Demand torque filtering processing method and device, storage medium and vehicle
By judging torque commutation during L1 and L2 filtering and synchronizing the torque after L2 filtering, the false alarm problem caused by torque error between L1 and L2 filtering is solved, ensuring the stability and safety of the vehicle power system.
Patent Information
- Application Number
- CN202410669026.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-27
- Publication Date
- 2025-11-28
AI Technical Summary
In existing technologies, the required torque after L1 and L2 filtering has an error exceeding the deviation threshold, leading to false alarms in torque monitoring and affecting the normal operation of the vehicle's power system.
By obtaining the required torque before L1 and L2 filtering, it is determined whether torque commutation has occurred. After torque commutation, the required torque after L2 filtering is synchronized with the required torque after L1 filtering to ensure that the deviation is less than the threshold.
This effectively avoids false alarms about safety status caused by torque monitoring, ensuring the normal operation of the vehicle's power system.
Smart Images
Figure CN121019577A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, specifically to a method, apparatus, storage medium, electronic device, and vehicle for filtering demand torque. Background Technology
[0002] In vehicle functional safety applications, torque demand monitoring strategies are a key safety and performance management strategy in vehicle powertrain systems. These strategies ensure that the vehicle can accurately and efficiently transmit and control the required driving force under different operating conditions. For example, by filtering the torque demand from the functional layers (L1) and the functional safety layer (L2) and setting reasonable torque error thresholds, any deviation exceeding the threshold is considered a potential fault signal, triggering fault detection and diagnostic mechanisms.
[0003] Currently, in order to ensure that the required torque after L1 filtering is consistent with the required torque after L2 filtering and to avoid interfering with the required torque monitoring strategy, the filtering gradients of L1 and L2 are usually kept consistent.
[0004] However, the required torque calculation before L2 filtering will give a certain allowable deviation threshold based on the required torque before L1 filtering. After a period of filtering with the same gradient, if the required torque reverses, the required torque after L2 filtering and the required torque after L1 filtering may produce an error exceeding the deviation threshold, or even the two required torques may have opposite signs. This may cause the torque monitoring to mistakenly think that the L1 required torque calculation is abnormal, falsely report the safety status, and affect the normal operation of the vehicle's power system. Summary of the Invention
[0005] In view of this, this application provides a method, apparatus, storage medium, electronic device and vehicle for filtering demand torque, with the main purpose of improving the technical problem in the prior art where torque monitoring falsely reports a safety status due to errors in the demand torque after L1 and L2 filtering exceeding the deviation threshold.
[0006] Firstly, this application provides a filtering method for demand torque, including:
[0007] During the filtering process of the required torques of L1 and L2, the required torques of L1 before filtering and L2 before filtering are obtained at the current moment. The required torque of L1 is used to determine the power demand of the vehicle, and the required torque of L2 is used to control the power demand to be within the range of safe driving of the vehicle.
[0008] Based on the required torque before L1 filtering and the required torque before L2 filtering, determine whether a required torque reversal has occurred.
[0009] If a torque reversal occurs, the demand torque filtered by L2 will be kept synchronized with the demand torque filtered by L1.
[0010] Optionally, determining whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering includes:
[0011] By analyzing the required torque before L1 filtering and the required torque before L2 filtering, it is determined whether the first torque synchronization flag has changed. The first torque synchronization flag is used to determine whether the required torque has changed from negative to positive.
[0012] If the first torque synchronization flag changes, it is determined that a required torque commutation has occurred.
[0013] Optionally, determining whether the first torque synchronization flag has changed by analyzing the required torque before L1 filtering and the required torque before L2 filtering includes:
[0014] If the required torque before L1 filtering and the required torque before L2 filtering did not meet the first preset condition before the current moment, and the required torque before L1 filtering and the required torque before L2 filtering meet the first preset condition at the current moment, it is determined that the first torque synchronization flag has changed.
[0015] The conditions for meeting the first preset conditions include: the required torque before L1 filtering and the required torque before L2 filtering are both greater than 0, and the required torque before L2 filtering is greater than the required torque before L1 filtering.
[0016] Optionally, determining whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering includes:
[0017] By analyzing the required torque before L1 filtering and the required torque before L2 filtering, it is determined whether the second torque synchronization flag has changed. The second torque synchronization flag is used to determine whether the required torque has changed from positive to negative.
[0018] If the second torque synchronization flag changes, it is determined that a required torque reversal has occurred.
[0019] Optionally, determining whether the second torque synchronization flag has changed by analyzing the required torque before L1 filtering and the required torque before L2 filtering includes:
[0020] If the required torque before L1 filtering and the required torque before L2 filtering did not meet the second preset condition before the current moment, and the required torque before L1 filtering and the required torque before L2 filtering meet the second preset condition at the current moment, it is determined that the second torque synchronization flag has changed.
[0021] The conditions for meeting the second preset conditions include: the required torque before L1 filtering and the required torque before L2 filtering are both less than 0, and the required torque before L2 filtering is less than the required torque before L1 filtering.
[0022] Optionally, the step of starting to keep the demand torque after L2 filtering synchronized with the demand torque after L1 filtering includes:
[0023] Initially, the required torque after L2 filtering is kept synchronized with the required torque after L1 filtering. When the required torque after L2 filtering reaches the required torque before L1 filtering, it transitions to the required torque before L2 filtering with the same filtering gradient as L1.
[0024] Secondly, this application provides a filtering processing device for demand torque, comprising:
[0025] The acquisition module is configured to acquire the demand torque before L1 filtering and the demand torque before L2 filtering at the current moment during the filtering process of demand torques of L1 and L2, wherein the demand torque of L1 is used to determine the power demand of the vehicle, and the demand torque of L2 is used to control the power demand to be within the range of safe driving of the vehicle.
[0026] The judgment module is configured to determine whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering.
[0027] The synchronization module is configured to keep the demand torque filtered by L2 synchronized with the demand torque filtered by L1 if a demand torque reversal occurs.
[0028] Thirdly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.
[0029] Fourthly, this application provides an electronic device including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein the processor executes the computer program to implement the method described in the first aspect.
[0030] Fifthly, this application provides a vehicle including: the device as described in the second aspect, and the electronic device as described in the fourth aspect.
[0031] By employing the above technical solution, this application provides a method, apparatus, storage medium, electronic device, and vehicle for filtering demand torque. Specifically, during the filtering process of demand torques L1 and L2, the demand torques before L1 filtering and L2 filtering at the current moment are obtained. The demand torque of L1 is used to determine the vehicle's power demand, and the demand torque of L2 is used to control the power demand within the safe driving range of the vehicle. Then, based on the demand torques before L1 and L2 filtering, it is determined whether a demand torque reversal has occurred. If a demand torque reversal has occurred, the demand torque after L2 filtering is synchronized with the demand torque after L1 filtering. Compared with existing technologies, by applying the technical solution of this application, it is possible to determine whether a demand torque reversal has occurred based on the demand torques before L1 and L2 filtering. After determining the demand torque reversal, the demand torque after L2 filtering is synchronized with the demand torque after L1 filtering, ensuring that the deviation between the demand torque after L2 filtering and the demand torque after L1 filtering is less than a deviation threshold. This ensures that demand torque monitoring will not cause false alarms due to L2 demand torque filtering deviations, thereby guaranteeing the normal operation of the vehicle's power system.
[0032] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description
[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0034] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0035] Figure 1 A flowchart illustrating a filtering method for demand torque provided in an embodiment of this application is shown.
[0036] Figure 2 A schematic diagram illustrating an application example provided in an embodiment of this application is shown;
[0037] Figure 3 A flowchart illustrating another filtering method for required torque provided in an embodiment of this application is shown.
[0038] Figure 4A flowchart illustrating an application example provided in an embodiment of this application is shown;
[0039] Figure 5 A schematic diagram illustrating an application example provided in an embodiment of this application is shown;
[0040] Figure 6 A schematic diagram illustrating an application example provided in an embodiment of this application is shown;
[0041] Figure 7 A schematic diagram of the structure of a speech recognition device provided in an embodiment of this application is shown. Detailed Implementation
[0042] To better understand the above-mentioned objectives, features, and advantages of this application, the solution of this application will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.
[0043] To address the problem in current torque monitoring technologies where false alarms about safe conditions occur due to errors exceeding deviation thresholds in the demand torque after L1 and L2 filtering, this embodiment provides a method for filtering demand torque, such as... Figure 1 As shown, the method includes:
[0044] Step 101: During the filtering process of the required torques of L1 and L2, obtain the required torques of L1 before filtering and L2 before filtering at the current time.
[0045] Among them, the demand torque of L1 is used to determine the power demand of the vehicle, and the demand torque of L2 is used to control the power demand within the range of safe driving of the vehicle.
[0046] In this embodiment, L1 covers all levels from the user interface to hardware execution, ensuring that the system can operate as expected and meet the user's requirements for vehicle performance, efficiency, and functionality; L2 is a series of measures and design levels to ensure that the system can maintain the expected safe state even if the vehicle malfunctions or is abnormal.
[0047] For example, L1 and L2 required torques refer to the ideal torque values that need to be applied to the wheels during vehicle operation to achieve the required vehicle driving performance (such as acceleration, hill climbing, or stable driving). These directly affect the vehicle's power response, energy efficiency, and driving stability. Simultaneously, from a functional safety perspective, it is also necessary to obtain L1 and L2 required torques to ensure that even in the event of system failure or anomalies, the calculation and execution of the vehicle's required torque remain within a safe and controllable range to avoid dangerous situations.
[0048] like Figure 2As shown, the dashed lines represent the required torque before filtering for L1 and L2, while the solid lines represent the required torque after filtering for L1 and L2. Filtering the required torque through the vehicle power system is to eliminate noise and instability in the required torque signal, ensuring that the torque command transmitted to the executor is smoother and more accurate, thereby guaranteeing the control precision of the vehicle and the stability of the system.
[0049] Step 102: Based on the required torque before L1 filtering and the required torque before L2 filtering, determine whether a required torque reversal has occurred.
[0050] For example, torque reversal can include two reversal methods: reversing from negative to positive and reversing from positive to negative.
[0051] Step 103: If a demand torque reversal occurs, start synchronizing the demand torque filtered by L2 with the demand torque filtered by L1.
[0052] In some examples, such as Figure 2 As shown, the required torque before L2 filtering and the required torque before L1 filtering can have a certain deviation threshold. After filtering with the same gradient for a period of time, at time Δ, the required torque after L1 filtering and the required torque after L2 filtering will show opposite signs, causing the torque monitoring to mistakenly believe that the L1 required torque calculation is abnormal and falsely report a safe state. This embodiment can determine in real time whether the required torque has reversed direction, and after the required torque reverses direction, make the required torque value after L2 filtering equal to the required torque value after L1 filtering, so as to achieve required torque synchronization, eliminate the error of the required torque after filtering, and avoid the situation of required torques showing opposite signs.
[0053] This embodiment first obtains the demand torque before L1 and L2 filtering at the current moment during the filtering process of the demand torques of L1 and L2. Then, based on the demand torques before L1 and L2 filtering, it determines whether a demand torque reversal has occurred. If a demand torque reversal has occurred, it begins to synchronize the demand torque after L2 filtering with the demand torque after L1 filtering. Compared with the existing technology, this embodiment can determine whether a demand torque reversal has occurred based on the demand torques before L1 and L2 filtering, and after determining the demand torque reversal, it synchronizes the demand torque after L2 filtering with the demand torque after L1 filtering, ensuring that the deviation between the demand torque after L2 filtering and the demand torque after L1 filtering is less than the deviation threshold. This ensures that the demand torque monitoring will not cause false alarms about safety status due to L2 demand torque filtering deviation, thereby ensuring the normal operation of the vehicle power system.
[0054] Furthermore, as a refinement and extension of the above embodiments, in order to fully illustrate the specific implementation process of the method in this embodiment, this embodiment provides the following: Figure 3 The specific method shown includes:
[0055] Step 201: During the filtering process of the required torques of L1 and L2, obtain the required torques of L1 before filtering and the required torques of L2 before filtering at the current time.
[0056] Among them, the demand torque of L1 is used to determine the power demand of the vehicle, and the demand torque of L2 is used to control the power demand within the range of safe driving of the vehicle.
[0057] In some examples, the required torque before L1 filtering and the required torque before L2 filtering at the current moment can be calculated based on the vehicle dynamics model, driver input (such as accelerator pedal position), current road condition information (such as road slope and friction coefficient), and vehicle state (such as speed and mass distribution).
[0058] Step 202: By analyzing the required torque before L1 filtering and the required torque before L2 filtering, determine whether the torque synchronization flag has changed.
[0059] For example, the logic flow for torque synchronization during L2 filtering is as follows: Figure 4 As shown, the torque synchronization indicator includes a first torque synchronization indicator and a second torque synchronization indicator.
[0060] Optionally, step 202 further includes: determining whether the first torque synchronization flag has changed by analyzing the demand torque before L1 filtering and the demand torque before L2 filtering. The first torque synchronization flag is used to determine whether the demand torque has changed from negative to positive.
[0061] Optionally, the above method of determining whether the first torque synchronization flag has changed by analyzing the demand torque before L1 filtering and the demand torque before L2 filtering can specifically include: determining that the first torque synchronization flag has changed if the demand torque before L1 filtering and the demand torque before L2 filtering did not meet the first preset condition before the current time, and if the demand torque before L1 filtering and the demand torque before L2 filtering meet the first preset condition at the current time.
[0062] Among them, meeting the first preset condition includes: the required torque before L1 filtering and the required torque before L2 filtering are both greater than 0, and the required torque before L2 filtering is greater than the required torque before L1 filtering.
[0063] For example, the initial value of the first torque synchronization flag is set to false. When the conditions such as the required torque before L1 and L2 filtering are both greater than 0 and the required torque before L2 filtering is greater than the required torque before L1 filtering change from not being met to being met, the first torque synchronization flag becomes true.
[0064] For example, if the current time is set to t1, the first torque synchronization flag is false before t1, and becomes true at t1, then it can be determined that the first torque synchronization flag has changed.
[0065] Optionally, step 202 further includes: determining whether the second torque synchronization flag has changed by analyzing the demand torque before L1 filtering and the demand torque before L2 filtering. The second torque synchronization flag is used to determine whether the demand torque has changed from positive to negative.
[0066] Optionally, the above method of determining whether the second torque synchronization flag has changed by analyzing the demand torque before L1 filtering and the demand torque before L2 filtering can specifically include: determining that the second torque synchronization flag has changed if the demand torque before L1 filtering and the demand torque before L2 filtering did not meet the second preset condition before the current time, and if the demand torque before L1 filtering and the demand torque before L2 filtering meet the second preset condition at the current time.
[0067] Among them, meeting the second preset condition includes: the required torque before L1 filtering and the required torque before L2 filtering are both less than 0, and the required torque before L2 filtering is less than the required torque before L1 filtering.
[0068] For example, the initial value of the second torque synchronization flag is set to false. When the conditions such as the required torque before L1 and L2 filtering are both less than 0 and the required torque before L2 filtering is less than the required torque before L1 filtering change from not being met to being met, the second torque synchronization flag becomes true.
[0069] For example, if the current time is set to t2, the second torque synchronization flag is false before t2, and becomes true at t2, then it can be determined that the second torque synchronization flag has changed.
[0070] Step 203: If the torque synchronization flag changes, it is determined that a required torque reversal has occurred.
[0071] In some examples, the required torque can be switched from negative to positive or from positive to negative depending on the needs and operating conditions of the vehicle's control system. For instance, during vehicle acceleration, the driver may require the engine to provide a positive torque to drive the wheels forward (i.e., rotate counterclockwise), while during vehicle braking, the electric motor may act as a generator to produce a negative torque (rotate clockwise) to convert the vehicle's kinetic energy into electrical energy for storage.
[0072] For example, if the first torque synchronization flag changes, the required torque changes from negative to positive; if the second torque synchronization flag changes, the required torque changes from positive to negative.
[0073] Step 204: If a demand torque reversal occurs, start synchronizing the demand torque filtered by L2 with the demand torque filtered by L1.
[0074] In some examples, it is possible to monitor in real time whether the demand torque is reversed and calculate the deviation between the current demand torque after L1 and L2 filtering. This deviation is then used as feedback information to be introduced into the design of the L2 filter. By adjusting the weights or other control parameters, the demand torque after L2 filtering is made equal to the demand torque after L1 filtering.
[0075] For example, such as Figure 5 and Figure 6 As shown in the figure, the dashed lines represent the required torque before filtering for L1 and L2, and the solid lines represent the required torque after filtering for L1 and L2. If the required torque is as follows... Figure 5 If the direction changes from negative to positive, then the required torque after L2 filtering is reduced to be equal to the required torque after L1 filtering; if the required torque is as shown... Figure 6 If the direction changes from positive to negative, the demand torque after L2 filtering is increased to make it equal to the demand torque after L1 filtering. This ensures that the demand torques after L1 and L2 filtering can cross zero synchronously, avoiding the situation where the system incorrectly judges that the current torque value exceeds the safety threshold or enters an unsafe state due to the error generated by L2 demand torque filtering when monitoring the torque of vehicles or mechanical equipment, thus falsely reporting a safe state.
[0076] Optionally, step 204 further includes: starting to keep the demand torque after L2 filtering synchronized with the demand torque after L1 filtering, and when the demand torque after L2 filtering reaches the demand torque before L1 filtering, transitioning to the demand torque before L2 filtering with the same filtering gradient as L1.
[0077] For example, such as Figure 5 and Figure 6 As shown, after the required torque after L2 filtering is kept synchronized with the required torque after L1 filtering, the required torque after L1 and L2 filtering will reach the required torque before L1 filtering at the same time. Then L1 continues to maintain the required torque before filtering, while L2 will continue to transition to the required torque before L2 filtering with the same filtering gradient as L1, and maintain this required torque until the next filtering.
[0078] Compared with the existing technology, this embodiment determines whether a demand torque reversal has occurred based on the demand torque before L1 and L2 filtering. After determining the demand torque reversal, the demand torque after L2 filtering is synchronized with the demand torque after L1 filtering to ensure that the deviation between the demand torque after L2 filtering and the demand torque after L1 filtering is less than the deviation threshold. This ensures that the demand torque monitoring will not cause false alarms of safety status due to L2 demand torque filtering deviation, thereby ensuring the normal operation of the vehicle power system.
[0079] Furthermore, as Figure 1 The specific implementation of the method shown in this embodiment provides a filtering processing device for required torque, such as... Figure 7 As shown, the device includes: an acquisition module 31, a judgment module 32, and a synchronization module 33.
[0080] The acquisition module 31 is configured to acquire the demand torque before L1 filtering and the demand torque before L2 filtering at the current moment during the filtering process of demand torque of L1 and L2, wherein the demand torque of L1 is used to determine the power demand of the vehicle, and the demand torque of L2 is used to control the power demand to be within the range of safe driving of the vehicle.
[0081] The judgment module 32 is configured to determine whether a demand torque commutation has occurred based on the demand torque before the L1 filter and the demand torque before the L2 filter.
[0082] Synchronization module 33 is configured to keep the demand torque after L2 filtering synchronized with the demand torque after L1 filtering if a demand torque reversal occurs.
[0083] In some examples, the determination module 32 is specifically configured to determine whether a first torque synchronization flag has changed by analyzing the demand torque before the L1 filter and the demand torque before the L2 filter. The first torque synchronization flag is used to determine whether the demand torque has changed from negative to positive. If the first torque synchronization flag changes, it is determined that a demand torque reversal has occurred.
[0084] In some examples, the judgment module 32 is further configured to determine that the first torque synchronization flag has changed if the required torque before L1 filtering and the required torque before L2 filtering did not meet the first preset condition before the current time, and the required torque before L1 filtering and the required torque before L2 filtering meet the first preset condition at the current time; wherein, meeting the first preset condition includes: the required torque before L1 filtering and the required torque before L2 filtering are both greater than 0, and the required torque before L2 filtering is greater than the required torque before L1 filtering.
[0085] In some examples, the judgment module 32 is specifically configured to determine whether the second torque synchronization flag has changed by analyzing the demand torque before the L1 filter and the demand torque before the L2 filter. The second torque synchronization flag is used to determine whether the demand torque has changed from positive to negative. If the second torque synchronization flag changes, it is determined that a demand torque reversal has occurred.
[0086] In some examples, the judgment module 32 is further configured to determine that the second torque synchronization flag has changed if the required torque before L1 filtering and the required torque before L2 filtering did not meet the second preset condition before the current time, and the required torque before L1 filtering and the required torque before L2 filtering meet the second preset condition at the current time; wherein, meeting the second preset condition includes: the required torque before L1 filtering and the required torque before L2 filtering are both less than 0, and the required torque before L2 filtering is less than the required torque before L1 filtering.
[0087] In some examples, the synchronization module 33 is specifically configured to initially keep the demand torque after L2 filtering synchronized with the demand torque after L1 filtering, and when the demand torque after L2 filtering reaches the demand torque before L1 filtering, transition to the demand torque before L2 filtering with the same filtering gradient as L1.
[0088] Based on the above, Figure 1 and Figure 3 Accordingly, this embodiment also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described method. Figure 1 and Figure 3 The method shown.
[0089] Based on this understanding, the technical solution of this application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as CD-ROM, USB flash drive, mobile hard drive, etc.) and includes several instructions to cause a computer device (such as personal computer, server, or network device, etc.) to execute the methods of various implementation scenarios of this application.
[0090] Based on the above, Figure 1 and Figure 3 The method shown, and Figure 7 To achieve the above objectives, this application also provides an electronic device, which can be configured on the end side of a vehicle (such as a new energy vehicle), as shown in the virtual device embodiment. The device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to achieve the above-described... Figure 1 and Figure 3 The method shown.
[0091] Optionally, the aforementioned physical devices may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.
[0092] Furthermore, this embodiment also provides a vehicle, which may include, for example: Figure 7 The device shown may include the aforementioned electronic equipment.
[0093] Those skilled in the art will understand that the physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.
[0094] The storage medium may also include an operating system and a network communication module. The operating system is a program that manages the hardware and software resources of the aforementioned physical device, supporting the operation of information processing programs and other software and / or programs. The network communication module is used to enable communication between the various components within the storage medium, as well as communication with other hardware and software in the information processing physical device.
[0095] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented using software plus necessary general-purpose hardware platforms, or it can be implemented in hardware. By applying the solution of this embodiment, it is possible to determine whether a demand torque reversal has occurred based on the demand torque before L1 and L2 filtering. After determining the demand torque reversal, the demand torque after L2 filtering is synchronized with the demand torque after L1 filtering, ensuring that the deviation between the demand torque after L2 filtering and the demand torque after L1 filtering is less than the deviation threshold. This ensures that the demand torque monitoring will not cause false alarms about safety status due to L2 demand torque filtering deviation, thereby guaranteeing the normal operation of the vehicle power system.
[0096] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.
[0097] The above are merely specific embodiments of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.
Claims
1. A filtering method for demand torque, characterized in that, include: During the filtering of the required torque of functional layer L1 and functional safety layer L2, the required torque before L1 filtering and the required torque before L2 filtering at the current moment are obtained. The required torque of L1 is used to determine the power demand of the vehicle, and the required torque of L2 is used to control the power demand to be within the range of safe driving of the vehicle. Based on the required torque before L1 filtering and the required torque before L2 filtering, determine whether a required torque reversal has occurred. If a torque reversal occurs, the demand torque filtered by L2 will be kept synchronized with the demand torque filtered by L1.
2. The method according to claim 1, characterized in that, The step of determining whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering includes: By analyzing the required torque before L1 filtering and the required torque before L2 filtering, it is determined whether the first torque synchronization flag has changed. The first torque synchronization flag is used to determine whether the required torque has changed from negative to positive. If the first torque synchronization flag changes, it is determined that a required torque commutation has occurred.
3. The method according to claim 2, characterized in that, The step of determining whether the first torque synchronization flag has changed by analyzing the required torque before L1 filtering and the required torque before L2 filtering includes: If the required torque before L1 filtering and the required torque before L2 filtering did not meet the first preset condition before the current moment, and the required torque before L1 filtering and the required torque before L2 filtering meet the first preset condition at the current moment, it is determined that the first torque synchronization flag has changed. The conditions for meeting the first preset conditions include: the required torque before L1 filtering and the required torque before L2 filtering are both greater than 0, and the required torque before L2 filtering is greater than the required torque before L1 filtering.
4. The method according to claim 1, characterized in that, The step of determining whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering includes: By analyzing the required torque before L1 filtering and the required torque before L2 filtering, it is determined whether the second torque synchronization flag has changed. The second torque synchronization flag is used to determine whether the required torque has changed from positive to negative. If the second torque synchronization flag changes, it is determined that a required torque reversal has occurred.
5. The method according to claim 4, characterized in that, The step of determining whether the second torque synchronization flag has changed by analyzing the required torque before L1 filtering and the required torque before L2 filtering includes: If the required torque before L1 filtering and the required torque before L2 filtering did not meet the second preset condition before the current moment, and the required torque before L1 filtering and the required torque before L2 filtering meet the second preset condition at the current moment, it is determined that the second torque synchronization flag has changed. The conditions for meeting the second preset conditions include: the required torque before L1 filtering and the required torque before L2 filtering are both less than 0, and the required torque before L2 filtering is less than the required torque before L1 filtering.
6. The method according to any one of claims 1 to 5, characterized in that, The step of keeping the demand torque after L2 filtering synchronized with the demand torque after L1 filtering includes: Initially, the required torque after L2 filtering is kept synchronized with the required torque after L1 filtering. When the required torque after L2 filtering reaches the required torque before L1 filtering, it transitions to the required torque before L2 filtering with the same filtering gradient as L1.
7. A filtering device for demanding torque, characterized in that, include: The acquisition module is configured to acquire the demand torque before L1 filtering and the demand torque before L2 filtering at the current moment during the filtering process of demand torques of L1 and L2, wherein the demand torque of L1 is used to determine the power demand of the vehicle, and the demand torque of L2 is used to control the power demand to be within the range of safe driving of the vehicle. The judgment module is configured to determine whether a demand torque commutation has occurred based on the demand torque before L1 filtering and the demand torque before L2 filtering. The synchronization module is configured to keep the demand torque filtered by L2 synchronized with the demand torque filtered by L1 if a demand torque reversal occurs.
8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.
9. An electronic device, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method of any one of claims 1 to 6.
10. A vehicle, characterized in that, include: The apparatus of claim 7, or the electronic device of claim 9.