Vehicle control method, vehicle control apparatus and vehicle

Abstract

Provided in the present application are a vehicle control method, a vehicle control apparatus and a vehicle. The vehicle control method is applied to a vehicle control unit, and comprises: acquiring an electric motor torque request and an engine torque request in a target vehicle, and a filtered electric motor torque request and a filtered engine torque request; obtaining upper and lower limits of an electric motor torque and upper and lower limits of an engine torque on the basis of the electric motor torque request and the engine torque request; if the filtered electric motor torque request is located outside the upper and lower limits of the electric motor torque, controlling the electric motor torque to be reset to zero; and if the filtered engine torque request is located outside the upper and lower limits of the engine torque, controlling the engine torque to be reset to zero. The vehicle control method can reduce the occurrence probability of a vehicle stall.

Description

Vehicle control method, vehicle control device, and vehicle

[0001] This application claims priority to Chinese patent application No. 202410378591X, filed on March 29, 2024, entitled “Vehicle Control Method, Vehicle Control Device, and Vehicle,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, a vehicle control device, and a vehicle in the field of vehicle control technology. Background Art

[0003] For vehicles with multiple power sources (e.g., four-wheel drive vehicles), the driver's torque request is typically reset to zero when unexpected torque is detected. However, from a practical driving perspective, frequent stalls can severely impact the driver's experience. Therefore, reducing the likelihood of stalls has become a pressing issue. Summary of the Invention

[0004] The present application provides a vehicle control method, a vehicle control device, and a vehicle. The vehicle control method can perform more fine-grained fault detection on the vehicle's torque request, clear the torque on a single path with a torque fault, and reduce the probability of vehicle stalling.

[0005] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by practice of the present application.

[0006] In the first aspect, the present application provides a vehicle control method, which is applied to a vehicle controller. The vehicle control method includes: obtaining a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request in a target vehicle; obtaining upper and lower limits of the motor torque and upper and lower limits of the engine torque based on the motor torque request and the engine torque request; if the filtered motor torque request is outside the upper and lower limits of the motor torque, controlling the motor torque to be cleared; if the filtered engine torque request is outside the upper and lower limits of the engine torque, controlling the engine torque to be cleared.

[0007] In the above technical solution, the upper and lower limits of the motor torque and the upper and lower limits of the engine torque are obtained based on the motor torque request and the engine torque request; since the upper and lower limits of the motor torque and the upper and lower limits of the engine torque are determined based on the motor torque request and the engine torque request respectively, by determining the upper and lower limits for the torque paths in the vehicle respectively, the accuracy of the upper and lower limits of each torque path in the vehicle can be improved; compared with the prior art, when the driver's torque request is cleared when an unexpected torque request is detected in the vehicle, in the present application, if the filtered motor torque request is outside the upper and lower limits of the motor torque, the motor torque is controlled to be cleared, and if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is controlled to be cleared; thereby, the vehicle's torque request is subjected to more fine-grained fault detection, and in the event of a torque fault in a single path, the torque of the single path is targeted to be cleared, which can reduce the probability of vehicle stalling and improve the driving experience of the driver and passengers.

[0008] In a possible implementation, a first filtering process is performed on the motor torque request to obtain upper and lower limits of the motor torque; and a first filtering process is performed on the engine torque request to obtain upper and lower limits of the engine torque.

[0009] In the above technical solution, the motor torque request is subjected to a first filtering process to obtain the upper and lower limits of the motor torque, and the engine torque request is subjected to a first filtering process to obtain the upper and lower limits of the engine torque. Compared with determining the upper and lower limits of the motor / engine torque through the motor / engine torque request, the upper and lower limits of the motor / engine torque are determined by filtering the motor / engine torque request in this solution, which can improve the accuracy of the upper and lower limits of the motor / engine torque, and perform torque fault detection on this basis, which can improve the accuracy of fault detection.

[0010] In one possible implementation, the motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; the vehicle control method also includes: performing a first filtering process on the front motor torque request and the rear motor torque request to obtain the upper and lower limits of the front motor torque and the upper and lower limits of the rear motor torque; if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, controlling the front motor torque to be cleared; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, controlling the rear motor torque to be cleared.

[0011] In one possible implementation, if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor fault flag is activated to clear the front motor torque; if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, the rear motor fault flag is activated to clear the rear motor torque.

[0012] In the above technical solution, if the filtered front motor / rear motor torque request is outside the upper and lower limits of the front motor / rear motor torque, the front motor / rear motor fault flag is activated to clear the front motor / rear motor torque; since whether the front motor / rear motor torque is cleared is obtained through detection, the torque fault detection of the motor in the target vehicle is performed in a finer granularity, and the motor torque is cleared in a targeted manner, it can be ensured that when a torque fault occurs in a single path, the vehicle will not completely stall, thereby improving the driving experience of the driver and passengers.

[0013] In one possible implementation, if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine fault flag is activated to reset the engine torque to zero.

[0014] In the above technical solution, if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine fault flag is activated to clear the engine torque. Since whether the engine torque is cleared is obtained through detection, by performing torque fault detection on the engine in the target vehicle at a finer granularity and clearing the engine torque in a targeted manner, it can be ensured that when a torque fault occurs on a single path, the vehicle will not completely stall, thereby improving the driving experience of the driver and passengers.

[0015] In one possible implementation, the vehicle control method further includes: performing torque distribution on the driver torque request to generate a motor torque request and an engine torque request; performing a second filtering process on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request.

[0016] In the above technical solution, a second filtering process is performed on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request. Since the torque fault detection of the motor and the engine is performed based on the filtered torque request, the accuracy of the torque fault detection of the motor and the engine can be improved by detecting whether a torque fault occurs in the motor and the engine through the filtered torque request.

[0017] In one possible implementation, the vehicle control method further includes: if the filtered motor torque request is outside the upper and lower limits of the motor torque, outputting motor prompt information; wherein the motor prompt information is used to indicate that there is an abnormality in the motor; if the filtered engine torque request is outside the upper and lower limits of the engine torque, outputting engine prompt information; wherein the engine prompt information is used to indicate that there is an abnormality in the engine.

[0018] In the above technical solution, prompt information is output in a targeted manner to indicate that there is an abnormality in the motor or engine, allowing the user to repair the motor or engine, thereby improving the safety of the vehicle and the driver and passengers.

[0019] In one possible implementation, the vehicle controller includes a monitoring layer and a functional layer; the vehicle control method also includes: obtaining the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle sent by the functional layer through the monitoring layer; and obtaining the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request through the monitoring layer.

[0020] In a second aspect, the present application provides a vehicle control method, which is applied to a vehicle controller. The vehicle control method includes: obtaining a driver torque request in a target vehicle, performing torque distribution based on the driver torque request, and generating a motor torque request and an engine torque request; filtering the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request; obtaining a first torque upper and lower limit based on vehicle parameters of the target vehicle; obtaining a second torque upper and lower limit based on the motor torque request and the engine torque request; obtaining a motor torque upper and lower limit and an engine torque upper and lower limit based on the motor torque request and the engine torque request; if the driver torque request is outside the first torque upper and lower limits, or if the driver torque request is outside the second torque upper and lower limits, controlling the vehicle torque to be cleared; if the filtered motor torque request is outside the motor torque upper and lower limits, controlling the motor torque to be cleared; if the filtered engine torque request is outside the engine torque upper and lower limits, controlling the engine torque to be cleared.

[0021] In one possible implementation, a driver torque request in the target vehicle is obtained based on vehicle parameters of the target vehicle; the vehicle parameters include pedal position, vehicle speed, and brake master cylinder pressure.

[0022] In one possible implementation, a vehicle controller includes a monitoring layer and a functional layer; the monitoring layer obtains a driver torque request in a target vehicle sent by the functional layer; the monitoring layer obtains a motor torque request and an engine torque request generated by torque distribution based on the driver torque sent by the functional layer; the monitoring layer obtains a filtered motor torque request and an engine torque request sent by the functional layer by filtering the motor torque request and the engine torque request; the monitoring layer obtains a first torque upper and lower limit based on vehicle parameters of the target vehicle; the monitoring layer obtains a second torque upper and lower limit based on the motor torque request and the engine torque request; the monitoring layer obtains a motor torque upper and lower limit and an engine torque upper and lower limit based on the motor torque request and the engine torque request; if the driver torque request is outside the first torque upper and lower limits, the vehicle torque is controlled to be cleared; if the driver torque request is outside the first torque upper and lower limits, or if the driver torque request is outside the second torque upper and lower limits, the vehicle torque is controlled to be cleared; if the filtered motor torque request is outside the motor torque upper and lower limits, the motor torque is controlled to be cleared; if the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is controlled to be cleared.

[0023] It should be understood that the expansion, limitation, explanation and description of the relevant content in the above-mentioned first aspect also apply to the same content in the second aspect.

[0024] In a third aspect, the present application provides a vehicle control device, which is configured in a vehicle controller. The device includes: a data acquisition module for acquiring the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle; a data calculation module for obtaining the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request; a first control module for controlling the motor torque to be cleared to zero if the filtered motor torque request is outside the upper and lower limits of the motor torque; and a second control module for controlling the engine torque to be cleared to zero if the filtered engine torque request is outside the upper and lower limits of the engine torque.

[0025] In a possible implementation, the data calculation module is specifically configured to perform a first filtering process on the motor torque request to obtain upper and lower limits of the motor torque; and perform a first filtering process on the engine torque request to obtain upper and lower limits of the engine torque.

[0026] In one possible implementation, the motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; the data calculation module is specifically used to perform a first filtering process on the front motor torque request and the rear motor torque request to obtain the upper and lower limits of the front motor torque and the upper and lower limits of the rear motor torque; the first control module is specifically used to control the front motor torque to be cleared if the filtered front motor torque request is outside the front motor torque upper and lower limits; if the filtered rear motor torque request is outside the rear motor torque upper and lower limits, control the rear motor torque to be cleared.

[0027] In one possible implementation, the first control module is specifically used to activate the front motor fault flag to clear the front motor torque if the filtered front motor torque request is outside the upper and lower limits of the front motor torque; if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, activate the rear motor fault flag to clear the rear motor torque.

[0028] In one possible implementation, the second control module is specifically configured to activate an engine fault flag to reset the engine torque to zero if the engine torque request is outside the upper and lower limits of the engine torque.

[0029] In one possible implementation, the vehicle control device also includes a generation module, which is specifically used to distribute torque based on the driver's torque request and generate a motor torque request and an engine torque request; perform a second filtering process on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request.

[0030] In one possible implementation, the vehicle control device also includes an output module, which is specifically used to output motor prompt information if the filtered motor torque request is outside the upper and lower limits of the motor torque; wherein the motor prompt information is used to indicate that there is an abnormality in the motor; if the filtered engine torque request is outside the upper and lower limits of the engine torque, output engine prompt information; wherein the engine prompt information is used to indicate that there is an abnormality in the engine.

[0031] In one possible implementation, the vehicle controller includes a monitoring layer and a functional layer; the data acquisition module is also used to obtain the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle sent by the functional layer through the monitoring layer; the data calculation module is also used to obtain the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request through the monitoring layer.

[0032] In a fourth aspect, the present application provides a vehicle comprising a memory and a processor. The memory is configured to store executable program code; the processor is configured to retrieve and execute the executable program code from the memory, so that the vehicle executes the vehicle control method of the first aspect or any possible implementation of the first aspect.

[0033] In a fifth aspect, the present application provides a computer program product, wherein the computer-readable storage medium stores computer program code, and when the computer program code runs on a computer, the computer executes the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect.

[0034] In the sixth aspect, the present application provides a computer program product, which includes: computer program code, which, when running on a computer, enables the computer to execute the vehicle control method in the above-mentioned first aspect or any possible implementation of the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0036] FIG1 is a schematic diagram of a scenario of a vehicle control method provided by an embodiment of the present application;

[0037] FIG2 is a schematic flow chart of a vehicle control method provided in an embodiment of the present application;

[0038] FIG3 is a schematic diagram of a framework of a vehicle control method provided in an embodiment of the present application;

[0039] FIG4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;

[0040] FIG5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] In order to make the objectives, technical solutions and advantages of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0042] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0043] In the description of this application, it should be understood that the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances. In addition, in the description of this application, unless otherwise specified, "multiple" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the previous and subsequent associated objects are in an "or" relationship.

[0044] FIG1 is a schematic diagram of a scenario of a vehicle control method provided in an embodiment of the present application.

[0045] For example, as shown in FIG1 , a target vehicle includes a front motor, a rear motor, and an engine. During driving, the front motor, the rear motor, and the engine can provide power to the target vehicle. After the vehicle is powered on, filtered front motor torque requests, filtered rear motor torque requests, and filtered engine torque requests are obtained. If the filtered front motor torque request is outside the front motor torque upper and lower limits, the motor torque is reset to zero. If the filtered rear motor torque request is outside the rear motor torque upper and lower limits, the rear motor torque is reset to zero. If the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is reset to zero.

[0046] It can be understood that if the filtered front motor torque request falls within the upper and lower front motor torque limits, the front motor output torque is controlled to the filtered front motor torque request. If the filtered rear motor torque request falls within the upper and lower rear motor torque limits, the rear motor output torque is controlled to the filtered rear motor torque request. If the filtered engine torque request falls within the upper and lower engine torque limits, the engine output torque is controlled to the filtered engine torque request. This allows for more granular fault detection of the target vehicle's torque request and, based on the detection results, specifically clearing the target vehicle's engine or motor output torque, thereby reducing the probability of the target vehicle stalling and improving the driving experience for the driver and passengers.

[0047] It should be noted that the prior art monitors the driver's torque request and, if an unexpected torque request is encountered, resets the driver's torque request to zero, thereby controlling the vehicle to enter a safe state. However, from a practical perspective, frequent vehicle stalls during driving can seriously impact the driving experience for the driver and passengers. In view of this, the present application proposes a vehicle control method, a vehicle control device, and a vehicle. The embodiments of the present application enable more fine-grained fault detection of the vehicle's torque request, reset the torque to zero for a single path with a torque fault, and reduce the probability of vehicle stalls.

[0048] FIG2 is a schematic flowchart of a vehicle control method provided in an embodiment of the present application.

[0049] Exemplarily, the method shown in FIG2 is executed by a vehicle controller of a vehicle.

[0050] Exemplarily, as shown in FIG2 , the vehicle control method 200 includes the following processes:

[0051] S210 , obtaining a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request in a target vehicle.

[0052] The motor torque requests include a front motor torque request and a rear motor torque request.

[0053] Exemplarily, a driver torque request of the target vehicle is obtained, torque distribution is performed on the driver torque request, a motor torque request and an engine torque request are generated, and a second filtering process is performed on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request.

[0054] Specifically, the vehicle controller includes a functional layer and a monitoring layer. At the functional layer, the driver's torque request is distributed according to the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available torque of the engine, and the steering wheel angle information, and the front motor torque request, rear motor torque request, and engine torque request in the target vehicle are generated, and the front motor torque request, rear motor torque request, and engine torque request are sent to the monitoring layer.

[0055] Furthermore, at the functional layer, a second filtering process is performed on the front motor torque request to generate a filtered front motor torque request; a second filtering process is performed on the rear motor torque request to generate a filtered rear motor torque request; a second filtering process is performed on the engine torque request to generate a filtered engine torque request, and the filtered front motor torque request, the filtered rear motor torque request, and the filtered engine torque request are sent to the monitoring layer.

[0056] In one example, torque distribution is performed based on a driver torque request based on vehicle parameters of a target vehicle. Specifically, the driver torque request, actual gear position, steering wheel angle signal, maximum available power of the front motor, maximum available power of the rear motor, and maximum available power of the engine of the target vehicle are obtained. The driver torque request, actual gear position, steering wheel angle signal, maximum available power of the front motor, maximum available power of the rear motor, and maximum available power of the engine are input into an electronic control unit for calculation and adjustment to determine the front motor torque request, rear motor torque request, and engine torque request.

[0057] It is understood that the operating conditions and efficiencies of the front motor, rear motor, or engine may vary depending on the actual gear position of the target vehicle. Therefore, adjusting the front motor torque request, rear motor torque request, or engine torque request in the target vehicle based on the actual gear position can improve torque distribution accuracy.

[0058] In another example, torque distribution is performed based on the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available power of the engine, and a driver torque request. Specifically, the sum of the maximum available power of the front motor, the maximum available power of the rear motor, and the maximum available power of the engine in the target vehicle is obtained, and a first proportion of the maximum available power of the front motor to the total available power, a second proportion of the maximum available power of the rear motor to the total available power, and a third proportion of the maximum available power of the engine to the total available power are determined. Based on the first proportion, the second proportion, the third proportion, and the driver torque request, the front motor torque request, the rear motor torque request, and the engine torque request are determined.

[0059] For example, obtain the maximum available power P1 of the front motor, the maximum available power P2 of the rear motor, and the maximum available power P3 of the engine, and obtain the sum of the available powers T-total according to the sum of the maximum available power P1 of the front motor, the maximum available power P2 of the rear motor, and the maximum available power P3 of the engine, where T-total = P1 + P2 + P3. Determine the first proportion of the maximum available power P1 of the front motor in the sum of the available powers T-total, the second proportion of the maximum available power P2 of the rear motor in the sum of the available powers T-total, and the third proportion of the maximum available power P3 of the engine in the sum of the available powers T-total; generate the front motor torque request T1 according to the product of the first proportion and the driver's torque request, generate the rear motor torque request T2 according to the product of the second proportion and the driver's torque request, and generate the engine torque request T3 according to the product of the third proportion and the driver's torque request. The specific expression can be expressed as follows: Ti = (Pi / (P1+P2+...+Pn))*T-total

[0060] Wherein, the total number of motors and engines in the target vehicle is n, Pi represents the maximum available power of the motor or the maximum available power of the engine, and Ti represents the torque request of the motor or the torque request of the engine.

[0061] In another example, torque distribution is performed based on the target vehicle's motor or engine output torque under various operating conditions, the current operating condition, and the driver's torque request. For example, the target vehicle's motor or engine output torque is obtained when accelerating, when climbing a hill, or when driving at high speeds. The current operating condition of the target vehicle and the driver's torque request are obtained to determine the front motor torque request, the rear motor torque request, and the engine torque request.

[0062] The above scheme generates a filtered motor torque request and a filtered engine torque request by performing a second filtering process on the motor torque request and the engine torque request. Since the torque fault detection of the motor and the engine is performed based on the filtered torque request, the accuracy of the torque fault detection of the motor and the engine can be improved by detecting whether a torque fault occurs in the motor and the engine through the filtered torque request.

[0063] For example, the driver torque request is derived from the target vehicle's accelerator pedal position, vehicle speed, and brake master cylinder pressure. Specifically, the functional layer calculates the driver torque request from the accelerator pedal position, target vehicle speed, and brake master cylinder pressure and transmits the driver torque request to the monitoring layer. The monitoring layer also calculates first torque upper and lower limits from the accelerator pedal position, target vehicle speed, and brake master cylinder pressure. The monitoring layer detects whether the driver torque request falls within the first torque upper and lower limits. If the driver torque request falls outside the first torque upper and lower limits, the vehicle torque is reset to zero.

[0064] For example, the accelerator pedal position in the target vehicle is 0, the vehicle speed is 30 km / h, and the brake master cylinder pressure is 0. The driver torque request is calculated to be 60 N at the functional layer and sent to the monitoring layer. At the monitoring layer, the first torque upper limit is calculated to be +50 N and the lower limit is -50 N based on the accelerator pedal position in the target vehicle being 0, the vehicle speed being 30 km / h, and the brake master cylinder pressure being 0. It is determined that the driver torque request is outside the first torque upper and lower limits, and the vehicle torque is controlled to be reset to zero.

[0065] Exemplarily, after the functional layer calculates the driver's torque request, the driver's torque request is allocated according to the maximum available power of the front motor, the maximum available power of the rear motor, the maximum available power of the engine and the steering wheel angle information, the front motor torque request, the rear motor torque request and the engine torque request in the target vehicle are determined, and the front motor torque request, the rear motor torque request and the engine torque request are sent to the monitoring layer; the monitoring layer determines the second torque upper and lower limits according to the driver's torque request, and detects whether the sum of the front motor torque request, the rear motor torque request and the engine torque request is within the second torque upper and lower limits; if the sum of the front motor torque request, the rear motor torque request and the engine torque request is outside the second torque upper and lower limits, the vehicle torque is controlled to be reset.

[0066] S220 , based on the motor torque request and the engine torque request, obtain upper and lower limits of the motor torque and upper and lower limits of the engine torque.

[0067] Exemplarily, a first filtering process is performed on the motor torque request to obtain upper and lower motor torque limits. Specifically, a first filtering process is performed on the front motor torque request and the rear motor torque request to obtain upper and lower front motor torque limits and upper and lower rear motor torque limits. A first filtering process is performed on the engine torque request to obtain upper and lower engine torque limits.

[0068] Specifically, the vehicle controller includes a monitoring layer, which is used to monitor the motor torque request or the engine torque request; the monitoring layer determines whether the torque request type is positive torque or negative torque through the driver torque request; the front motor torque request is subjected to a first filtering process to obtain a filtered front motor reference torque, and the upper and lower limits of the front motor torque are 0 to the filtered front motor reference torque; the rear motor torque request is subjected to a first filtering process to obtain a filtered rear motor reference torque, and the upper and lower limits of the rear motor torque are 0 to the filtered rear motor reference torque; the engine torque request is subjected to a first filtering process to obtain a filtered engine reference torque, and the upper and lower limits of the engine torque are 0 to the filtered engine reference torque.

[0069] For example, if the driver's torque request is positive at the monitoring layer, a first filtering process is performed on the front motor torque request to generate a filtered front motor reference torque of +10N. A first filtering process is also performed on the rear motor torque request to generate a filtered rear motor reference torque of +10N. A first filtering process is also performed on the engine torque request to generate a filtered engine reference torque of +12N. The front motor torque upper limit is determined to be +10N and the lower limit is 0. The rear motor torque upper limit is determined to be +10N and the lower limit is 0. The engine torque upper limit is determined to be +12N and the lower limit is 0.

[0070] Alternatively, if the driver's torque request is negative torque, the monitoring layer performs a first filtering process on the front motor torque request to generate a filtered front motor reference torque of -10N. The rear motor torque request also performs a first filtering process to generate a filtered rear motor reference torque of -10N. The engine torque request also performs a first filtering process to generate a filtered engine reference torque of -12N. The front motor torque upper limit is determined to be 0, and the lower limit is determined to be -10N. The rear motor torque upper limit is determined to be 0, and the lower limit is determined to be -10N. The engine torque upper limit is determined to be 0, and the lower limit is determined to be -12N.

[0071] For example, if the driver's torque request is -30 N, the torque request type is determined to be negative torque; if the driver's torque request is +30 N, the torque request type is determined to be positive torque. The torque request type of the driver's torque request can be determined based on actual conditions and is not specifically limited here.

[0072] Exemplarily, the filtering strength of the first filtering process is equal to the filtering strength of the second filtering process; or the filtering strength of the first filtering process is less than the filtering strength of the second filtering process. The filtering strength of the first filtering process and the filtering strength of the second filtering process can be determined based on actual conditions and are not specifically limited here.

[0073] It should be noted that the filtering intensity of the first filtering process is lower than that of the second filtering process, that is, the second filtering process has a higher degree of suppression on the input data. Ideally, if the input signal is the same, the numerical result of the second filtering process is lower than that of the first filtering process after performing the first and second filtering processes.

[0074] In the above scheme, a first filtering process is performed on the motor torque request to obtain the upper and lower limits of the motor torque, and a first filtering process is performed on the engine torque request to obtain the upper and lower limits of the engine torque. Compared with determining the upper and lower limits of the motor / engine torque by the motor / engine torque request, the upper and lower limits of the motor / engine torque are determined by filtering the motor / engine torque request in this scheme, which can improve the accuracy of the upper and lower limits of the motor / engine torque, and torque fault detection is performed on this basis, which can improve the accuracy of fault detection.

[0075] S230: If the filtered motor torque request is outside the upper and lower limits of the motor torque, the motor torque is controlled to be cleared.

[0076] Exemplarily, if the filtered front motor torque request is outside the front motor torque upper and lower limits, the front motor torque is controlled to be cleared. Specifically, if the filtered front motor torque request is outside the front motor torque upper and lower limits, a front motor fault flag is activated to clear the front motor torque to zero.

[0077] Specifically, the monitoring layer detects whether the filtered front motor torque request is within the upper and lower limits of the front motor torque. If the filtered front motor torque request is within the upper and lower limits of the front motor torque, it is determined that the output torque of the front motor is equal to the filtered front motor torque request; if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the front motor fault flag is activated, and the front motor torque is cleared to zero in the safety arbitration module.

[0078] For example, if the front motor torque upper limit is +10N and the lower limit is 0, and the filtered front motor torque request is 8N, it is determined that the filtered front motor torque request is within the front motor torque upper and lower limits, and the front motor output torque is determined to be 8N. Alternatively, if the front motor torque upper limit is +10N and the lower limit is 0, and the filtered front motor torque request is 12N, it is determined that the filtered front motor torque request is outside the front motor torque upper and lower limits, the front motor fault flag is activated, and the front motor torque is cleared in the safety arbitration module, that is, the front motor output torque is 0.

[0079] Exemplarily, if the filtered rear motor torque request is outside the rear motor torque upper and lower limits, the rear motor torque is controlled to be cleared. Specifically, if the filtered rear motor torque request is outside the front motor torque upper and lower limits, a rear motor fault flag is activated to clear the rear motor torque to zero.

[0080] Specifically, the monitoring layer detects whether the filtered rear motor torque request is within the upper and lower limits of the rear motor torque. If the filtered rear motor torque request is within the upper and lower limits of the rear motor torque, it is determined that the output torque of the rear motor is equal to the filtered rear motor torque request; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the rear motor fault flag is activated, and the rear motor torque is cleared to zero in the safety arbitration module.

[0081] Furthermore, if the filtered motor torque request falls outside the upper and lower motor torque limits, a motor prompt message is output, indicating a motor anomaly. Specifically, if the filtered front motor torque request falls outside the upper and lower front motor torque limits, a front motor prompt message is output, indicating a front motor anomaly. If the filtered rear motor torque request falls outside the upper and lower rear motor torque limits, a rear motor prompt message is output, indicating a rear motor anomaly. This targeted output of prompt messages alerts users to motor anomalies, allowing them to repair the motors and improving vehicle and passenger safety.

[0082] For example, the motor prompt information can be output via a display in the target vehicle; alternatively, the motor prompt information can be output via a voice assistant in the target vehicle, for example, the motor prompt information can be output as follows: "Hello, there is a motor abnormality. Please repair it immediately." The output method and content of the motor prompt information can be determined based on actual circumstances and are not specifically limited here.

[0083] Within a first preset time period after the front motor prompt information is output, the number of front motor abnormalities that activate the front motor fault flag is obtained; if the number of front motor abnormalities is greater than the preset number of front motor abnormalities, a prompt is given to repair the front motor; within a second preset time period after the rear motor prompt information is output, the number of rear motor abnormalities that activate the rear motor fault flag is obtained; if the number of rear motor abnormalities is greater than the preset number of rear motor abnormalities, a prompt is given to repair the rear motor.

[0084] For example, the front motor preset number of times and the rear motor preset number of times can be set to 10 times, 8 times, 5 times, etc. The rear motor preset number of times and the front motor preset number of times can be the same or different, and are not specifically limited here.

[0085] For example, the first preset period and the second preset period can be set to 6 months, 12 months, etc. Alternatively, the first preset period or the second preset period can be determined based on the age of the target vehicle, where the age is negatively correlated with the first preset period or the second preset period. The first preset period and the second preset period can be the same or different, and are not specifically limited here.

[0086] For example, if the rear motor torque upper limit is 0 and the lower limit is -10N, and the filtered rear motor torque request is -8N, the filtered rear motor torque request is determined to be within the rear motor torque upper and lower limits, and the rear motor output torque is determined to be -8N. Alternatively, if the rear motor torque upper limit is 0 and the lower limit is -10N, and the filtered rear motor torque request is -12N, the filtered rear motor torque request is determined to be outside the rear motor torque upper and lower limits, the rear motor fault flag is activated, and the rear motor torque is cleared in the safety arbitration module, that is, the rear motor output torque is 0.

[0087] It should be noted that there is no order in which to detect whether the filtered front motor torque request is within the upper and lower limits of the front motor, and to monitor whether the filtered rear motor torque request is between the upper and lower limits of the rear motor. They can be performed simultaneously, or the filtered front motor torque request can be performed first, or the filtered rear motor torque request can be detected first. There is no specific limitation.

[0088] In the above scheme, if the filtered front motor / rear motor torque request is outside the upper and lower limits of the front motor / rear motor torque, the front motor / rear motor fault flag is activated to clear the front motor / rear motor torque; since whether the front motor / rear motor torque is cleared is obtained through detection, the torque fault detection of the motor in the target vehicle is performed in a finer granularity, and the motor torque is cleared in a targeted manner, it can ensure that when a torque fault occurs in a single path, the vehicle will not completely stall, thereby improving the driving experience of the driver and passengers.

[0089] S240 : If the filtered engine torque request is outside the engine torque upper and lower limits, control the engine torque to be cleared.

[0090] It should be noted that the execution order of S230 and S240 is not particular, and S230 may be executed first, or S240 may be executed first, or they may be executed simultaneously, which is not specifically limited here.

[0091] Exemplarily, if the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is controlled to be cleared. Specifically, if the filtered engine torque request is outside the engine torque upper and lower limits, the engine fault flag is activated to clear the engine torque to zero.

[0092] Specifically, the monitoring layer detects whether the filtered engine torque request is within the upper and lower limits of the engine torque. If the filtered engine torque request is within the upper and lower limits of the engine torque, the output torque of the engine is determined to be equal to the filtered engine torque request; if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine fault flag is activated and the engine torque is cleared to zero in the safety arbitration module.

[0093] For example, if the engine torque upper limit is +10N and the lower limit is 0, and the filtered engine torque request is 8N, the filtered engine torque request is determined to be within the engine torque upper and lower limits, and the engine output torque is determined to be 8N. Alternatively, if the engine torque upper limit is +10N and the lower limit is 0, and the filtered engine torque request is 12N, the filtered engine torque request is determined to be outside the engine torque upper and lower limits, the engine fault flag is activated, and the engine torque is cleared to zero in the safety arbitration module, that is, the engine output torque is 0.

[0094] Furthermore, if the filtered engine torque request falls outside the upper and lower engine torque limits, an engine prompt is output. This prompt is used to indicate an engine anomaly. This targeted prompt, which alerts the user to an engine anomaly and allows them to repair the engine, improves vehicle and passenger safety.

[0095] For example, the engine prompt information can be output via a display in the target vehicle; alternatively, the engine prompt information can be output via a voice assistant in the target vehicle, such as, for example, "Hello, there is an engine abnormality, please repair it promptly." The output method and content of the engine prompt information can be determined based on actual circumstances and are not specifically limited here.

[0096] In the above scheme, if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine fault flag is activated to reset the engine torque to zero. Since whether the engine torque is reset to zero is determined through detection, by performing torque fault detection on the engine of the target vehicle at a finer granularity and clearing the engine torque in a targeted manner, it can be ensured that when a torque fault occurs on a single path, the vehicle will not completely stall, thereby improving the driving experience of the driver and passengers.

[0097] Within a third preset period after the engine prompt information is output, the number of engine abnormalities that activate the engine fault flag is obtained; if the number of engine abnormalities is greater than the engine preset number, a prompt is given to repair the engine.

[0098] For example, the engine preset number of times can be set to 10 times, 8 times, 5 times, etc. The engine preset number of times, the rear motor preset number of times, and the front motor preset number of times can be the same or different, and are not specifically limited here.

[0099] For example, the third preset period can be set to 6 months, 12 months, or the like; alternatively, the third preset period can be determined based on the age of the target vehicle, with age being negatively correlated with the third preset period. The third preset period can be determined based on actual circumstances and is not specifically limited herein. Furthermore, the third preset period, the second preset period, and the first preset period can be the same or different and are not specifically limited herein.

[0100] In one example, a vehicle controller includes a monitoring layer and a functional layer. The functional layer obtains the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request in the target vehicle, and sends the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request to the monitoring layer. The monitoring layer obtains the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request, and detects whether the filtered motor torque request is outside the upper and lower limits of the motor torque. If the filtered motor torque request is outside the upper and lower limits of the motor torque, the motor torque is controlled to be cleared. The functional layer detects whether the filtered engine torque request is outside the upper and lower limits of the engine torque. If the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is controlled to be cleared.

[0101] The above technical solution obtains the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request; since the upper and lower limits of the motor torque and the upper and lower limits of the engine torque are determined based on the motor torque request and the engine torque request respectively, by determining the upper and lower limits for the torque paths in the vehicle respectively, the accuracy of the upper and lower limits of each torque path in the vehicle can be improved; compared with the prior art, when the driver's torque request is cleared when an unexpected torque request is detected in the vehicle, in the present application, if the filtered motor torque request is outside the upper and lower limits of the motor torque, the motor torque is controlled to be cleared, and if the filtered engine torque request is outside the upper and lower limits of the engine torque, the engine torque is controlled to be cleared; thereby, the vehicle's torque request is subjected to more fine-grained fault detection, and in the event of a torque fault in a single path, the torque of the single path is targeted to be cleared, which can reduce the probability of vehicle stalling and improve the driving experience of the driver and passengers.

[0102] In one example, this solution detects the torque request in the target vehicle using three fault detection methods, and the three fault detection methods are executed simultaneously without any order. The details are as follows:

[0103] The first fault detection method: fault detection through driver torque request.

[0104] Exemplarily, the driver's torque request is calculated through the accelerator pedal position, vehicle speed, and brake master cylinder pressure, and the first torque upper and lower limits are calculated through the same signal, that is, the first torque upper and lower limits are calculated through the accelerator pedal position, vehicle speed, and brake master cylinder pressure; it is detected whether the driver's torque request is within the first torque upper and lower limits. If the driver's torque request is outside the first torque upper and lower limits, the vehicle torque is controlled to be cleared.

[0105] The second fault detection method: fault detection is performed through the sum of the motor torque request and the engine torque request.

[0106] Exemplarily, torque distribution is performed through the driver's torque request to obtain the motor torque request and the engine torque request, and the second torque upper and lower limits are determined based on the motor torque request and the engine torque request; it is detected whether the sum of the motor torque request and the engine torque request is within the second torque upper and lower limits. If the sum of the motor torque request and the engine torque request is outside the second torque upper and lower limits, the vehicle torque is controlled to be reset to zero.

[0107] The third fault detection method: fault detection is performed through separate paths of the filtered motor torque request and the filtered engine torque request.

[0108] Exemplarily, a second filtering process is performed on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request. The motor torque request is first filtered to obtain upper and lower motor torque limits. The engine torque request is first filtered to obtain upper and lower engine torque limits. A detection is performed to determine whether the filtered motor torque request is within the upper and lower motor torque limits. If the filtered motor torque request is outside the upper and lower motor torque limits, the motor torque is reset to zero. A detection is performed to determine whether the filtered engine torque request is within the upper and lower engine torque limits. If the filtered engine torque request is outside the upper and lower engine torque limits, the engine torque is reset to zero.

[0109] The following describes three fault detection methods in conjunction with Figure 3. Figure 3 is a schematic diagram of a framework of a vehicle control method provided by an embodiment of the present application.

[0110] For example, as shown in Figure 3, the vehicle controller includes a monitoring layer and a control layer. The vehicle parameters of the target vehicle are input via the CAN (Controller Area Network). The vehicle parameters include accelerator pedal position, vehicle speed, brake master cylinder pressure, actual gear position, steering wheel angle signal, maximum available power of the front motor, maximum available power of the rear motor, and maximum available torque of the engine. In the vehicle controller, the functional layer and the monitoring layer respectively obtain vehicle parameters through the input interface module, and in the driver torque calculation module of the functional layer, the driver torque request of the target vehicle is determined according to the accelerator pedal position, vehicle speed, and brake master cylinder pressure, and the driver torque request is sent to the driver torque monitoring module of the monitoring layer through the driver torque calculation module; the driver torque monitoring module calculates the first torque upper and lower limits according to the accelerator pedal position, vehicle speed, and brake master cylinder pressure obtained by the input interface module of the monitoring layer, and detects whether the driver torque request is within the first torque upper and lower limits. If the driver torque request is outside the first torque upper and lower limits, the driver torque monitoring module sends the vehicle fault flag to the torque distribution monitoring module, and the torque distribution monitoring module sends the vehicle fault flag to the safe state arbitration module to control the vehicle output torque of the target vehicle to be cleared to zero.

[0111] The driver torque calculation module at the functional layer sends the driver torque request to the torque distribution module, which then distributes the driver torque request to determine the front motor torque request, the rear motor torque request, and the engine torque request. These requests are then sent to the torque distribution monitoring module at the monitoring layer. The torque distribution monitoring module determines second upper and lower torque limits based on the motor and engine torque requests. The module then checks whether the sum of the front motor torque request, the rear motor torque request, and the engine torque request falls outside the second upper and lower torque limits. If this sum falls outside the second upper and lower torque limits, the torque distribution monitoring module sends a vehicle fault flag to the safe state arbitration module, which resets the target vehicle's output torque to zero.

[0112] The torque distribution module of the functional layer sends the front motor torque request, the rear motor torque request and the engine torque request to the torque filtering module, the torque filtering module performs a second filtering process on the front motor torque request to generate a filtered front motor torque request, the torque filtering module performs a second filtering process on the rear motor torque request to generate a filtered rear motor torque request, the torque filtering module performs a second filtering process on the engine torque request to generate a filtered engine torque request, and sends the filtered front motor torque request, the rear motor torque request and the engine torque request to the torque distribution monitoring module of the monitoring layer; the torque distribution monitoring module performs a first filtering process on the front motor torque request and the rear motor torque request sent by the torque distribution module to obtain the upper and lower limits of the front motor torque and the upper and lower limits of the rear motor torque, the torque distribution monitoring module performs a first filtering process on the engine torque request sent by the torque distribution module to obtain the upper and lower limits of the engine torque. Detect whether the filtered front motor torque request is within the upper and lower limits of the front motor torque. If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, the torque distribution monitoring module sends the front motor fault flag to the safe state arbitration module to control the front motor output torque to be cleared; detect whether the filtered rear motor torque request is within the upper and lower limits of the rear motor torque. If the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, the torque distribution monitoring module sends the rear motor fault flag to the safe state arbitration module to control the rear motor output torque to be cleared; detect whether the filtered engine torque request is within the upper and lower limits of the engine torque. If the filtered engine torque request is outside the upper and lower limits of the engine torque, the torque distribution monitoring module sends the engine fault flag to the safe state arbitration module to control the engine output torque to be cleared.

[0113] Furthermore, the front motor output torque request, rear motor output torque request, and engine output torque request are determined through three fault detection methods. Specifically, if the driver torque request is within the first torque upper and lower limits, and the sum of the motor torque request and the engine torque request is within the second torque upper and lower limits, the front motor output torque request, rear motor output torque request, and engine output torque request are determined based on the fault detection results of each path. If the driver torque request is outside the first torque upper and lower limits, or if the sum of the motor torque request and the engine torque request is outside the second torque upper and lower limits, the front motor output torque request, rear motor output torque request, and engine output torque request are determined to be zero. The safe state arbitration module then transmits the front motor output torque request, rear motor output torque request, and engine output torque request to the CAN bus.

[0114] FIG4 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application.

[0115] The vehicle control device 400 is configured in a vehicle controller in the vehicle.

[0116] Exemplarily, as shown in FIG4 , the vehicle control device 400 includes:

[0117] A data acquisition module 410 is configured to acquire a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request in a target vehicle;

[0118] A data calculation module 420 is configured to obtain upper and lower limits of the motor torque and upper and lower limits of the engine torque based on the motor torque request and the engine torque request;

[0119] A first control module 430 is configured to control the motor torque to be reset to zero if the filtered motor torque request is outside the upper and lower limits of the motor torque;

[0120] The second control module 440 is configured to control the engine torque to be reset to zero if the filtered engine torque request is outside the upper and lower engine torque limits.

[0121] In one possible implementation, the data calculation module 420 is specifically configured to: perform a first filtering process on the motor torque request to obtain upper and lower limits of the motor torque; and perform a first filtering process on the engine torque request to obtain upper and lower limits of the engine torque.

[0122] In one possible implementation, the motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; the data calculation module 420 is specifically used to: perform a first filtering process on the front motor torque request and the rear motor torque request to obtain the upper and lower limits of the front motor torque and the upper and lower limits of the rear motor torque; the first control module 430 is specifically used to: if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, control the front motor torque to be cleared; if the filtered rear motor torque request is outside the upper and lower limits of the rear motor torque, control the rear motor torque to be cleared.

[0123] In one possible implementation, the first control module 430 is specifically used to: if the filtered front motor torque request is outside the upper and lower limits of the front motor torque, activate the front motor fault flag to clear the front motor torque to zero; if the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, activate the rear motor fault flag to clear the rear motor torque to zero.

[0124] In a possible implementation, the second control module 440 is specifically configured to: if the engine torque request is outside the upper and lower limits of the engine torque, activate the engine fault flag to reset the engine torque to zero.

[0125] In one possible implementation, the vehicle control module 400 also includes a generation module, which is specifically used to: perform torque distribution on the driver's torque request to generate a motor torque request and an engine torque request; perform a second filtering process on the motor torque request and the engine torque request to generate a filtered motor torque request and a filtered engine torque request.

[0126] In one possible implementation, the vehicle control module 400 also includes an output module, which is specifically used to: output motor prompt information if the filtered motor torque request is outside the upper and lower limits of the motor torque; wherein the motor prompt information is used to indicate that there is an abnormality in the motor; if the filtered engine torque request is outside the upper and lower limits of the engine torque, output engine prompt information; wherein the engine prompt information is used to indicate that there is an abnormality in the engine.

[0127] In one possible implementation, the vehicle controller includes a monitoring layer and a functional layer; the data acquisition module 410 is also used to: obtain the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle sent by the functional layer through the monitoring layer; the data calculation module 420 is also used to: obtain the upper and lower limits of the motor torque and the upper and lower limits of the engine torque based on the motor torque request and the engine torque request through the monitoring layer.

[0128] FIG5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application.

[0129] Exemplarily, as shown in FIG5 , the vehicle 500 includes: a memory 510 and a processor 520 , wherein the memory 510 stores an executable program code 530 , and the processor 520 is configured to call and execute the executable program code 530 to perform a vehicle control method.

[0130] Exemplarily, the memory 510 can be used to store relevant programs of the vehicle control method provided in the embodiment of the present application; the processor 520 can call the relevant programs of the vehicle control method stored in the memory 510 to execute the vehicle control method of the embodiment of the present application; for example, obtain the motor torque request, engine torque request, and filtered motor torque request and filtered engine torque request in the target vehicle; based on the motor torque request and the engine torque request, obtain the upper and lower limits of the motor torque and the upper and lower limits of the engine torque; if the filtered motor torque request is outside the upper and lower limits of the motor torque, control the motor torque to be cleared; if the filtered engine torque request is outside the upper and lower limits of the engine torque, control the engine torque to be cleared.

[0131] In this embodiment, the device can be divided into functional modules based on the above-described method examples. For example, each functional module can be mapped to a specific functional module, or two or more functions can be integrated into a single processing module. The integrated module can be implemented in hardware. It should be noted that the module division in this embodiment is illustrative and represents only a logical functional division. In actual implementation, other division methods may be used.

[0132] In the case of dividing the functional modules into corresponding functional modules, the device may further include a data acquisition module, a data calculation module, a first control module, a second control module, etc. It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0133] It should be understood that the device provided in this embodiment is used to execute the above-mentioned vehicle control method, and thus can achieve the same effect as the above-mentioned implementation method.

[0134] In the case of an integrated unit, the device may include a processing module and a storage module. When the device is used in a vehicle, the processing module may be used to control and manage the vehicle's movements. The storage module may be used to support the vehicle's execution of program codes, etc.

[0135] The processing module may be a processor or controller that implements or executes the various exemplary logic blocks, modules, and circuits described in conjunction with the present disclosure. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processing (DSP) and a microprocessor, and the storage module may be a memory.

[0136] In addition, the device provided in the embodiments of the present application can specifically be a chip, component or module, and the chip may include a connected processor and memory; wherein the memory is used to store instructions, and when the processor calls and executes the instructions, the chip can execute a vehicle control method provided in the above embodiment.

[0137] The present application also provides a computer-readable storage medium, which stores computer program code. When the computer program code runs on a computer, the computer executes the above-mentioned related method steps to implement a vehicle control method provided by the above-mentioned embodiment. Among them, computer-readable storage media may include, but are not limited to, any type of disk, including floppy disks, optical disks, Digital Video Discs (DVDs), Compact Disc Read-Only Memory (CD-ROMs), microdrives and magneto-optical disks, Read-Only Memory (ROMs), Random Access Memory (RAMs), Erasable Programmable Read-Only Memory (EPROMs), Electrically Erasable Programmable Read-Only Memory (EEPROMs), Dynamic Random Access Memory (DRAMs), Video Random Access Memory (VRAMs), flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of medium or device suitable for storing instructions and / or data.

[0138] The present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement a vehicle control method provided by the above-mentioned embodiment.

[0139] Among them, the vehicle, computer-readable storage medium, computer program product or chip provided in this application are all used to execute the corresponding methods provided above. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding methods provided above, and will not be repeated here.

[0140] Through the description of the above implementation methods, technical personnel in the relevant field can understand that for the convenience and simplicity of description, only the division of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0141] In the embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0142] The above content is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vehicle control method, applied to a vehicle controller, comprising: Obtaining a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request in a target vehicle; Based on the motor torque request and the engine torque request, obtaining upper and lower limits of motor torque and upper and lower limits of engine torque; If the filtered motor torque request is outside the upper and lower limits of the motor torque, controlling the motor torque to be reset to zero; If the filtered engine torque request is outside the engine torque upper and lower limits, the engine torque is controlled to be cleared.

2. The vehicle control method according to claim 1, wherein: The obtaining of upper and lower limits of the motor torque and upper and lower limits of the engine torque based on the motor torque request and the engine torque request includes: performing a first filtering process on the motor torque request to obtain upper and lower limits of the motor torque; The first filtering process is performed on the engine torque request to obtain the upper and lower limits of the engine torque.

3. The vehicle control method according to claim 2, wherein: The motor request includes a front motor request and a rear motor request; the filtered motor torque request includes a filtered front motor torque request and a filtered rear motor torque request; The performing a first filtering process on the motor torque request to obtain the upper and lower limits of the motor torque includes: performing the first filtering process on the front motor torque request and the rear motor torque request to obtain upper and lower limits of the front motor torque and upper and lower limits of the rear motor torque; If the filtered motor torque request is outside the upper and lower limits of the motor torque, controlling the motor torque to be cleared includes: If the filtered front motor torque request is outside the front motor torque upper and lower limits, controlling the front motor torque to be reset to zero; If the filtered rear motor torque request is outside the rear motor torque upper and lower limits, the rear motor torque is controlled to be cleared.

4. The vehicle control method according to claim 3, wherein: If the filtered front motor torque request is outside the front motor torque upper and lower limits, controlling the front motor torque to be cleared includes: If the filtered front motor torque request is outside the upper and lower limits of the front motor torque, activating a front motor fault flag to reset the front motor torque to zero; If the filtered rear motor torque request is outside the rear motor torque upper and lower limits, controlling the rear motor torque to be cleared includes: If the filtered rear motor torque request is outside the upper and lower limits of the front motor torque, a rear motor fault flag is activated to clear the rear motor torque to zero.

5. The vehicle control method according to claim 1, wherein: If the filtered engine torque request is outside the engine torque upper and lower limits, controlling the engine torque to be cleared includes: If the engine torque request is outside the engine torque upper and lower limits, an engine fault flag is activated to clear the engine torque.

6. The vehicle control method according to claim 1, wherein: The vehicle control method further includes: Performing torque distribution on the driver torque request to generate the motor torque request and the engine torque request; A second filtering process is performed on the motor torque request and the engine torque request to generate the filtered motor torque request and the filtered engine torque request.

7. The vehicle control method according to claim 1, wherein: The vehicle control method further includes: If the filtered motor torque request is outside the upper and lower limits of the motor torque, outputting motor prompt information; wherein the motor prompt information is used to prompt that there is an abnormality in the motor; If the filtered engine torque request is outside the upper and lower limits of the engine torque, an engine prompt message is output; wherein the engine prompt message is used to indicate that an engine abnormality exists.

8. The vehicle control method according to claim 1, wherein: The vehicle controller includes a monitoring layer and a functional layer; The obtaining of the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request in the target vehicle includes: Acquiring, through the monitoring layer, the motor torque request, the engine torque request, and the filtered motor torque request and the filtered engine torque request sent by the functional layer; The obtaining of upper and lower limits of the motor torque and upper and lower limits of the engine torque based on the motor torque request and the engine torque request includes: The motor torque upper and lower limits and the engine torque upper and lower limits are obtained by the monitoring layer based on the motor torque request and the engine torque request.

9. A vehicle control device, configured in a vehicle controller, comprising: a data acquisition module for acquiring a motor torque request, an engine torque request, and a filtered motor torque request and a filtered engine torque request in a target vehicle; a data calculation module, configured to obtain upper and lower limits of the motor torque and upper and lower limits of the engine torque based on the motor torque request and the engine torque request; a first control module, configured to control the motor torque to be reset to zero if the filtered motor torque request is outside the motor torque upper and lower limits; The second control module is configured to control the engine torque to be reset to zero if the filtered engine torque request is outside the engine torque upper and lower limits.

10. A vehicle, characterized in that: The vehicle comprises: a memory for storing executable program code; A processor is used to call and run the executable program code from the memory, so that the vehicle executes the vehicle control method according to any one of claims 1 to 8.

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