Vehicle fault identification method and device, storage medium and equipment

Abstract

The invention provides a vehicle fault identification method and device, a storage medium and equipment, and the method comprises the steps: obtaining an actual torque fed back by a motor module and a request torque of a whole vehicle control module when a vehicle is started and is in a driving state, and calculating a vehicle execution torque according to the actual power of a battery, and vehicle execution torque is calculated according to the acceleration and the vehicle speed fed back by the chassis module, then the four torques are checked, an abnormal torque value is determined, and then the fault type of the vehicle is identified based on the abnormal torque value. Therefore, mutual checking is carried out through multiple torques, and the function nodes can be diagnosed by separating from the fault nodes, so that the faults can be timely and effectively identified, the real effectiveness of the torques in the driving process of the vehicle is ensured, and the driving safety is improved.

Description

Technical Field

[0001] This application relates to the field of fault detection technology, and more specifically, to a vehicle fault identification method, device, storage medium, and equipment. Background Technology

[0002] The stability of vehicle torque is crucial for driving safety; abnormal torque can easily lead to accidents such as loss of control and power interruption. Related technologies typically employ a distributed fault detection architecture to ensure driving safety. Each functional node within the powertrain independently possesses fault self-diagnosis capabilities, monitoring its own status in real time through sensors and algorithms. Upon detecting a fault, it reports it to the vehicle controller via the communication bus. The vehicle controller then triggers safety measures according to preset strategies, such as torque limiting or power reduction. However, this approach relies excessively on the self-detection capabilities of the functional nodes. When a functional node's self-detection function fails, and that node experiences a torque-related fault, the vehicle cannot effectively and promptly identify the fault and initiate appropriate handling strategies, posing a safety risk. Summary of the Invention

[0003] The purpose of this application is to provide a vehicle fault identification method, device, storage medium and equipment, which aims to solve the problem that in related technologies, the scheme that relies on the functional node itself to report the fault type cannot effectively and timely identify the fault when the functional node's own detection function fails, which poses a safety risk.

[0004] In a first aspect, this application provides a vehicle fault identification method, comprising: when the vehicle is started and in a drivable state, acquiring a first torque, a second torque, a third torque, and a fourth torque of the vehicle; the first torque is the vehicle execution torque calculated based on the actual power of the battery; the second torque is the actual torque fed back by the motor module; the third torque is the vehicle execution torque calculated based on the acceleration and vehicle speed fed back by the chassis module; the fourth torque is the requested torque of the vehicle control module; determining abnormal torque values ​​by verifying the first torque, the second torque, the third torque, and the fourth torque; and identifying the fault type of the vehicle based on the abnormal torque values.

[0005] In the above implementation process, when the vehicle starts and is in a drivable state, the actual torque fed back by the motor module and the requested torque from the vehicle control module are acquired. Simultaneously, the vehicle's executed torque is calculated based on the actual battery power and the acceleration and vehicle speed fed back by the chassis module. These four torques are then verified to identify abnormal torque values, and the type of vehicle fault is identified based on these abnormal torque values. In this way, by cross-verifying multiple torques, functional nodes can be diagnosed independently of the fault node itself, thereby identifying faults promptly and effectively, ensuring the true validity of torque during vehicle operation, and improving driving safety.

[0006] Furthermore, in some examples, before obtaining the first torque, second torque, third torque, and fourth torque of the vehicle, the process includes: detecting whether the communication between the vehicle control module and the motor module, battery module, chassis module, and thermal management module is faulty; if a communication fault is detected, executing a communication fault handling strategy; the step of obtaining the first torque, second torque, third torque, and fourth torque of the vehicle is executed if the detection result is negative.

[0007] In the above implementation process, when the vehicle starts and is in a drivable state, it first checks whether there is a communication fault in each module. If a communication fault is detected, it is handled accordingly. If no communication fault is detected, multiple torque values ​​are used for mutual verification to identify the fault. In this way, the vehicle can identify faults in a timely and effective manner and perform corresponding fault handling, thereby improving driving safety.

[0008] Furthermore, in some examples, the first torque is calculated based on the following method: subtracting the power fed back by the thermal management module from the actual power of the battery to obtain the output power; calculating the motor speed based on the vehicle speed, motor transmission ratio, and vehicle rolling radius fed back by the chassis module; and calculating the first torque based on the output power and the motor speed.

[0009] In the above implementation process, a specific method is provided for calculating the vehicle's execution torque based on the actual power of the battery.

[0010] Furthermore, in some examples, the third torque is calculated based on the following: calculating the vehicle's coasting resistance based on the vehicle speed fed back by the chassis module; calculating the vehicle's driving force based on the vehicle's coasting resistance and the acceleration fed back by the chassis module; and calculating the third torque based on the vehicle's driving force, the motor transmission ratio, and the vehicle's rolling radius.

[0011] In the above implementation process, a specific method is provided for calculating the vehicle's execution torque based on the vehicle speed and acceleration fed back by the chassis module.

[0012] Furthermore, in some examples, determining abnormal torque values ​​by verifying the first torque, the second torque, the third torque, and the fourth torque includes: forming a torque set from the first torque, the second torque, the third torque, and the fourth torque; calculating the mean and standard deviation of the torque set; calculating the deviation value of each torque in the torque set based on the mean and the standard deviation; and determining abnormal torque values ​​from the torque set based on the deviation values ​​of each torque.

[0013] In the above implementation process, when verifying the torque of the four vehicles, the deviation value of each torque is calculated based on the mean and standard deviation of the torque of the four vehicles. Therefore, based on the deviation value of each torque, outliers that significantly deviate from the normal range in the torque set can be identified.

[0014] Furthermore, in some examples, calculating the deviation value of each torque in the torque set based on the mean and the standard deviation includes: for any torque in the torque set, calculating the difference obtained by subtracting the mean from the torque; and determining the ratio of the absolute value of the difference to the deviation value as the deviation value of the torque.

[0015] In the above implementation process, a specific method for calculating the deviation value of each torque is provided.

[0016] Furthermore, in some examples, determining abnormal torque values ​​from the torque set based on the deviation values ​​of each torque includes: if the deviation value of any torque in the torque set is greater than a first calibration value, and the deviation values ​​of the remaining torques are all less than the first calibration value, the torque with a deviation value greater than the first calibration value is determined as an abnormal torque value; if the deviation values ​​of two torques in the torque set are both greater than the first calibration value, the torque with the largest deviation value among the two torques is removed, the mean and standard deviation of the remaining three torques are recalculated, and based on the recalculated mean and standard deviation, the deviation values ​​of the remaining three torques are recalculated; when only one of the remaining three torques has a deviation value greater than a second calibration value, both the removed torque and the torque with a deviation value greater than the second calibration value are determined as abnormal torque values.

[0017] In the above implementation process, when the deviation value of a certain torque is greater than the first calibration value, that torque is discarded. If the deviation values ​​of the remaining torques are all less than the first calibration value, the discarded torque is determined to be an abnormal torque value. When the deviation values ​​of two torques are both greater than the first calibration value, the torque with the largest deviation value is discarded first. Then, the mean, standard deviation, and deviation value of the remaining three torques are recalculated. If only one deviation value is greater than the second calibration value at this time, both the discarded torque and the torque corresponding to that deviation value are determined to be abnormal torque values. In this way, the accurate identification of abnormal torque values ​​is achieved.

[0018] Furthermore, in some examples, identifying the vehicle's fault type based on the abnormal torque value includes: if the abnormal torque value is the first torque, determining the vehicle's fault type as a first fault type; if the abnormal torque value is the second torque, determining the vehicle's fault type as a second fault type; if the abnormal torque value is the third torque, determining the vehicle's fault type as a third fault type; if the abnormal torque value is the fourth torque, determining the vehicle's fault type as a fourth fault type; and if the abnormal torque value is both the first torque and the third torque, determining the vehicle's fault type as a fifth fault type.

[0019] In the above implementation process, by focusing on the above types of faults, the root cause of the problem can be quickly located, ensuring driving safety.

[0020] Furthermore, in some examples, the method also includes: locating the faulty module based on the identified fault type, and executing a fault handling strategy corresponding to the faulty module.

[0021] In the above implementation process, after identifying the fault type, the faulty module is located based on the fault type, and the corresponding fault handling strategy is executed. This improves fault handling efficiency and ensures system stability.

[0022] Secondly, this application provides a vehicle fault identification device, comprising: an acquisition module, configured to acquire a first torque, a second torque, a third torque, and a fourth torque of the vehicle when the vehicle is started and in a drivable state; the first torque is the vehicle execution torque calculated based on the actual power of the battery; the second torque is the actual torque fed back by the motor module; the third torque is the vehicle execution torque calculated based on the acceleration and vehicle speed fed back by the chassis module; and the fourth torque is the requested torque of the vehicle control module; a verification module, configured to determine abnormal torque values ​​by verifying the first torque, the second torque, the third torque, and the fourth torque; and an identification module, configured to identify the fault type of the vehicle based on the abnormal torque values.

[0023] Thirdly, this application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method described in any of the first aspects.

[0024] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.

[0025] Fifthly, this application provides a computer program product that, when run on a computer, causes the computer to perform the method described in any of the first aspects.

[0026] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.

[0027] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0028] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 A flowchart of a vehicle fault identification method provided in this application embodiment; Figure 2 A schematic diagram of the system architecture involved in a fault identification scheme for an electric vehicle provided in an embodiment of this application; Figure 3 A schematic diagram illustrating the workflow of a fault identification scheme for an electric vehicle provided in an embodiment of this application; Figure 4 A block diagram of a vehicle fault identification device provided in an embodiment of this application; Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0030] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0031] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0032] The stability of vehicle torque is directly related to driving safety; abnormal torque can easily lead to accidents such as loss of vehicle control and power interruption. Related technologies typically employ a distributed fault detection architecture to ensure driving safety. Each functional node within the powertrain has independent fault self-diagnosis capabilities. They monitor their own operating status in real time using sensors and algorithms. Once a fault is detected, they report the fault information to the vehicle controller via the communication bus, and the vehicle controller then initiates safety response measures according to pre-set strategies. However, this approach relies excessively on the self-detection capabilities of the functional nodes. When the self-detection function of a functional node fails, and that node experiences a torque-related fault, the vehicle will be unable to identify the fault and initiate a timely and effective handling strategy, thus creating a potential safety hazard.

[0033] To address the aforementioned issues, this application provides a vehicle fault identification scheme. When the vehicle is started and in a drivable state, the actual torque fed back by the motor module and the requested torque from the vehicle control module are acquired. Simultaneously, the vehicle's executed torque is calculated based on the actual battery power and the acceleration and vehicle speed fed back by the chassis module. These four torques are then verified to identify abnormal torque values, and the type of vehicle fault is identified based on these abnormal torque values. In this way, by cross-verifying multiple torques, functional nodes can be diagnosed independently of the fault node itself, thereby identifying faults promptly and effectively, ensuring the authenticity and validity of torque during vehicle operation, and improving driving safety.

[0034] The embodiments of this application will be described below: like Figure 1 As shown, Figure 1 This is a flowchart illustrating a vehicle fault identification method provided in an embodiment of this application. The method can be applied to a vehicle control module, which can be a single controller or a computing unit within a domain controller.

[0035] The method includes: Step 101: When the vehicle is started and in a drivable state, acquire the first torque, second torque, third torque and fourth torque of the vehicle; the first torque is the vehicle execution torque calculated through the actual power of the battery; the second torque is the actual torque fed back by the motor module; the third torque is the vehicle execution torque calculated through the acceleration and vehicle speed fed back by the chassis module; the fourth torque is the requested torque of the vehicle control module. The first, second, third, and fourth torques mentioned in this step can be considered as the vehicle torque calculated using parameters from different functional nodes, sensors, and control modules. The actual battery power mentioned in this step can be the actual power fed back by the battery module, or it can be calculated based on the current and voltage fed back by the battery module.

[0036] In some embodiments, the process of obtaining the first, second, third, and fourth torques of the vehicle mentioned in this step may include: detecting whether there is a communication failure between the vehicle control module and the motor module, battery module, chassis module, and thermal management module; if a communication failure is detected, executing a communication failure handling strategy; the step of obtaining the first, second, third, and fourth torques of the vehicle is executed if the detection result is negative. That is, when the vehicle is started and in a drivable state, the vehicle control module can first detect whether there is a communication failure in the motor module, battery module, chassis module, thermal management module, etc. If a communication failure is detected, it is handled as a communication failure; if no communication failure is detected, multiple torque values ​​are cross-checked to identify the fault. This allows the vehicle to identify faults promptly and effectively and perform corresponding fault handling, thereby improving driving safety.

[0037] In some embodiments, the first torque mentioned in this step can be calculated based on the following method: subtracting the power fed back by the thermal management module from the actual power of the battery to obtain the output power; calculating the motor speed based on the vehicle speed, motor transmission ratio, and vehicle rolling radius fed back by the chassis module; and calculating the first torque based on the output power and the motor speed. That is, based on the actual power of the battery... When calculating the overall vehicle torque, the actual battery power can be used as a reference. Power fed back by the thermal management module Calculate the output power At the same time, based on the vehicle speed fed back by the chassis module Motor transmission ratio and vehicle rolling radius Calculate the motor speed Furthermore, combined with motor efficiency The first torque can then be calculated. .

[0038] In some embodiments, the third torque mentioned in this step can be calculated based on the following: calculating the vehicle's coasting resistance based on the vehicle speed fed back by the chassis module; calculating the vehicle's driving force based on the vehicle's coasting resistance and the acceleration fed back by the chassis module; and calculating the third torque based on the vehicle's driving force, the motor transmission ratio, and the vehicle's rolling radius. That is, based on the vehicle speed fed back by the chassis module... and acceleration When calculating the total torque of a vehicle, the vehicle's sliding resistance can be calculated first based on the vehicle sliding resistance formula. In the formula , and These are parameters in the sliding resistance formula, which can be obtained through actual vehicle testing; then, combined with the overall vehicle mass... The vehicle's driving force can be calculated. Finally, considering the motor transmission ratio and vehicle rolling radius The third torque can then be calculated. .

[0039] Additionally, the second torque mentioned in this step This is the actual torque fed back by the motor module, i.e., the actual torque executed by the motor, while the fourth torque... It is the requested torque from the vehicle control module. It can be the torque command value that the vehicle control module calculates and sends to the MCU (Motor Control Unit) based on the accelerator pedal opening, vehicle status and energy management requirements.

[0040] Step 102: Determine abnormal torque values ​​by verifying the first torque, the second torque, the third torque, and the fourth torque; In this embodiment, by using parameters from different functional nodes, different sensors, and different control modules, the torque, a key parameter affecting driving safety, is checked, and the fault type can be identified in a timely manner.

[0041] In some embodiments, this step may include: forming a torque set by combining the first torque, the second torque, the third torque, and the fourth torque; calculating the mean and standard deviation of the torque set; calculating the deviation value of each torque in the torque set based on the mean and the standard deviation; and determining abnormal torque values ​​from the torque set based on the deviation values ​​of each torque. In other words, when verifying the torques of the four vehicles, the mean of the torque set can be calculated first. and standard deviation ,in , Then, using this mean and standard deviation Calculate the deviation value for each torque. The deviation value at this time This can characterize the degree to which the corresponding torque deviates from the mean; therefore, based on the deviation value of each torque... It can identify outliers in the torque set that significantly deviate from the normal range, i.e., abnormal torque values.

[0042] Optionally, calculating the deviation value of each torque in the torque set based on the mean and the standard deviation, as mentioned above, may include: for any torque in the torque set, calculating the difference obtained by subtracting the mean from the torque; and determining the deviation value of the torque as the ratio of the absolute value of the difference to the deviation value. That is, the Z-score (standard score) can be used to represent the deviation value of each torque. To eliminate the influence of dimensions, i.e. If the deviation of a torque value is 2.5, it means that it deviates from the mean by 2.5 times the standard deviation, which is considered a high risk of anomaly. In this way, abnormal torque values ​​that deviate significantly from the normal range can be effectively identified.

[0043] Further, in some embodiments, the aforementioned method of determining abnormal torque values ​​from the torque set based on the deviation values ​​of each torque may include: if the deviation value of any torque in the torque set is greater than a first calibration value, and the deviation values ​​of the remaining torques are all less than the first calibration value, the torque with a deviation value greater than the first calibration value is determined as an abnormal torque value; if the deviation values ​​of two torques in the torque set are both greater than the first calibration value, the torque with the largest deviation value among the two torques is removed, the mean and standard deviation of the remaining three torques are recalculated, and based on the recalculated mean and standard deviation, the deviation values ​​of the remaining three torques are recalculated; when only one of the remaining three torques has a deviation value greater than a second calibration value, both the removed torque and the torque with a deviation value greater than the second calibration value are determined as abnormal torque values. In other words, when the deviation value of a certain torque is greater than the first calibration value... If the deviation value of the remaining torque is less than a certain value, then the torque is discarded. If the torque value is greater than 1, then the torque to be removed is determined to be an abnormal torque value; when the deviation values ​​of two torques are both greater than 1, the torque value to be removed is determined to be abnormal torque value. If the torque with the largest deviation is removed, the mean, standard deviation, and deviation of the remaining three torques are recalculated. If only one deviation is greater than the second calibration value at this point... Then, both the rejected torque and the torque corresponding to the deviation value are identified as abnormal torque values. This achieves accurate identification of abnormal torque values. Among them, the first calibration value... Second calibration value The calibration parameters can be determined by setting the confidence level and combining historical fault data.

[0044] Step 103: Based on the abnormal torque value, identify the fault type of the vehicle.

[0045] This embodiment of the solution determines abnormal torque values ​​by verifying the relationship between four torques, and then identifies the fault type based on the abnormal torque values, providing a basis for subsequent fault handling and thereby improving vehicle driving safety.

[0046] In some embodiments, this step may include: if the abnormal torque value is the first torque, determining the vehicle's fault type as a first fault type; if the abnormal torque value is the second torque, determining the vehicle's fault type as a second fault type; if the abnormal torque value is the third torque, determining the vehicle's fault type as a third fault type; if the abnormal torque value is the fourth torque, determining the vehicle's fault type as a fourth fault type; and if the abnormal torque value is both the first torque and the third torque, determining the vehicle's fault type as a fifth fault type. In other words, when no abnormal torque value is found in the torque set, it is determined that the vehicle has no torque-related fault. When the first torque is abnormal, the vehicle's fault type is determined to be the first fault type, indicating a battery module detection anomaly. When the second torque is abnormal, the vehicle's fault type is determined to be the second fault type, indicating that the motor module feedback is abnormal but actual execution is normal. When the third torque is abnormal, the vehicle's fault type is determined to be the third fault type, indicating a chassis module detection anomaly. When the fourth torque is abnormal, the vehicle's fault type is determined to be the fourth fault type, indicating that the motor module did not execute according to the vehicle control module's request, but the feedback torque matches the actual executed torque. When both the first and third torques are abnormal, the vehicle's fault type is determined to be the fifth fault type, indicating that the actual motor torque is abnormal, but the feedback has executed according to the vehicle control module's request. These fault types are meaningful fault types determined based on actual engineering applications. By focusing on these fault types, the root cause of the problem can be quickly located, ensuring driving safety.

[0047] Furthermore, in some embodiments, the system may also include: locating the faulty module based on the identified fault type and executing a fault handling strategy corresponding to the faulty module. That is, after identifying the fault type, the faulty module can be located based on the fault type, and a corresponding fault handling strategy can be executed. For example, if the vehicle's fault type is the first fault type, the faulty module can be preliminarily diagnosed as the battery module, and a fault handling strategy corresponding to the battery module can be executed, such as correcting parameter settings or notifying the owner to replace the damaged sensor. This improves fault handling efficiency and ensures system stability.

[0048] In this embodiment, when the vehicle is started and in a drivable state, the actual torque fed back by the motor module and the requested torque from the vehicle control module are acquired. Simultaneously, the vehicle's executed torque is calculated based on the actual battery power and the acceleration and vehicle speed fed back by the chassis module. These four torques are then verified to identify abnormal torque values, and the vehicle's fault type is identified based on these abnormal torque values. In this way, by cross-verifying multiple torques, functional nodes can be diagnosed independently of the fault node itself, thereby identifying faults promptly and effectively, ensuring the authenticity and validity of torque during vehicle operation, and improving driving safety.

[0049] To provide a more detailed explanation of the solution in this application, a specific embodiment is described below: This embodiment provides a fault identification scheme for electric vehicles. The system architecture involved in this scheme is as follows: Figure 2 As shown, the system includes a vehicle control module 21, a battery module 22, a motor module 23, a chassis module 24, and a thermal management module 25.

[0050] The workflow of this solution is as follows: Figure 3 As shown, it includes: S301. The vehicle is started and in a drivable state; S302, The vehicle control module 21 detects whether there is a communication fault in the battery module 22, motor module 23, chassis module 24 and thermal management module 25. If yes, execute S303; otherwise, execute S304. S303. Execute the communication failure handling strategy, and then end the process; S304. Calculate the vehicle's operating torque using the current and voltage fed back from the battery module 22. Obtain the execution torque fed back by motor module 23 The vehicle's torque is calculated based on the acceleration and speed fed back by the chassis module 24. Obtain the requested torque from the vehicle control module 21. ; Specifically, torque The calculation formula is as follows:

[0051]

[0052]

[0053]

[0054] In the formula, and These are the current and voltage fed back by the battery module 22, respectively, in amperes (A) and volts (V). This is the actual power of the battery, in kilowatts (kW). The power fed back by the thermal management module 25 is in kilowatts (kW). Output power, in kilowatts (kW). The vehicle speed is fed back by chassis module 24, in kilometers per hour (km / h). This is the motor transmission ratio, which is the design value, expressed in % (%). The vehicle's rolling radius is obtained through measurement and is measured in meters (m). This refers to the motor speed, measured in revolutions per minute (rpm). The motor efficiency is calculated based on experimental measurements and is expressed as % (%). Torque The calculation formula is as follows:

[0055]

[0056]

[0057] In the formula, The resistance to vehicle sliding is expressed in Newtons (N). , and These are parameters in the sliding resistance formula, which are obtained through actual vehicle testing. The total vehicle mass is expressed in kilograms (kg); the acceleration fed back by chassis module 24 is expressed in meters per second squared (m / s²). 2 ); S305, Calculate Torque , , , The mean and standard deviation are used to calculate the deviation value for each torque. S306. Determine the abnormal torque value based on the deviation value of each torque; Specifically, when the deviation value of a certain torque is greater than If the deviation value of the remaining torque is less than a certain value, then the torque is discarded. If the torque value is greater than 1, then the torque to be removed is determined to be an abnormal torque value; when the deviation values ​​of two torques are both greater than 1, the torque value to be removed is determined to be abnormal torque value. If the torque with the largest deviation is removed, the mean, standard deviation, and deviation of the remaining three torques are recalculated. If only one deviation is greater than the maximum deviation, the torque is then removed. Then the rejected torque and the torque corresponding to the deviation value are both determined as abnormal torque values; and The calibration parameters are determined based on confidence levels and historical fault data. S307. Identify the fault type based on the abnormal torque value, and set the torque fault identification code according to the identified fault type; Specifically, the torque fault code Tq_Errcode is used to indicate detected vehicle torque-related faults; when no abnormal torque value is detected, Tq_Errcode=0, indicating no fault; when the abnormal torque value is [missing value], [missing value]. When Tq_Errcode=1, it indicates that battery module 22 has detected an abnormality; when the abnormal torque value is torque... When Tq_Errcode=2, it indicates that motor module 23 reports an abnormality but actually executes normally; when the abnormal torque value is the torque... When Tq_Errcode=3, it indicates that the chassis module 24 detected an anomaly; when the abnormal torque value is torque... When Tq_Errcode=4, it indicates that the motor module 22 did not execute the request from the vehicle control module 21, but the feedback torque matches the actual executed torque; when the abnormal torque value is torque... and torque When Tq_Errcode=5, it indicates that the actual torque of the motor is abnormal, but the feedback has been executed according to the request of the vehicle control module 21. For example, if the vehicle requests 5Nm, the motor feedback has executed 5Nm, but the actual execution is 0Nm.

[0058] This embodiment verifies the torque, a key parameter affecting driving safety, by using parameters from different functional nodes, different sensors, and different control modules. It can promptly identify fault types and ensure driving safety. Compared with related technologies that rely on functional nodes to report fault types themselves, this solution has higher diagnostic coverage.

[0059] Corresponding to the embodiments of the aforementioned methods, this application also provides embodiments of a vehicle fault identification device and a terminal thereof: like Figure 4 As shown, Figure 4 This is a block diagram of a vehicle fault identification device provided in an embodiment of this application. The device includes: The acquisition module 41 is used to acquire the first torque, second torque, third torque and fourth torque of the vehicle when the vehicle is started and in a drivable state; the first torque is the vehicle execution torque calculated by the actual power of the battery; the second torque is the actual torque fed back by the motor module; the third torque is the vehicle execution torque calculated by the acceleration and vehicle speed fed back by the chassis module; and the fourth torque is the requested torque of the vehicle control module. Verification module 42 is used to determine abnormal torque values ​​by verifying the first torque, the second torque, the third torque, and the fourth torque; The identification module 43 is used to identify the fault type of the vehicle based on the abnormal torque value.

[0060] The specific implementation process of the functions and roles of each module in the above device can be found in the implementation process of the corresponding steps in the above method, and will not be repeated here.

[0061] This application also provides an electronic device, please refer to [link to application]. Figure 5 , Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 510, a communication interface 520, a memory 530, and at least one communication bus 540. The communication bus 540 is used to enable direct communication between these components. In this embodiment, the communication interface 520 of the electronic device is used for signaling or data communication with other node devices. The processor 510 may be an integrated circuit chip with signal processing capabilities.

[0062] The processor 510 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 510 can be any conventional processor.

[0063] The memory 530 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 530 stores computer-readable instructions. When these computer-readable instructions are executed by the processor 510, the electronic device can perform the aforementioned operations. Figure 1 The various steps involved in the method implementation examples.

[0064] Alternatively, the electronic device may also include a storage controller and an input / output unit.

[0065] The memory 530, storage controller, processor 510, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 540. The processor 510 is used to execute executable modules stored in the memory 530, such as software function modules or computer programs included in electronic devices.

[0066] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.

[0067] Understandable. Figure 5 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented using hardware, software, or a combination thereof.

[0068] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.

[0069] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.

[0070] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0071] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0072] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0074] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0075] It should be noted that, in this document, relational terms such as "first" and "second" are used only 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 terms "comprising," "including," or any other variations thereof are 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 said element.

Claims

1. A vehicle failure recognition method characterized by, The method comprises the steps of: When the vehicle starts and is in a drivable state, acquiring a first torque, a second torque, a third torque and a fourth torque of the vehicle; The first torque is the vehicle execution torque calculated by the actual power of the battery; the second torque is the actual torque fed back by the motor module; the third torque is the vehicle execution torque calculated by the acceleration and vehicle speed fed back by the chassis module; and the fourth torque is the requested torque of the vehicle control module; By checking the first torque, the second torque, the third torque and the fourth torque, an abnormal torque value is determined; Based on the abnormal torque value, the fault type of the vehicle is identified.

2. The method of claim 1, wherein, Before the step of acquiring the first torque, the second torque, the third torque and the fourth torque of the vehicle, the method comprises the steps of: Detecting whether the communication between the vehicle control module and the motor module, the battery module, the chassis module and the thermal management module is faulty; If a communication fault is detected, a communication fault handling strategy is executed; The step of acquiring the first torque, the second torque, the third torque and the fourth torque of the vehicle is executed under the condition that the detection result is no.

3. The method of claim 1, wherein, The first torque is calculated based on the following method: The output power is obtained by subtracting the power fed back by the thermal management module from the actual power of the battery; The motor speed is calculated according to the vehicle speed fed back by the chassis module, the motor transmission ratio and the vehicle rolling radius; The first torque is calculated according to the output power and the motor speed.

4. The method of claim 1, wherein, The third torque is calculated based on the following method: The vehicle sliding resistance is calculated according to the vehicle speed fed back by the chassis module; The vehicle driving force is calculated according to the vehicle sliding resistance and the acceleration fed back by the chassis module; The third torque is calculated based on the vehicle driving force, the motor transmission ratio and the vehicle rolling radius.

5. The method of claim 1, wherein, The step of determining the abnormal torque value by checking the first torque, the second torque, the third torque and the fourth torque comprises the steps of: The first torque, the second torque, the third torque and the fourth torque are combined to form a torque set, and the mean value and the standard deviation of the torque set are calculated; The deviation value of each torque in the torque set is calculated according to the mean value and the standard deviation; Based on the deviation value of each torque, the abnormal torque value is determined from the torque set.

6. The method of claim 5, wherein, The step of calculating the deviation value of each torque in the torque set according to the mean value and the standard deviation comprises the steps of: For any torque in the torque set, the difference value obtained by subtracting the mean value from the torque is calculated; The ratio of the absolute value of the difference value to the deviation value is determined as the deviation value of the torque.

7. The method of claim 6, wherein, The step of determining the abnormal torque value from the torque set based on the deviation value of each torque comprises the steps of: If the deviation value of any one torque in the torque set is greater than a first calibration value, and the deviation values of the remaining torques are all less than the first calibration value, the torque with the deviation value greater than the first calibration value is determined as the abnormal torque value. If the deviation values of two torques in the torque set are both greater than the first calibration value, the torque with the largest deviation value is removed, the mean and standard deviation of the remaining three torques are recalculated, the deviation values of the remaining three torques are recalculated based on the recalculated mean and standard deviation, and when only one torque in the remaining three torques has a deviation value greater than a second calibration value, the removed torque and the torque with a deviation value greater than the second calibration value are both determined as abnormal torque values.

8. The method of claim 7, wherein, The abnormal torque values are used to identify a fault type of the vehicle, including: If the abnormal torque value is the first torque, the fault type of the vehicle is determined as a first fault type; if the abnormal torque value is the second torque, the fault type of the vehicle is determined as a second fault type; if the abnormal torque value is the third torque, the fault type of the vehicle is determined as a third fault type; if the abnormal torque value is the fourth torque, the fault type of the vehicle is determined as a fourth fault type; and if the abnormal torque value is the first torque and the third torque, the fault type of the vehicle is determined as a fifth fault type.

9. The method of claim 8, wherein, Further comprising: According to the identified fault type, a fault module is located, and a fault processing strategy corresponding to the fault module is executed.

10. A vehicle failure recognition apparatus characterized by comprising: Comprising: The acquisition module is configured to acquire a first torque, a second torque, a third torque and a fourth torque of the vehicle when the vehicle is started and in a drivable state; the first torque is a vehicle execution torque calculated by a battery actual power; the second torque is an actual torque fed back by a motor module; the third torque is a vehicle execution torque calculated by an acceleration and a vehicle speed fed back by a chassis module; and the fourth torque is a requested torque of a vehicle control module; The checking module is configured to determine an abnormal torque value by checking the first torque, the second torque, the third torque and the fourth torque; The identification module is configured to identify a fault type of the vehicle based on the abnormal torque value.

11. A computer readable storage medium characterized by, A computer program is stored thereon, and the computer program is executed by a processor to implement the method in any one of claims 1 to 9.

12. An electronic device, comprising: A processor, a memory and a computer program stored on the memory and executable on the processor are included, and the processor implements the method in any one of claims 1 to 9 when executing the computer program. A processor, a memory and a computer program stored on the memory and executable on the processor are included, and the processor implements the method in any one of claims 1 to 9 when executing the computer program.

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