of the gearbox and the angular velocity of the wheels.

[0222] The first determination module 1002 can be specifically used to obtain the input power of the motor; calculate the output power of the motor based on the input power of the motor, the energy conversion efficiency of the motor, the first transmission efficiency and the second transmission efficiency; and obtain the first actual output torque based on the output power of the motor, the transmission ratio of the gearbox and the angular velocity of the wheel.

[0223] According to some embodiments of the present application, the vehicle energy conversion data may optionally further include the voltage of the DC bus, the current of the DC bus, the power consumption of electrical components in the vehicle, and the power loss of the DC bus. The first determination module 1002 may be specifically configured to calculate the input power of the DC bus based on the voltage and current of the DC bus; and to obtain the input power of the motor based on the input power of the DC bus, the power consumption of the electrical components, and the power loss of the DC bus.

[0224] According to some embodiments of the present application, the vehicle motion data may optionally include the wheel radius, a first transmission efficiency between the motor and the gearbox, a second transmission efficiency between the gearbox and the wheel, and the gear ratio of the gearbox. The second determination module 1003 may specifically be configured to obtain the vehicle's driving force and the resistance experienced by the vehicle; calculate the torque required by the wheel based on the vehicle's driving force, the resistance experienced by the vehicle, and the wheel radius; and determine the second actual output torque of the motor based on the torque required by the wheel, the gear ratio of the gearbox, the first transmission efficiency, and the second transmission efficiency.

[0225] According to some embodiments of the present application, optionally, the resistance encountered by the vehicle includes at least one of air resistance encountered by the vehicle, rolling resistance of the wheels, slope resistance encountered by the vehicle, and acceleration resistance of the vehicle.

[0226] When the resistance encountered by the vehicle includes the air resistance encountered by the vehicle, the vehicle's motion data also includes the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed. The air resistance encountered by the vehicle is determined based on the air resistance coefficient, air density, the vehicle's frontal area and the vehicle's speed.

[0227] When the resistance encountered by the vehicle includes the rolling resistance of the wheels, the vehicle's motion data also includes the vehicle's total mass, gravitational acceleration and the rolling resistance coefficient of the wheels. The rolling resistance of the wheels is determined based on the vehicle's total mass, gravitational acceleration and the rolling resistance coefficient of the wheels.

[0228] When the resistance encountered by the vehicle includes the slope resistance encountered by the vehicle, the vehicle's motion data also includes the vehicle's total mass, the acceleration of gravity, and the angle between the slope surface on which the vehicle is located and the horizontal plane. The slope resistance encountered by the vehicle is determined based on the vehicle's total mass, the acceleration of gravity, and the angle between the slope surface on which the vehicle is located and the horizontal plane.

[0229] When the resistance encountered by the vehicle includes the acceleration resistance of the vehicle, the vehicle's motion data also includes the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient. The acceleration resistance of the vehicle is determined based on the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient.

[0230] According to some embodiments of the present application, optionally, the first actual output torque includes multiple first sub-actual output torques of the motor during the target time period, and the second actual output torque includes multiple second sub-actual output torques of the motor during the target time period. The verification module 1004 can be specifically configured to compare a first torque range distributed by the multiple first sub-actual output torques with a second torque range distributed by the multiple second sub-actual output torques to obtain a first comparison result; compare a first change rate between the first sub-actual output torques corresponding to two different moments in the target time period with a second change rate between the second sub-actual output torques corresponding to two different moments to obtain a second comparison result; and obtain a rationality verification result based on the first comparison result and the second comparison result.

[0231] According to some embodiments of the present application, optionally, the verification module 1004 can be specifically used to determine that the rationality verification result is a passed verification when the first comparison result is that the deviation between the first torque range and the second torque range is less than or equal to a first preset threshold, and the second comparison result is that the deviation between the first change rate and the second change rate is less than or equal to a second preset threshold; and determine that the rationality verification result is a failed verification when the first comparison result is that the deviation between the first torque range and the second torque range is greater than the first preset threshold, and / or the second comparison result is that the deviation between the first change rate and the second change rate is greater than the second preset threshold.

[0232] According to some embodiments of the present application, optionally, the execution module 1006 can be used to send a first interrupt signal to the motor controller when the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold value. The first interrupt signal is used to instruct the motor controller to execute a first degradation strategy, and the first degradation strategy includes reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

[0233] According to some embodiments of the present application, optionally, the execution module 1006 can be used to send a second interrupt signal to the high-voltage power supply system after sending a first interrupt signal to the motor controller, if the first degradation strategy fails to execute, and the second interrupt signal is used to instruct the high-voltage power supply system to stop supplying power to the motor.

[0234] According to some embodiments of the present application, optionally, the execution module 1006 can be used to send a first degradation instruction to the motor controller before sending a first interrupt signal to the motor controller, and the first degradation instruction is used to instruct the motor controller to execute a second degradation strategy, and the second degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0235] According to some embodiments of the present application, optionally, the verification module 1004 can also be used to output an alarm message and send a second degradation instruction to the motor controller when the rationality check result is a verification failure. The second degradation instruction is used to instruct the motor controller to execute a third degradation strategy. The third degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

[0236] Based on the torque monitoring method provided in the above embodiment, the present application also provides a specific implementation of the controller. Please refer to the following embodiment.

[0237] Figure 11 A schematic diagram of the hardware structure of the controller provided in some embodiments of the present application is shown.

[0238] The controller 1100 may include a processor 1101 and a memory 1102 storing computer program instructions.

[0239] Specifically, the processor 1101 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0240] Memory 1102 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 1102 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. In one example, memory 1102 may include removable or non-removable (or fixed) media, or memory 1102 may be a non-volatile solid-state memory. Memory 1102 may be internal or external to the controller.

[0241] In one example, the memory 1102 may be a read-only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or a flash memory, or a combination of two or more of these.

[0242] The memory 1102 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical or other physical / tangible memory storage devices. Thus, generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present application.

[0243] The processor 1101 implements the method / steps in the above-mentioned method embodiment by reading and executing the computer program instructions stored in the memory 1102, and achieves the corresponding technical effects achieved by the method embodiment executing its method / steps. For the sake of brevity, they are not repeated here.

[0244] In one example, the controller may further include a communication interface 1103 and a bus 1110. Figure 11 As shown, the processor 1101 , the memory 1102 , and the communication interface 1103 are connected via a bus 1110 and communicate with each other.

[0245] The communication interface 1103 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0246] Bus 1110 includes hardware, software or both, couples the parts of controller to each other.For example, but not limitation, bus can include Accelerated Graphics Port (Accelerated Graphics Port, AGP) or other graphics buses, Enhanced Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus, Front Side Bus (FrontSide Bus, FSB), Hyper Transport (Hyper Transport, HT) interconnection, Industry Standard Architecture (Industry Standard Architecture, ISA) bus, InfiniBand interconnection, Low Pin Count (LPC) bus, memory bus, Micro Channel Architecture (MCA) bus, Peripheral Component Interconnect (PCI) bus, PCI-Express (PCI-X) bus, Serial Advanced Technology Attachment (SATA) bus, Video Electronics Standards Association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 1110 can include one or more buses. Although the present application embodiment describes and shows specific bus, the application considers any suitable bus or interconnection.

[0247] In addition, in conjunction with the torque monitoring method in the above-mentioned embodiment, the embodiment of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the torque monitoring methods in the above-mentioned embodiments is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as electronic circuits, semiconductor memory devices, ROM, random access memory, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, and hard disks.

[0248] In addition, in combination with the torque monitoring method, system, controller, and readable storage medium in the above embodiments, embodiments of the present application may provide a computer program product for implementation. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device performs any of the torque monitoring methods in the above embodiments.

[0249] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0250] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memories, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0251] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0252] Aspects of the present application have been described above with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer or other programmable data processing device to produce a machine so that these instructions executed via the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. This processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor or a field programmable logic circuit. It is also understood that each box in the block diagram and / or the flowchart and the combination of the boxes in the block diagram and / or the flowchart can also be implemented by the dedicated hardware that performs the specified function or action, or can be implemented by the combination of dedicated hardware and computer instructions.

[0253] The above description is only a specific embodiment of the present application. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the scope of protection of the present application.

Claims

1. A torque monitoring method, characterized in that: include: Acquiring energy conversion data of a vehicle and motion data of the vehicle; determining a first actual output torque of the motor according to the energy conversion data of the vehicle; determining a second actual output torque of the motor according to the motion data of the vehicle; performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; If the rationality check result is a passing result, comparing at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result; According to the torque comparison result, a corresponding control strategy is executed.

2. The torque monitoring method according to claim 1, characterized in that: The energy conversion data of the vehicle includes the energy conversion efficiency of the motor, a first transmission efficiency between the motor and a gearbox, a second transmission efficiency between the gearbox and a wheel, a gear ratio of the gearbox, and an angular velocity of the wheel; Determining a first actual output torque of the motor according to the energy conversion data of the vehicle includes: Obtaining the input power of the motor; Calculating the output power of the motor according to the input power of the motor, the energy conversion efficiency of the motor, the first transmission efficiency, and the second transmission efficiency; The first actual output torque is obtained according to the output power of the motor, the transmission ratio of the gearbox and the angular velocity of the wheel.

3. The torque monitoring method according to claim 2, characterized in that: The energy conversion data of the vehicle further includes the voltage of the DC bus, the current of the DC bus, the power consumption of the electrical components in the vehicle, and the power loss of the DC bus; The obtaining of the input power of the motor includes: Calculating the input power of the DC bus according to the voltage of the DC bus and the current of the DC bus; The input power of the motor is obtained according to the input power of the DC bus, the power consumption of the electrical components and the power loss of the DC bus.

4. The torque monitoring method according to claim 1, characterized in that: The motion data of the vehicle includes a radius of the wheel, a first transmission efficiency between the motor and the gearbox, a second transmission efficiency between the gearbox and the wheel, and a transmission ratio of the gearbox; The determining, based on the motion data of the vehicle, a second actual output torque of the motor includes: Obtaining a driving force of the vehicle and a resistance experienced by the vehicle; Calculating the torque required by the wheel according to the driving force of the vehicle, the resistance of the vehicle, and the radius of the wheel; A second actual output torque of the motor is determined according to the torque required by the wheels, the transmission ratio of the gearbox, the first transmission efficiency, and the second transmission efficiency.

5. The torque monitoring method according to claim 4, characterized in that: The resistance experienced by the vehicle includes at least one of air resistance experienced by the vehicle, rolling resistance of the wheels, slope resistance experienced by the vehicle, and acceleration resistance experienced by the vehicle; In a case where the resistance experienced by the vehicle includes air resistance experienced by the vehicle, the motion data of the vehicle further includes an air resistance coefficient, air density, a frontal area of ​​the vehicle, and a speed of the vehicle, wherein the air resistance experienced by the vehicle is determined based on the air resistance coefficient, the air density, the frontal area of ​​the vehicle, and the speed of the vehicle; In a case where the resistance experienced by the vehicle includes the rolling resistance of the wheels, the motion data of the vehicle further includes the total mass of the vehicle, the acceleration of gravity, and the rolling resistance coefficient of the wheels, where the rolling resistance of the wheels is determined based on the total mass of the vehicle, the acceleration of gravity, and the rolling resistance coefficient of the wheels; In a case where the resistance experienced by the vehicle includes slope resistance experienced by the vehicle, the motion data of the vehicle further includes the total mass of the vehicle, the acceleration due to gravity, and the angle between the slope on which the vehicle is located and the horizontal plane, where the slope resistance experienced by the vehicle is determined based on the total mass of the vehicle, the acceleration due to gravity, and the angle between the slope on which the vehicle is located and the horizontal plane; In the case where the resistance encountered by the vehicle includes the acceleration resistance of the vehicle, the motion data of the vehicle also includes the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient, and the acceleration resistance of the vehicle is determined based on the total mass of the vehicle, the acceleration of the vehicle and the rotational mass conversion coefficient.

6. The torque monitoring method according to any one of claims 1 to 5, characterized in that: The first actual output torque includes a plurality of first sub-actual output torques of the motor in a target time period, and the second actual output torque includes a plurality of second sub-actual output torques of the motor in the target time period; The performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result includes: comparing a first torque range in which the plurality of first sub-actual output torques are distributed with a second torque range in which the plurality of second sub-actual output torques are distributed to obtain a first comparison result; comparing a first change rate between the first sub-actual output torques corresponding to two different moments in the target time period with a second change rate between the second sub-actual output torques corresponding to the two different moments to obtain a second comparison result; The rationality check result is obtained according to the first comparison result and the second comparison result.

7. The torque monitoring method according to claim 6, characterized in that: Obtaining the rationality check result according to the first comparison result and the second comparison result includes: When the first comparison result is that the deviation between the first torque range and the second torque range is less than or equal to a first preset threshold, and the second comparison result is that the deviation between the first change rate and the second change rate is less than or equal to a second preset threshold, determining that the rationality check result is a pass; When the first comparison result is that the deviation between the first torque range and the second torque range is greater than the first preset threshold, and / or the second comparison result is that the deviation between the first change rate and the second change rate is greater than the second preset threshold, it is determined that the rationality check result is a check failure.

8. The torque monitoring method according to any one of claims 1 to 5, characterized in that: The executing a corresponding control strategy according to the torque comparison result includes: When the torque comparison result is that the deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold, a first interrupt signal is sent to the motor controller, and the first interrupt signal is used to instruct the motor controller to execute a first degradation strategy, which includes reducing the speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

9. The torque monitoring method according to claim 8, characterized in that: After sending the first interrupt signal to the motor controller, executing a corresponding control strategy according to the torque comparison result further includes: In the case where the first degradation strategy fails to be executed, a second interrupt signal is sent to the high-voltage power supply system, where the second interrupt signal is used to instruct the high-voltage power supply system to stop supplying power to the motor.

10. The torque monitoring method according to claim 8, characterized in that: Before sending the first interrupt signal to the motor controller, executing a corresponding control strategy according to the torque comparison result further includes: A first degradation instruction is sent to the motor controller, where the first degradation instruction is used to instruct the motor controller to execute a second degradation strategy, where the second degradation strategy includes reducing the rotation speed of the motor and / or reducing the torque of the motor.

11. The torque monitoring method according to any one of claims 1 to 5, characterized in that: After performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result, the torque monitoring method further includes: When the rationality check result is failure to pass, an alarm message is output and a second degradation instruction is sent to the motor controller. The second degradation instruction is used to instruct the motor controller to execute a third degradation strategy. The third degradation strategy includes reducing the speed of the motor and / or reducing the torque of the motor.

12. A torque monitoring system, characterized in that: The torque monitoring system includes a vehicle controller and a motor controller, wherein the vehicle controller is electrically connected to the motor controller, and the motor controller is electrically connected to the motor; The vehicle controller is used to: obtain energy conversion data of the vehicle and motion data of the vehicle; determine a first actual output torque of the motor based on the energy conversion data of the vehicle; and determine a second actual output torque of the motor based on the motion data of the vehicle; performing a rationality check on the first actual output torque and the second actual output torque to obtain a rationality check result; If the rationality check result is a passing result, comparing at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor to obtain a torque comparison result; According to the torque comparison result, a corresponding control strategy is executed.

13. The torque monitoring system according to claim 12, wherein: The vehicle controller is specifically configured to send a first interrupt signal to the motor controller when the torque comparison result shows that a deviation between at least one of the first actual output torque and the second actual output torque and the target output torque is greater than a third preset threshold; The motor controller is configured to execute a first degradation strategy in response to the first interrupt signal, where the first degradation strategy includes reducing the rotation speed of the motor, reducing the torque of the motor, or controlling the motor to stop working.

14. The torque monitoring system according to claim 13, wherein: The vehicle controller is electrically connected to a high-voltage power supply system in the vehicle, and the high-voltage power supply system is electrically connected to the motor; The vehicle controller is further configured to send a second interrupt signal to the high-voltage power supply system when the first degradation strategy fails to execute, wherein the second interrupt signal is configured to instruct the high-voltage power supply system to stop supplying power to the motor.

15. The torque monitoring system according to claim 13, wherein: The vehicle controller is further configured to send a first degradation instruction to the motor controller before sending the first interrupt signal to the motor controller; The motor controller is configured to execute a second degradation strategy in response to the first degradation instruction, where the second degradation strategy includes reducing the rotation speed of the motor and / or reducing the torque of the motor.

16. The torque monitoring system according to any one of claims 12 to 15, characterized in that: The vehicle controller is specifically configured to output an alarm message and send a second degradation instruction to the motor controller when the rationality check result is a check failure; The motor controller is configured to execute a third degradation strategy in response to the second degradation instruction, where the third degradation strategy includes reducing the rotation speed of the motor and / or reducing the torque of the motor.

17. A torque monitoring device, characterized in that: include: an acquisition module, configured to acquire energy conversion data of a vehicle and motion data of the vehicle; a first determining module, configured to determine a first actual output torque of the motor according to energy conversion data of the vehicle; a second determining module, configured to determine a second actual output torque of the motor according to the motion data of the vehicle; a verification module, configured to perform a rationality verification on the first actual output torque and the second actual output torque to obtain a rationality verification result; a first comparison module, configured to compare at least one of the first actual output torque and the second actual output torque with a target output torque expected to be output by the motor, to obtain a torque comparison result when the rationality check result is a passed check; An execution module is used to execute a corresponding control strategy according to the torque comparison result.

18. A controller, characterized in that: The controller includes: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the torque monitoring method according to any one of claims 1 to 11 when executed by the processor.

19. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the torque monitoring method according to any one of claims 1 to 11 are implemented.

20. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is caused to perform the steps of the torque monitoring method according to any one of claims 1 to 11.

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