Vehicle control method and apparatus, vehicle and storage medium

Abstract

The embodiments of the present disclosure are applicable to the technical field of vehicles. Provided are a vehicle control method and apparatus, a vehicle and a storage medium. The method comprises: acquiring a torque request and a torque transmission path state of a vehicle, the torque request comprising a drive torque that needs to be output; generating a detection result indicating whether the drive torque is abnormal; and, if the detection result indicates that the torque is abnormal, and the torque transmission path state indicates that the torque transmission path is disconnected, prohibiting execution of a preset safety strategy. By using the method, when an abnormal drive torque occurs, the occupant safety can be ensured without execution of a preset safety strategy by the vehicle, while the driving experience of a driver can also be ensured.

Description

Vehicle control method and device, vehicle, and storage medium TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of vehicles, and particularly relates to a vehicle control method and device, a vehicle, and a storage medium.

[0002] BACKGROUND

[0003] With the development of vehicle intelligence and automation, for a vehicle with an automatic driving function, when a torque request of an unexpected acceleration / deceleration is generated, safe control of the vehicle driving is crucial.

[0004] For example, when a torque request of an unexpected acceleration / deceleration is generated, in order to prevent the vehicle from accelerating or braking unexpectedly and causing injury to the passengers, the vehicle will determine that the power torque in the torque request is abnormal, and enter a safe state to execute a preset safety strategy.

[0005] However, when a torque request of an unexpected acceleration / deceleration is generated, directly executing the preset safety strategy will cause the vehicle to frequently enter the safe state, which also seriously affects the driving experience of the driver. That is, the existing strategy for torque control is unreasonable, and cannot guarantee the safety of the passengers while guaranteeing the driving experience of the driver. SUMMARY

[0006] The embodiments of the present disclosure provide a vehicle control method and device, a vehicle, and a storage medium, which can solve the problem that the existing strategy for torque control is unreasonable and cannot guarantee the safety of the passengers while guaranteeing the driving experience of the driver.

[0007] In a first aspect, the embodiments of the present disclosure provide a vehicle control method, which comprises:

[0008] obtaining a torque request and a torque transmission path state of the vehicle; the torque request contains a power torque to be output;

[0009] generating a detection result of whether the power torque is abnormal;

[0010] if the detection result is that the torque is abnormal and the torque transmission path state indicates that the torque transmission path is disconnected, the preset safety strategy is prohibited from being executed.

[0011] In a second aspect, the embodiments of the present disclosure provide a vehicle control device, which comprises a torque function layer and a torque monitoring layer in communication connection with the torque function layer.

[0012] The torque function layer sends a torque request to the torque monitoring layer; the torque request contains a power torque to be output.

[0013] The torque monitoring layer obtains a torque transmission path state and determines whether to execute a preset safety strategy.

[0014] In a third aspect, the embodiments of the present disclosure provide another vehicle control device, which comprises:

[0015] a torque monitoring module, configured to acquire a torque request and a torque transmission path state of the vehicle, wherein the torque request comprises a power torque to be output;

[0016] the torque monitoring module is further configured to generate a detection result of whether the power torque is abnormal;

[0017] an arbitration module, configured to, if the detection result is that the torque is abnormal and the torque transmission path state indicates that the torque transmission path is disconnected, prohibit the execution of the preset safety strategy.

[0018] In a fourth aspect, the embodiments of the present disclosure provide a vehicle, comprising a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to implement the method of the first aspect.

[0019] In a fifth aspect, the embodiments of the present disclosure provide a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the method of the first aspect.

[0020] In a sixth aspect, the embodiments of the present disclosure provide a computer program product, which, when running on a vehicle, causes the vehicle to execute the method of the first aspect.

[0021] Compared with the prior art, the embodiments of the present disclosure have the beneficial effects that: the vehicle can first acquire a torque request comprising a power torque to be output and a torque transmission path state of the vehicle. Then, a detection result is determined according to the power torque, and when the detection result is that the torque is abnormal, instead of directly executing a preset safety strategy, the torque transmission path state is detected to determine whether the torque transmission path is disconnected. When the torque transmission path state indicates that the torque transmission path is disconnected, it can be considered that even if the power source can normally respond to the torque request and output the corresponding power torque, the power corresponding to the power torque cannot be normally transmitted to the wheels of the vehicle. Therefore, when the torque transmission path is disconnected, the execution of the preset safety strategy can be prohibited. Based on this, when the power torque of the unexpected acceleration / deceleration appears to be abnormal, the preset safety strategy does not need to be executed, thereby ensuring the driving experience of the driver. Moreover, due to the disconnection of the torque transmission path, the power corresponding to the abnormal power torque cannot be normally transmitted to the wheels. Therefore, the vehicle will not appear in the scene of unexpected acceleration or braking, ensuring the safety of the passengers.

[0022] BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present disclosure, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0024] Fig. 1 is a structural schematic diagram of a vehicle control device according to an embodiment of the present disclosure;

[0025] Fig. 2 is a flow chart of a vehicle control method according to an embodiment of the present disclosure;

[0026] Fig. 3 is a structural schematic diagram of a vehicle control device according to another embodiment of the present disclosure;

[0027] Fig. 4 is a structural schematic diagram of a vehicle control device according to still another embodiment of the present disclosure;

[0028] Fig. 5 is a structural schematic diagram of a vehicle according to an embodiment of the present disclosure.

[0029] Implementation of the present disclosure

[0030] In the following description, specific details are set forth in order to provide a thorough understanding of embodiments of the present disclosure. However, persons skilled in the art will understand that the present disclosure can be practiced without these specific details. In other instances, well-known structures, devices, circuits, and methods have not been described in detail in order to avoid obscuring the present disclosure.

[0031] It should be understood that when used in the specification and the appended claims of the present disclosure, the term "comprising" indicates the presence of the described features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0032] The information collection process (such as the face image collection process, the fingerprint information collection process, etc.) / feature extraction process involved in the present disclosure is executed with the user's knowledge and permission, i.e., the information collection process / feature extraction process meets the legal and regulatory requirements and does not belong to the act of obstructing public interests.

[0033] In addition, in the description of the present disclosure and the appended claims, the terms "first", "second", "third", etc. are only used for differentiation in description, and cannot be understood as indicating or implying relative importance.

[0034] With the development of vehicle intelligence and automation, for vehicles with automatic driving function, it is crucial to control the safety of the whole vehicle when generating torque request of unexpected acceleration / deceleration.

[0035] For example, when generating torque request of unexpected acceleration / deceleration, in order to prevent the vehicle from accelerating or braking unexpectedly and causing injury to the passengers, the vehicle will determine the abnormal power torque in the torque request and enter a safety state to execute a preset safety strategy.

[0036] As an example, the preset safety strategy can include, but is not limited to, one or more of adjusting the power torque in the torque request to a preset safety torque, limiting the output torque of the engine and the drive motor, without limitation.

[0037] The preset safety torque can be set according to actual conditions, without limitation. As an example, the preset safety torque can be 0Nm.

[0038] However, the occurrence of torque request of unexpected acceleration / deceleration does not mean that the vehicle will definitely accelerate or brake unexpectedly. Therefore, when the torque request of unexpected acceleration / deceleration occurs, directly executing the preset safety strategy will make the vehicle frequently enter the safety state, which will also seriously affect the driving experience of the driver. That is, the existing strategy for torque control is not reasonable, and cannot guarantee the safety of the passengers while ensuring the driving experience of the driver.

[0039] Therefore, in order to make the strategy for torque control more reasonable and ensure the safety of the passengers while ensuring the driving experience of the driver, the embodiment provides a vehicle control device. Please refer to FIG. 1, which is a structural schematic diagram of a vehicle control device according to an embodiment of the present disclosure. The vehicle control device comprises a torque function layer and a torque monitoring layer in communication connection with the torque function layer. The torque function layer sends a torque request to the torque monitoring layer; the torque request contains a power torque to be output; the torque monitoring layer obtains the state of the torque transmission path and determines whether to execute a preset safety strategy.

[0040] In an embodiment, the preset safety strategy has been explained above and will not be described again. As an example, the preset safety strategy can be a strategy of adjusting the power torque in the torque request to a preset safety torque. At this time, when the preset safety strategy needs to be executed, the torque monitoring layer can output the torque request after adjusting the power torque in the torque request to the preset safety torque.

[0041] In addition, when it is determined that the preset safety strategy does not need to be executed, the torque monitoring layer can normally send the torque request. That is, the power torque in the torque request is maintained unchanged, and the torque request is sent to the power source.

[0042] As a specific example, the torque function layer includes a torque function module, the torque monitoring layer includes a torque monitoring module and an arbitration module which are independently packaged, and the torque function module, the torque monitoring module and the arbitration module are respectively communicatively connected.

[0043] The torque function module respectively sends a torque request to the torque monitoring module and the arbitration module; the torque monitoring module acquires a torque transmission path state and sends control information representing whether to execute a preset safety strategy to the arbitration module. The arbitration module executes the strategy corresponding to the control information, that is, the arbitration module is used to execute the preset safety strategy or is prohibited from executing the preset safety strategy.

[0044] In an embodiment, the control information can include one of an execution instruction and a prohibition execution instruction, or one of torque failure flag bit and torque normal flag bit, and the like. As an example, when the control information includes the execution instruction, the arbitration module can execute the preset safety strategy. When the arbitration module does not receive the control information or the control information includes the prohibition execution instruction, the preset safety strategy is prohibited from being executed.

[0045] In addition, when the control information includes the torque failure flag bit, the arbitration module can execute the preset safety strategy. When the arbitration module does not receive the control information or the control information includes the torque normal flag bit, the arbitration module can prohibit the preset safety strategy from being executed.

[0046] In this embodiment, after the arbitration module receives the control information, the way of determining whether the control information represents that the preset safety strategy needs to be executed is not limited.

[0047] Each module is independently packaged, and only data reception and transmission are required between modules. In addition, the torque function module, the torque monitoring module and the arbitration module are respectively communicatively connected. Therefore, in the data interaction process, the arbitration module can selectively adjust the power torque according to the control information representing whether to execute the preset safety strategy sent by the torque monitoring module, and output the torque request.

[0048] Based on this, when a systematic failure occurs in a certain module in the vehicle control device, it will not affect the normal operation of other independent modules. In addition, by dividing the vehicle control device into the above-mentioned multiple independent modules, when designing the vehicle control device, the functional code change of a certain module will not affect the functional code of the remaining modules. Furthermore, during design, by reducing the influence range of the code, the error rate during the design of the vehicle control device can be reduced, and the correctness of the vehicle control device can be ensured. In addition, based on the control information representing whether to execute the preset safety strategy, the power torque is selectively adjusted, which can ensure the safety of the passengers and the driving experience of the driver without entering the safety state when a torque request of unexpected acceleration / deceleration occurs.

[0049] The process of each module processing data can refer to each embodiment shown in FIG. 2.

[0050] Referring to FIG. 2, FIG. 2 shows an implementation flowchart of a vehicle control method provided in the embodiment of the present disclosure, which includes the following steps.

[0051] S201, obtaining a torque request and a torque transmission path state of the vehicle; the torque request includes a power torque to be output.

[0052] In an embodiment, the vehicle control method described above can be applied to an electronic device such as a vehicle controller or an automatic driving controller on the vehicle. The embodiment of the present disclosure does not make any limitation on the specific type of the electronic device. For example, the method described above can be applied to a vehicle controller. The vehicle controller can include the vehicle control device described above.

[0053] In an embodiment, the torque request can be an engine torque request, a motor torque request, or both. In the embodiment, the torque request includes an engine torque request and a motor torque request, which are taken as examples for the following description.

[0054] As an example, the power torque can be determined by the vehicle control device according to the current driving condition information of the vehicle. Specifically, the vehicle control device can obtain first driving condition information of the vehicle. Then, the torque request is generated based on the first driving condition information.

[0055] Since the torque request includes an engine torque request and a motor torque request, the power torque can be considered to include the engine torque in the engine torque request and the motor torque in the motor torque request. That is, the power torque can be considered as the sum of the engine torque and the motor torque.

[0056] The engine torque request can be considered as a request of the vehicle to the engine to output the engine torque, and the motor torque request can be considered as a request of the vehicle to the motor to output the motor torque.

[0057] In an embodiment, the first driving condition information includes, but is not limited to, the opening degree of the accelerator pedal, the vehicle speed, the master cylinder pressure, the remaining battery capacity, the maximum allowable engine torque, the maximum allowable motor torque, and the like. The engine torque and the motor torque are calculated based on the first driving condition information to generate the engine torque request and the motor torque request, which is a known method and will not be described in detail.

[0058] In another embodiment, the training first working condition information, the training real engine torque and the training motor torque can also be acquired as the training data to pre-train the neural network model for predicting the torque output. Then, in actual application, the vehicle control device can input the first working condition information into the neural network model to determine the engine torque and the motor torque. In this embodiment, the way of determining the engine torque and the motor torque is not limited.

[0059] In an embodiment, the torque transmission path state is used to represent whether the path through which the torque generated by the power source (e.g., the engine and the driving motor) of the vehicle is transmitted to the wheels is a closed loop. That is, whether the path through which the torque needs to pass from generation to acting on the wheels is a closed loop.

[0060] In this embodiment, the torque transmission path can be determined by the transmission control unit (TCU) of the vehicle and sent to the vehicle control device.

[0061] For example, the power corresponding to the torque is usually transmitted to the corresponding wheels of the front axle or the rear axle by the engine, the clutch, the driving motor and the gearbox in turn. That is, the transmission order of the torque in the torque transmission path is the engine, the clutch, the driving motor and the gearbox in turn.

[0062] Based on this, since the gearbox is the last transmission node in the torque transmission path, it can be considered that when the supporting clutch of the gearbox is disconnected, the power corresponding to the torque generated by the engine and / or the driving motor cannot be transmitted to the wheels.

[0063] Based on the above description, the transmission control unit can determine the torque transmission path state by detecting whether the supporting clutch of the gearbox is disconnected.

[0064] As an example, when the vehicle is a hybrid vehicle composed of a P2 driving motor and an engine, the torque transmission path can be the engine, the K0 clutch, the P2 motor, the automatic transmission (AT) or the dual clutch transmission (DCT). At this time, the TCU can detect the clutch state in the AT (automatic transmission) or the DCT (dual clutch transmission). When the clutch is in a closed state, it can be considered that the torque transmission path state represents that the torque transmission path is closed. That is, the power corresponding to the torque output by the power source can be normally transmitted to the wheels. When the clutch is in a disconnected state, it can be considered that the torque transmission path state represents that the torque transmission path is disconnected. That is, the power corresponding to the torque output by the power source cannot be normally transmitted to the wheels.

[0065] In an embodiment, based on the above explanation of the vehicle control device, the S201 step can be performed by the torque monitoring module. That is, the torque monitoring module acquires the torque request and the torque transmission path state of the vehicle.

[0066] However, since the function of generating the torque request is implemented by the torque function layer in the vehicle control device (the whole vehicle controller), the torque request is usually generated by the torque function module in the torque function layer according to the first working condition information of the vehicle. Then, the torque function module can send the torque request to the torque monitoring module. That is, for the torque monitoring module, it performs the above S201 step.

[0067] Since the torque function layer and the torque monitoring layer can be designed by different R&D personnel, the torque function layer and the torque monitoring layer can each have a corresponding independent interface to receive external information.

[0068] For example, the torque function layer can acquire the first working condition information through the first input interface module designed by itself, and then send it to the torque function module for processing to generate the torque request. In addition, the torque monitoring layer can also acquire the torque transmission path state through the second input interface module designed by itself, and then send it to the torque monitoring module for processing.

[0069] The vehicle control device can interact with other devices through a communication bus, such as a Controller Area Network (CAN) bus, a Local Interconnect Network (LIN) bus, etc., without limitation.

[0070] S202, generating a detection result of whether the power torque is abnormal.

[0071] In an embodiment, the detection result includes two results of torque abnormality and torque normality. The torque abnormality can be considered as a torque request that is not an expected acceleration / deceleration torque request.

[0072] For example, the torque monitoring module can determine that the detection result is torque abnormality when the power torque is not in the preset torque range. In addition, when the power torque is in the preset torque range, the detection result is determined to be torque normality.

[0073] The preset torque range can be set according to actual conditions, and the preset torque range is not limited. The minimum value of the preset torque range can be a negative value. When the power torque is less than the minimum value of the preset torque range, it can be considered that the vehicle suddenly generates a large braking force, so that the vehicle appears unexpected deceleration. When the power torque is greater than the maximum value of the preset torque range, it can be considered that the vehicle suddenly generates a large power, so that the vehicle appears unexpected acceleration.

[0074] In another embodiment, the preset torque range can also be generated according to the actual working condition of the vehicle currently running, so that the preset torque range generated based on the actual working condition can more reasonably and accurately determine whether the detection result is a torque anomaly.

[0075] As a specific example, the vehicle control device obtains second working condition information of the vehicle. Then, based on the second working condition information, the maximum power torque and the minimum power torque of the vehicle when running in the current working condition are generated, so as to determine the preset torque range according to the maximum power torque and the minimum power torque.

[0076] In an embodiment, the second working condition information can be the same as or different from the first working condition information, and the second working condition information is not limited. For example, the second working condition information includes, but is not limited to, the opening degree of the accelerator pedal, the vehicle speed, the master cylinder pressure and the like.

[0077] The way of generating the maximum power torque and the minimum power torque based on the second working condition information can be similar to the way of generating the engine torque and the motor torque based on the first working condition information, and the way of generating the maximum power torque and the minimum power torque based on the second working condition information is not described.

[0078] The torque monitoring layer described above can also obtain the torque transmission path state through the first input interface module designed by itself, and then send it to the torque monitoring module for processing. Based on this, it can be considered that the second input interface module in the torque monitoring layer can not only obtain the torque transmission path state, but also obtain the second working condition information, so as to send the torque transmission path state and the second working condition information to the torque monitoring module for the above processing.

[0079] S203, if the detection result is a torque anomaly and the torque transmission path state represents that the torque transmission path is disconnected, the preset safety strategy is prohibited to be executed.

[0080] In an embodiment, the preset safety strategy has been described above, and the preset safety strategy is not described again.

[0081] When it is determined that the detection result is a torque anomaly, the vehicle will normally enter a safe state to execute the preset safety strategy.

[0082] However, in the embodiment, when the detection result is torque abnormality, the torque transmission path state is also considered. And when the torque transmission path state indicates that the torque transmission path is disconnected, the engine and the drive motor cannot transmit power corresponding to the power torque to the wheels even if they normally respond to the torque request. Therefore, the preset safety strategy can be executed without being executed.

[0083] Based on the above description, when the power torque is not in the preset torque range and the torque transmission path state is the path closed state, it can be considered that the engine and the drive motor normally respond to the torque request and can transmit power corresponding to the power torque to the wheels. Further, the vehicle can appear to be in an unexpected acceleration / deceleration. Based on this, the vehicle control device needs to execute the preset safety strategy to ensure the safety of the occupants.

[0084] Wherein, when the torque transmission path state is disconnected, the vehicle can be in a parked state or a coasting state. At this time, the reason for the torque abnormality in the parked state can be that the power torque output when the vehicle starts is too large. And the reason for the torque abnormality in the coasting state can include that the power torque is too large, the vehicle will be in a scenario of large acceleration, or the power torque is a small negative value, the vehicle will be in a scenario of large deceleration, which is not limited.

[0085] In an embodiment, the preset safety strategy can be executed as described in the above example, adjusting the power torque in the torque request to a preset safety torque, and outputting the torque request to the power source. Wherein, the preset safety torque has been explained above, and will not be described again.

[0086] In another embodiment, when the detection result is torque normality, it indicates that the power torque will not cause the vehicle to appear in an unexpected acceleration / deceleration scenario. Therefore, the monitoring module can not send any control information or send information indicating that the whole vehicle torque request is valid to the arbitration module. Then, the arbitration module sends the torque request to the power source.

[0087] Wherein, based on the above explanation of the torque monitoring layer, when the detection result is torque abnormality and the torque transmission path state indicates that the torque transmission path is disconnected, the torque monitoring module can generate control information containing the prohibition of executing the preset safety strategy, or generate control information containing a torque normality flag bit, and send it to the arbitration module. At this time, the arbitration module can execute the preset safety strategy based on the control information.

[0088] And when the detection result is torque abnormality and the torque transmission path state indicates that the torque transmission path is closed, generate control information containing the execution of the preset safety strategy, or generate control information containing a torque abnormality flag bit, and send it to the arbitration module. At this time, the arbitration module can execute the preset safety strategy based on the control information.

[0089] In the embodiment, the vehicle can first acquire a torque request containing a power torque to be output, and a torque transmission path state of the vehicle. Then, a determination result corresponding to the power torque is determined, and when the determination result is a torque abnormality, instead of directly executing a preset safety strategy, it is detected whether the torque transmission path state represents a torque transmission path disconnection. Wherein, when the torque transmission path state represents the torque transmission path disconnection, it can be considered that even if the power source can normally respond to the torque request and output the corresponding power torque, the power corresponding to the power torque cannot be normally transmitted to the wheels of the vehicle. Therefore, when the torque transmission path is disconnected, the execution of the preset safety strategy can be prohibited. Based on this, when the power torque of the unexpected acceleration / deceleration with torque abnormality occurs, the preset safety strategy does not need to be executed, thereby ensuring the driving experience of the driver. Moreover, due to the torque transmission path disconnection, the power corresponding to the abnormal power torque cannot be normally transmitted to the wheels. Therefore, the vehicle will not appear the scene of unexpected acceleration or braking, ensuring the safety of the passengers.

[0090] As an example, referring to FIG. 3, FIG. 3 is a structural schematic diagram of a vehicle control device provided by another embodiment of the present disclosure. Wherein, the vehicle control device comprises a torque function module, a first input interface module, a second input interface module, a torque monitoring module and an arbitration module.

[0091] The CAN bus can send the first working condition information of the vehicle to the torque function module based on the first input interface module. The torque function module can generate a torque request based on the first working condition information, and send it to the torque monitoring module and the arbitration module respectively.

[0092] And the CAN bus can send the second working condition information and the torque transmission path state (for example, the state of the transmission clutch) of the vehicle to the torque monitoring module based on the second input interface module. Then, the torque monitoring module can generate a preset torque range based on the second working condition information, and generate a determination result corresponding to the power torque.

[0093] Then, when the determination result is a torque abnormality, and the torque transmission path state represents a torque transmission path disconnection, control information representing that the preset safety strategy is prohibited to be executed is sent to the arbitration module. Or, when the determination result is a torque abnormality, and the torque transmission path state represents a torque transmission path closure, control information representing that the preset safety strategy is executed is sent to the arbitration module.

[0094] Finally, when the control information represents that the preset safety strategy is prohibited to be executed, the arbitration module does not adjust the power torque, and normally sends the torque request to the power source through the CAN bus. Based on this, when the power torque of the unexpected acceleration / deceleration with torque abnormality occurs, the preset safety strategy does not need to be executed, thereby ensuring the driving experience of the driver and the safety of the passengers.

[0095] And, when the control information is determined to represent executing the preset safety strategy, the power torque in the torque request can be adjusted to a preset safety torque first. For example, 0Nm. Then, the torque request is sent to the power source through the CAN bus to make the power source stop outputting torque, ensuring the safety of the passengers.

[0096] In another embodiment, when the torque transmission path state represents that the torque transmission path is disconnected, the torque monitoring module can also not send any control information to the arbitration module. At this time, since the arbitration module does not receive the control information for prohibiting the execution of the preset safety strategy, and does not receive the control information for executing the preset safety strategy. Therefore, the arbitration module can not need to adjust the power torque, and normally sends the torque request to the power source. Based on this, the above-mentioned manner for controlling the vehicle can also reduce the number of data interactions between the monitoring torque module and the arbitration module in this scenario.

[0097] In addition, based on FIG. 3, it can be known that the final torque request is output from the arbitration module of the torque monitoring layer. That is, the torque request output by the torque function module needs to pass through the verification processing of the torque monitoring layer. Further, it can be avoided that the power source provides the power torque based on the unverified torque request. Moreover, the verification of the output (torque request) of the torque function layer by the torque monitoring layer can reduce the error rate in the design of the torque function layer of the vehicle control device, and ensure the correctness of the vehicle control device.

[0098] Please refer to FIG. 4, which is a structural block diagram of a vehicle control device provided by another embodiment of the present disclosure. The modules included in the vehicle control device in this embodiment are used to execute the steps in the embodiments corresponding to FIG. 2 and FIG. 3. For details, please refer to the related descriptions in FIG. 2 and FIG. 3 and the embodiments corresponding to FIG. 2 and FIG. 3. For the convenience of illustration, only the parts related to this embodiment are shown. Referring to FIG. 4, the vehicle control device 400 can include a torque monitoring module 410 and an arbitration module 420, wherein:

[0099] The torque monitoring module 410 is configured to acquire a torque request and a torque transmission path state of the vehicle, wherein the torque request contains a power torque to be output.

[0100] The torque monitoring module 410 is further configured to generate a detection result of whether the power torque is abnormal.

[0101] The arbitration module 420 is configured to, if the detection result is that the torque is abnormal and the torque transmission path state represents that the torque transmission path is disconnected, prohibit the execution of a preset safety strategy.

[0102] In an embodiment, the vehicle control device 400 can further include:

[0103] The first input interface module is configured to acquire first working condition information of the vehicle.

[0104] The torque function module is configured to generate a torque request based on the first working condition information and send the torque request to the torque monitoring module; the torque request comprises an engine torque request and a motor torque request.

[0105] In an embodiment, the torque monitoring module 410 is further configured to:

[0106] If the power torque is not in the preset torque range, it is determined that the detection result is torque abnormality; if the power torque is in the preset torque range, it is determined that the detection result is torque normality.

[0107] In an embodiment, the vehicle control device 400 can further comprise:

[0108] The second input interface module is configured to acquire second working condition information of the vehicle.

[0109] The torque monitoring module 410 is further configured to:

[0110] Based on the second working condition information, generate the maximum power torque and the minimum power torque of the vehicle when driving in the current working condition; and determine the preset torque range according to the maximum power torque and the minimum power torque.

[0111] In an embodiment, the arbitration module 420 is further configured to:

[0112] If the power torque is not in the preset torque range, when the torque transmission path state is the path closed state, execute the preset safety strategy.

[0113] In an embodiment, the arbitration module 420 is further configured to:

[0114] Adjust the power torque in the torque request to a preset safety torque, and output the torque request to the power source.

[0115] It is understood that in the structural block diagram of the vehicle control device shown in FIG. 4, each module is configured to execute each step in the corresponding embodiment of FIG. 2, and each step in the corresponding embodiment of FIG. 2 has been explained in detail in the above embodiments. For details, please refer to FIG. 2 and the related description in the corresponding embodiment of FIG. 2, which will not be repeated here.

[0116] FIG. 5 is a structural block diagram of a vehicle according to an embodiment of the present disclosure. As shown in FIG. 5, the vehicle 600 according to the embodiment includes a processor 610, a memory 620, and a computer program 630 stored in the memory 620 and executable on the processor 610, for example, a program of the vehicle control method. The processor 610 implements the steps in each of the above-mentioned embodiments of the vehicle control method, for example, S201 to S203 shown in FIG. 2, when executing the computer program 630. Alternatively, the processor 610 implements the functions of each module in the above-mentioned corresponding embodiment of FIG. 4, for example, the functions of each module shown in FIG. 4, when executing the computer program 630. For details, refer to the related description in the corresponding embodiment of FIG. 4.

[0117] For example, the computer program 630 can be divided into one or more modules stored in the memory 620 and executed by the processor 610 to implement the vehicle control method provided by the embodiments of the present disclosure. One or more modules can be a series of computer program control information segments capable of completing a specific function, which is used to describe the execution process of the computer program 630 in the vehicle 600. For example, the computer program 630 can implement the vehicle control method provided by the embodiments of the present disclosure.

[0118] The vehicle 600 can include, but is not limited to, the processor 610 and the memory 620. Those skilled in the art can understand that FIG. 5 is only an example of the vehicle 600, and does not limit the vehicle 600, which can include more or fewer components than those shown, or combine certain components, or different components, for example, the vehicle can also include an input / output device, a network access device, a bus, etc.

[0119] The processor 610 can be a central processing unit, and can also be other general-purpose processors, digital signal processors, application-specific integrated circuits, ready programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0120] The memory 620 can be an internal storage unit of the vehicle 600, for example, a hard disk or a memory of the vehicle 600. The memory 620 can also be an external storage device of the vehicle 600, for example, a plug-in hard disk, a smart memory card, a flash memory card, etc. equipped on the vehicle 600. Further, the memory 620 can include both the internal storage unit and the external storage device of the vehicle 600.

[0121] The embodiments of the present disclosure provide a computer readable storage medium including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the vehicle control method in each of the above-mentioned embodiments when executing the computer program.

[0122] The embodiments of the present disclosure provide a computer program product, which, when running on a vehicle, causes the vehicle to perform the vehicle control method in the above various embodiments.

[0123] The above embodiments are only used to illustrate the technical solutions of the present disclosure, but not limit the present disclosure; although the present disclosure is described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced equivalently; and the modification or replacement does not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should be included in the protection scope of the present disclosure.

Claims

1. A vehicle control method, comprising: obtaining a torque request and a torque transmission path state of a vehicle; the torque request comprising a power torque to be output; generating a detection result of whether the power torque is abnormal; if the detection result is torque abnormal and the torque transmission path state represents that the torque transmission path is disconnected, then prohibiting execution of a preset safety strategy.

2. The method of claim 1, wherein, the obtaining of the torque request comprising: obtaining first working condition information of the vehicle; generating the torque request based on the first working condition information; the torque request comprising an engine torque request and a motor torque request.

3. The method of claim 1 or 2, wherein, the generating of the detection result of whether the power torque is abnormal comprising: if the power torque is not within a preset torque range, then determining that the detection result is torque abnormal; if the power torque is within the preset torque range, then determining that the detection result is torque normal.

4. The method of claim 3, wherein, the method further comprising: obtaining second working condition information of the vehicle; generating a maximum power torque and a minimum power torque of the vehicle when the vehicle is running in a current working condition based on the second working condition information; determining the preset torque range according to the maximum power torque and the minimum power torque.

5. The method according to any one of claims 1 to 4, wherein, further comprising: if the power torque is not within the preset torque range, then executing the preset safety strategy when the torque transmission path state is a path closed state.

6. The method of claim 5, wherein, the executing of the preset safety strategy comprising: adjusting the power torque in the torque request to a preset safety torque, and outputting the torque request to a power source. 7.A vehicle control device, comprising a torque function layer and a torque monitoring layer in communication connection with the torque function layer; the torque function layer sending a torque request to the torque monitoring layer; the torque request comprising a power torque to be output; the torque monitoring layer obtaining a torque transmission path state and determining whether to execute a preset safety strategy.

8. The apparatus of claim 7, wherein, the torque function layer comprising a torque function module, the torque monitoring layer comprising a torque monitoring module and an arbitration module; the torque function module, the torque monitoring module and the arbitration module are in communication connection respectively; the torque function module sending a torque request to the torque monitoring module and the arbitration module respectively; the torque monitoring module obtaining the torque transmission path state and sending control information representing whether to execute the preset safety strategy to the arbitration module; the arbitration module executing a strategy corresponding to the control information. 9.The device of claim 8, wherein: the torque monitoring module is further configured to generate a detection result of whether the power torque is abnormal; the arbitration module is further configured to prohibit execution of the preset safety strategy when the detection result is torque abnormal and the torque transmission path state represents that the torque transmission path is disconnected.

10. The apparatus of claim 9, wherein, when the torque monitoring module generates the detection result of whether the power torque is abnormal, it is configured to: if the power torque is not within a preset torque range, then determining that the detection result is torque abnormal; if the power torque is within the preset torque range, then determining that the detection result is torque normal.

11. The apparatus of any one of claims 8-10, wherein, further comprising: a first input interface module configured to obtain first working condition information of a vehicle. The torque function module is further configured to generate a torque request based on the first driving condition information, the torque request including an engine torque request and a motor torque request.

12. The apparatus of any one of claims 8-11, wherein, Further comprising: a second input interface module configured to acquire second driving condition information of the vehicle; The torque monitoring module is further configured to generate a maximum power torque and a minimum power torque of the vehicle when driving in a current driving condition based on the obtained second driving condition information, and determine a preset torque range according to the maximum power torque and the minimum power torque.

13. The apparatus of any one of claims 8-12, wherein, The arbitration module is further configured to: if the power torque is not in the preset torque range, execute the preset safety strategy when the torque transmission path state is a path closed state.

14. The apparatus of claim 13, wherein, When executing the preset safety strategy, the arbitration module is configured to adjust the power torque in the torque request to a preset safety torque, and output the torque request to the power source.

15. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 6 when executing the computer program.

16. A computer readable storage medium storing a computer program, wherein the computer program is executable by a processor to implement the method of any one of claims 1 to 6.

Images