阅读说明：本技术 整车扭矩限制方法、车辆及计算机可读存储介质 (Vehicle torque limiting method, vehicle and computer readable storage medium ) 是由 杨一琴 钟日敏 邵杰 吴梦思 袁林海 于 2021-09-14 设计创作，主要内容包括：本发明公开了一种整车扭矩限制方法、车辆及计算机可读存储介质,所述方法包括：获取电机扭矩限制,并检测是否存在故障信息,若存在所述故障信息,则确定所述电机扭矩限制中的应用扭矩限制,并根据预设故障扭矩限制和所述应用扭矩限制确定应用层扭矩请求,确定所述电机扭矩限制中的监控扭矩限制,根据预设故障扭矩限制和所述监控扭矩限制确定监控层扭矩限制,根据所述应用层扭矩请求与所述监控层扭矩限制确定整车扭矩请求。通过预设故障扭矩限制和电机扭矩限制实现多重扭矩限制,并通过监控层扭矩限制实现限制冗余,避免整车扭矩在未经过有效限制的情况下出现非预期加速等失控事件,从而减少车辆安全隐患的发生,提升车辆驾驶的安全性。(The invention discloses a whole vehicle torque limiting method, a vehicle and a computer readable storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining motor torque limitation, detecting whether fault information exists or not, determining application torque limitation in the motor torque limitation if the fault information exists, determining an application layer torque request according to preset fault torque limitation and the application torque limitation, determining monitoring torque limitation in the motor torque limitation, determining monitoring layer torque limitation according to the preset fault torque limitation and the monitoring torque limitation, and determining a finished automobile torque request according to the application layer torque request and the monitoring layer torque limitation. Multiple torque limitation is achieved through preset fault torque limitation and motor torque limitation, limitation redundancy is achieved through monitoring layer torque limitation, out-of-control events such as unexpected acceleration and the like of the whole vehicle torque are avoided under the condition that effective limitation is not achieved, accordingly, potential safety hazards of vehicles are reduced, and safety of vehicle driving is improved.)

1. A whole vehicle torque limiting method is characterized by comprising the following steps:

acquiring motor torque limit, and detecting whether fault information exists;

if the fault information exists, determining an application torque limit in the motor torque limits, and determining an application layer torque request according to a preset fault torque limit and the application torque limit;

determining a monitoring torque limit in the motor torque limits, and determining a monitoring layer torque limit according to a preset fault torque limit and the monitoring torque limit;

and determining the torque request of the whole vehicle according to the torque request of the application layer and the torque limit of the monitoring layer.

2. The vehicle torque limiting method of claim 1, wherein the step of determining a monitored layer torque limit based on a preset fault torque limit and the monitored torque limit comprises:

judging whether the preset fault torque limit is matched with the monitoring torque limit;

and if so, constructing a monitoring layer torque limit according to the preset fault torque limit and the monitoring torque limit.

3. The vehicle torque limiting method of claim 1, wherein the step of determining an application-level torque request based on a preset fault torque limit and the application torque limit comprises:

acquiring a required torque;

determining whether the preset fault torque limit matches the application torque limit;

if so, constructing an application layer torque limit according to the preset fault torque limit and the application torque limit;

judging whether a torque value corresponding to the required torque exceeds the application layer torque limit or not;

and if not, taking the required torque as an application layer torque request.

4. The vehicle torque limiting method of claim 1, wherein the step of determining an applied one of the motor torque limits comprises:

determining energy torque limit according to the power limit of a battery pack of the whole vehicle and the power of high-voltage accessories in the vehicle;

and acquiring a preset motor torque limit range, and determining application torque limit according to the preset motor torque limit range and the energy torque limit.

5. The vehicle torque limiting method of claim 4, wherein the step of determining an applied torque limit based on the predetermined motor torque limit range and the energy torque limit comprises:

judging whether the preset motor torque limit range is matched with the energy torque limit or not;

and if so, constructing application torque limit according to a preset motor torque limit range and the energy torque limit.

6. The vehicle torque limiting method of claim 1, wherein determining the vehicle torque request based on the application layer torque request and the monitor layer torque limit comprises:

determining whether the application layer torque request exceeds the monitoring layer torque limit;

and if the application layer torque request does not exceed the monitoring layer torque limit, taking the application layer torque request as a finished automobile torque request.

7. The finished vehicle torque limiting method of claim 6, wherein after the step of determining whether the application layer torque request exceeds the monitor layer torque limit, further comprising:

if the application layer torque request exceeds the monitoring layer torque limit, triggering a torque overrun fault and outputting a fault alarm;

and executing a fault processing instruction according to the fault alarm and a preset fault processing strategy.

8. The vehicle torque limiting method according to claim 7, wherein after the step of executing the fault handling command according to the preset fault handling strategy, the method further comprises:

judging whether the torque overrun fault is eliminated;

and if the torque overrun fault is eliminated, stopping outputting the fault alarm and re-determining the application layer torque request.

9. A vehicle comprising a memory, a processor, and a full vehicle torque limiting program stored on the memory and operable on the processor, wherein: the vehicle torque limiting program when executed by the processor implements the steps of the vehicle torque limiting method as claimed in any one of claims 1 to 8.

10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a complete vehicle torque limiting program which, when executed by a processor, implements the steps of the complete vehicle torque limiting method according to any one of claims 1 to 8.

Technical Field

The invention relates to the technical field of electric automobiles, in particular to a whole automobile torque limiting method, a vehicle and a computer readable storage medium.

Background

With the increasing international importance on energy safety and environmental protection, the requirements of various countries on pollutant emission of automobiles are more and more strict, new energy automobiles become a new trend of automobile development, and electric automobiles are widely concerned with the characteristics of low emission, low pollution, low noise and the like.

The technology of the electric automobile is continuously mature, more and more users select new energy automobiles, but compared with fuel oil automobiles, the technology of the electric automobile is still weak, and therefore higher requirements are put forward on the safety of the electric automobile in the face of the same driving road conditions. Particularly, the frequent accidents of the electric automobile generally cause social attention, and the upper and lower limits of the requested torque are comprehensively calculated mainly according to the maximum charge and discharge capacity of a battery pack of the electric automobile and the maximum and minimum torque of a motor in the conventional means at present, so that the overcurrent of the battery pack and the safety of the motor can be prevented, but if faults such as abnormal operation of a controller, memory error, stack removal, software reset and the like exist, unexpected acceleration is possibly sent, and thus huge potential safety hazards are caused to the surrounding environment.

Disclosure of Invention

The invention mainly aims to provide a whole vehicle torque limiting method, a vehicle and a computer readable storage medium. The method aims to solve the problems of effectively limiting the torque request of the vehicle and improving the driving safety.

In order to achieve the purpose, the invention provides a finished automobile torque limiting method, which comprises the following steps:

acquiring motor torque limit, and detecting whether fault information exists;

if the fault information exists, determining an application torque limit in the motor torque limits, and determining an application layer torque request according to a preset fault torque limit and the application torque limit;

determining a monitoring torque limit in the motor torque limits, and determining a monitoring layer torque limit according to a preset fault torque limit and the monitoring torque limit;

and determining the torque request of the whole vehicle according to the torque request of the application layer and the torque limit of the monitoring layer.

Optionally, the step of determining the monitored layer torque limit according to the preset fault torque limit and the monitored torque limit includes:

judging whether the preset fault torque limit is matched with the monitoring torque limit;

and if so, constructing a monitoring layer torque limit according to the preset fault torque limit and the monitoring torque limit.

Optionally, the step of determining an application layer torque request according to a preset fault torque limit and the application torque limit includes:

acquiring a required torque;

determining whether the preset fault torque limit matches the application torque limit;

if so, constructing an application layer torque limit according to the preset fault torque limit and the application torque limit;

judging whether a torque value corresponding to the required torque exceeds the application layer torque limit or not;

and if not, taking the required torque as an application layer torque request.

Optionally, the step of determining an applied torque limit of the motor torque limits comprises:

determining energy torque limit according to the power limit of a battery pack of the whole vehicle and the power of high-voltage accessories in the vehicle;

and acquiring a preset motor torque limit range, and determining application torque limit according to the preset motor torque limit range and the energy torque limit.

Optionally, the step of determining an application torque limit according to the preset motor torque limit range and the energy torque limit includes:

judging whether the preset motor torque limit range is matched with the energy torque limit or not;

and if so, constructing application torque limit according to a preset motor torque limit range and the energy torque limit.

Optionally, the determining the finished vehicle torque request according to the application layer torque request and the monitoring layer torque limit includes:

determining whether the application layer torque request exceeds the monitoring layer torque limit;

and if the application layer torque request does not exceed the monitoring layer torque limit, taking the application layer torque request as a finished automobile torque request.

Optionally, after the step of determining whether the application layer torque request exceeds the monitoring layer torque limit, the method further includes:

if the application layer torque request exceeds the monitoring layer torque limit, triggering a torque overrun fault and outputting a fault alarm;

and executing a fault processing instruction according to the fault alarm and a preset fault processing strategy.

Optionally, after the step of executing the fault handling instruction according to the preset fault handling policy, the method further includes:

judging whether the torque overrun fault is eliminated;

and if the torque overrun fault is eliminated, stopping outputting the fault alarm and re-determining the application layer torque request.

In addition, to achieve the above object, the present invention further provides a vehicle including a memory, a processor, and a whole vehicle torque limiting program stored on the memory and operable on the processor, wherein: the vehicle torque limiting program, when executed by the processor, implements the steps of the vehicle torque limiting method as described above.

In addition, to achieve the above object, the present invention further provides a computer readable storage medium, where a finished vehicle torque limiting program is stored, and when being executed by a processor, the steps of the finished vehicle torque limiting method are implemented.

According to the finished automobile torque limiting method, the automobile and the computer readable storage medium, when fault information is detected, an application layer torque request is determined according to preset fault torque limit and application torque limit in motor torque limit, monitoring layer torque limit is determined according to preset fault torque limit and monitoring torque limit in motor torque limit, and then the finished automobile torque request is determined according to the application layer torque request and the monitoring layer torque limit. Multiple torque limitation is achieved through preset fault torque limitation and motor torque limitation, limitation redundancy is achieved through monitoring layer torque limitation, out-of-control events such as unexpected acceleration and the like of the whole vehicle torque are avoided under the condition that effective limitation is not achieved, accordingly, potential safety hazards of vehicles are reduced, and safety of vehicle driving is improved.

Drawings

FIG. 1 is a schematic diagram of an apparatus in a hardware operating environment according to an embodiment of the present invention;

FIG. 2 is a schematic flow chart of a vehicle torque limiting method according to a first embodiment of the present invention;

FIG. 3 is a schematic diagram of torque limiting logic of the first embodiment of the overall vehicle torque limiting method of the present invention.

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.

The terminal of the embodiment of the invention can be a vehicle. As shown in fig. 1, the terminal may include: a processor 1001, such as a CPU, a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.

Optionally, the terminal may further include a camera, a Radio Frequency (RF) circuit, a sensor, an audio circuit, a WiFi module, and the like. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that adjusts the brightness of the display screen based on the ambient light level and a proximity sensor that turns off the display screen and/or backlight when the hardware device is moved to the ear. Of course, the hardware device may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, an infrared sensor, and so on, which are not described herein again.

Those skilled in the art will appreciate that the configuration of the terminal shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.

As shown in FIG. 1, the memory 1005, which is one type of computer storage medium, may include an operating system, a network communication module, a user interface module, and an overall vehicle torque limiting program.

In the terminal shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and the processor 1001 may be configured to invoke the vehicle torque limiting program stored in the memory 1005 and perform the following operations:

acquiring motor torque limit, and detecting whether fault information exists;

if the fault information exists, determining an application torque limit in the motor torque limits, and determining an application layer torque request according to a preset fault torque limit and the application torque limit;

determining a monitoring torque limit in the motor torque limits, and determining a monitoring layer torque limit according to a preset fault torque limit and the monitoring torque limit;

and determining the torque request of the whole vehicle according to the torque request of the application layer and the torque limit of the monitoring layer.

The specific embodiment of the present invention applied to the terminal is substantially the same as the following embodiments of the method for limiting the torque of the entire vehicle, and will not be described herein again.

Referring to fig. 2, fig. 2 is a schematic flow chart of a vehicle torque limiting method according to a first embodiment of the present invention, wherein the vehicle torque limiting method includes the following steps:

step S100, obtaining motor torque limit, and detecting whether fault information exists;

a VCU (Vehicle control unit) is a core of the entire control system as a central control unit of the new energy Vehicle. The VCU collects the states of a motor and a battery, collects signals of an accelerator pedal, a brake pedal, an actuator and a sensor, and monitors the action of each part controller at the lower layer after making corresponding judgment according to comprehensive analysis of the intention of a driver, and the VCU is responsible for normal running, brake energy feedback, energy management of an engine and a power battery of the whole automobile, network management, fault diagnosis and processing, vehicle state monitoring and the like of the automobile, so that the whole automobile can work normally and stably under the states of better dynamic property, higher economy and reliability. The MCU (Motor Control Unit) is used in an electric vehicle, and functions to convert electric energy stored in a power battery into electric energy required for driving a Motor according to instructions such as a gear, an accelerator, and a brake, so as to Control driving states such as starting operation, advancing and retreating speed, and climbing force of the electric vehicle, or to assist the electric vehicle in braking, and to store part of braking energy in the power battery. In this embodiment, the VCU is mainly responsible for power distribution of the entire vehicle and requests torque to the motor MCU, and the MCU is mainly responsible for torque response of the motor and is a power device of the entire vehicle. The torque limitation refers to a limitation made on the torque request, which may be a single torque value or a torque interval, in order to prevent the torque request from being abnormal and causing the potential safety hazard of vehicle runaway.

The motor torque limit is a limit reference value or a limit reference range of the vehicle required torque, wherein the motor torque limit can be determined according to the upper and lower torque limits of the motor capacity of the vehicle; or determining the energy torque limit calculated by subtracting the power of the vehicle high-voltage accessory from the power limit of the vehicle battery pack, the upper and lower torque limits of the capability of the vehicle motor and the like. And after the motor torque limit is acquired, detecting whether the whole vehicle has fault information, wherein the fault information can be the occurrence of abnormal conditions such as controller software operation abnormity, memory error, stack removal, software reset and the like. The motor torque limitation may include applying a torque limitation that is a limit value or a range that is referred to when performing torque limitation for an application layer, and monitoring the torque limitation that is a limit value or a range that is referred to when performing torque limitation for a monitoring layer.

Step S200, if the fault information exists, determining an application torque limit in the motor torque limit, and determining an application layer torque request according to a preset fault torque limit and the application torque limit;

if the fault information is detected, an application layer torque request is determined according to the preset fault torque limit and the application torque limit in the motor torque limit, wherein the application layer torque request is determined after the application torque limit in the motor torque limit and the multi-layer torque limit of the preset fault torque limit are passed. The preset fault torque limit refers to a fixed value or range that is set in advance to limit the torque in the event of a fault. The method for determining the application layer torque request may be that a minimum value between the application torque limit and a preset fault torque limit is obtained, the minimum value is used as a limit reference value, or a minimum range between a range corresponding to the application torque limit and a range corresponding to the preset fault torque limit is obtained, the minimum range is used as a limit reference range, whether the obtained required torque of the entire vehicle is within the limit reference value or the limit reference range is determined, and if the obtained required torque is within the limit reference value or the limit reference range, the required torque is used as the application layer torque request. If the torque is not within the limit reference value or the limit reference range, the required torque needs to be limited, so that the required torque is within the limit reference value or the limit reference range, the application layer torque request is obtained, and the legalization of the torque request is ensured. If the fault information is not detected, whether the required torque of the whole vehicle is within a limit range corresponding to application torque limit in motor torque limit is judged, if the required torque is within the limit range corresponding to the application torque limit, the required torque is used as an application layer torque request, and if the required torque is not within the limit range corresponding to the application torque limit, the required torque needs to be limited, so that the required torque is within the limit range corresponding to the application torque limit, and the application layer torque request is obtained.

Step S300, determining a monitoring torque limit in the motor torque limits, and determining a monitoring layer torque limit according to a preset fault torque limit and the monitoring torque limit;

the monitor layer torque limit is a limit reference value or limit reference range that further limits the torque, e.g., a reference value or reference range that limits the application layer torque request after it is obtained. By monitoring the floor torque limit, torque requests outside of safe driving ranges may be avoided. And determining the monitoring layer torque limit according to the preset fault torque limit and the monitoring torque limit in the motor torque limits. It is understood that determining the monitored layer torque limit may be determining the monitored layer torque limit according to a minimum range between a corresponding motor limit value range of the vehicle motor torque and a limit range corresponding to a preset fault torque limit when the occurrence of the fault is detected; or a comparison list of the required torque and the monitoring layer torque limit is preset, and after the required torque is obtained, the corresponding monitoring layer torque limit is determined according to the list, wherein the required torque can be obtained according to the displacement degree of an accelerator pedal according to the intention of a driver; the method can also be used for determining other preset monitoring rules determined aiming at the monitoring layer torque limit according to a plurality of preset monitoring layer torque limits aiming at different fault types, when the fault is detected, the monitoring layer torque limit corresponding to the whole vehicle fault type is determined according to the preset fault torque limit, and the like.

It is understood that the step of determining the application layer torque request and the step of determining the monitoring layer torque limit may be performed simultaneously, or the step of determining the application layer torque request may be performed before the step of determining the monitoring layer torque limit, or the step of determining the monitoring layer torque limit may be performed before the step of determining the monitoring layer torque limit is performed before the step of determining the application layer torque request, which is not limited herein.

And S400, determining the torque request of the whole vehicle according to the torque request of the application layer and the torque limit of the monitoring layer.

After a monitoring layer torque limit and an application layer torque request are obtained, whether the application layer torque request is in a limit range corresponding to the monitoring layer torque limit or not is judged, if the application layer torque request is in the limit range corresponding to the monitoring layer torque limit, the application layer torque request is used as a finished automobile torque request, and if the application layer torque request is not in the limit range corresponding to the monitoring layer torque limit, the application layer torque request needs to be limited, so that the application layer torque request is in the limit range corresponding to the monitoring layer torque limit, and the finished automobile torque request is obtained.

In one embodiment, the entire vehicle torque limiting system is designed in a layered mode and divided into an application layer, a monitoring layer and a basic software layer. The application layer is mainly responsible for a whole vehicle software control strategy, and the whole vehicle torque management is included. The monitoring layer is mainly responsible for the redundant design of the control strategy related to the driving safety, the open watchdog mechanism of the basic software layer is utilized to ensure that the strategy of the monitoring layer is strictly monitored, and in the operation of the system, if the working value determined in the application layer is different from the monitoring layer, the working value can be determined to be abnormal, so that the corresponding processing is carried out. The basic software layer is mainly responsible for abstracting control hardware and providing various hardware resource access interfaces. Acquiring the required torque of the whole vehicle at an application layer, determining an application layer torque request after the limitation of the application layer, and sending the application layer torque request to a monitoring layer; and the monitoring layer determines the finished automobile torque request through the torque limitation of the monitoring layer according to the application layer torque request, and sends the finished automobile torque request to the MCU. Referring to FIG. 3, FIG. 3 is a schematic diagram of the torque limiting logic of the application layer and the monitoring layer. In fig. 3, after the application layer and the monitoring layer obtain the required torque according to the intention of the driver, the application layer torque limit and the monitoring layer torque limit are respectively calculated; the method comprises the steps that the upper limit and the lower limit of a finished automobile torque request are calculated after the power limit of a battery pack is obtained and the power of a high-voltage accessory is subtracted in an application layer, so that energy torque limit is obtained, motor torque limit is determined according to the upper limit and the lower limit of the motor torque and the energy torque limit, and if a fault is detected, the required torque is limited according to the fault torque limit and the motor torque limit to obtain an application layer torque request; after the monitoring layer determines the torque limit of the monitoring layer, the torque request of the application layer is limited according to the torque limit of the monitoring layer, and the torque request after multiple limitations is sent to the MCU; in addition, if the torque exceeds the limit, the torque exceeding fault is triggered, and the whole vehicle fault handling mechanism carries out active speed-limiting and torque-limiting operation. Through multiple restrictions, the whole vehicle torque is effectively restricted, and the occurrence of an unexpected acceleration or other out-of-control events is avoided.

In the embodiment of the invention, when fault information is detected, an application layer torque request is determined according to the preset fault torque limit and the application torque limit in the motor torque limit, a monitoring layer torque limit is determined according to the preset fault torque limit and the monitoring torque limit in the motor torque limit, and a finished automobile torque request is determined according to the application layer torque request and the monitoring layer torque limit. Multiple torque limitation is achieved through preset fault torque limitation and motor torque limitation, limitation redundancy is achieved through monitoring layer torque limitation, out-of-control events such as unexpected acceleration and the like of the whole vehicle torque are avoided under the condition that effective limitation is not achieved, accordingly, potential safety hazards of vehicles are reduced, and safety of vehicle driving is improved.

Further, based on the first embodiment of the present invention, a second embodiment of the method for limiting the vehicle torque according to the present invention is provided, in this embodiment, the step S300 of the above embodiment, the step of determining the monitoring layer torque limit according to the preset fault torque limit and the monitoring torque limit, includes:

step a, judging whether the preset fault torque limit is matched with the monitoring torque limit;

and b, if so, constructing a monitoring layer torque limit according to the preset fault torque limit and the monitoring torque limit.

The preset fault torque limit is a fixed value that is preset to limit the torque request for a vehicle fault. The value is a smaller value which can ensure that the vehicle can normally run and can not cause the load pressure of other various components of the vehicle to be overlarge when a fault occurs. When a fault is detected, acquiring a preset fault torque limit, and judging whether the preset fault torque limit is matched with the monitoring torque limit, wherein the matching rule judges whether the preset fault torque limit and the monitoring torque limit are overlapped or not according to the preset fault torque limit. If the fault torque limit is matched with the fault torque limit, constructing a monitoring layer torque limit according to a monitoring torque limit in the motor torque limit of the vehicle and a preset minimum range between the fault torque limits, wherein when the range corresponding to the preset fault torque limit is in the range corresponding to the monitoring torque limit, the preset fault torque limit is used as the monitoring layer torque limit; and when the range corresponding to the monitoring torque limit is in the range corresponding to the preset fault torque limit, taking the monitoring torque limit as the monitoring layer torque limit. For example, if the preset fault torque limit corresponds to a closed interval from 10 to 100, and the monitoring torque limit corresponds to a closed interval from 5 to 105, at this time, the preset fault torque limit corresponds to a range within the monitoring torque limit, that is, the preset fault torque limit is taken as the monitoring layer torque limit, and the closed interval from 10 to 100 is a range corresponding to the monitoring layer torque limit. And when the range corresponding to the preset fault torque limit is crossed with the range corresponding to the monitoring torque limit, a smaller torque limit value is obtained in a positive torque area of the crossed corresponding range of the preset fault torque limit and a larger torque limit value is obtained in a negative torque area of the crossed corresponding range of the preset fault torque limit and the monitoring torque limit. And determining the torque limit of the monitoring layer according to the acquired torque limit value. For example, if the predetermined fault torque limit corresponds to a closed interval ranging from-160 to 140, the monitoring torque limit corresponds to a closed interval ranging from-150 to 150, where a greater value of-150 is taken in the negative torque zone and a lesser value of-150 is taken in the negative torque zone, and a lesser value of 140 is taken in the positive torque zone, and where the monitoring floor torque limit corresponds to a closed interval ranging from-150 to 140. In another embodiment, the monitoring layer limits the torque to the lesser of the monitored torque limit and the predetermined fault torque limit if the monitored torque limit and the predetermined fault torque limit are a single value. And if the fault information does not exist, the monitoring torque limit of the vehicle is used as the monitoring layer torque limit. In one embodiment, the monitoring layer torque limit is determined according to the monitoring torque limit, namely, the upper and lower torque limit values according to the capacity of the motor. In another embodiment, the monitoring layer torque limit is determined based on a monitoring torque limit determined based on upper and lower torque limits of the motor itself and a maximum charge-discharge capacity of the vehicle battery pack.

Through the redundant design of setting up control layer torque restriction, can further restrict this application layer torque request after obtaining application layer torque request, realize duplicate protection, promote the security that the vehicle was driven.

Further, the step of determining an application layer torque request based on a preset fault torque limit and the application torque limit comprises:

step c, acquiring a required torque;

an accelerator pedal position sensor is usually arranged in a vehicle, wherein the accelerator pedal position sensor generates a corresponding voltage signal to be input into a throttle control unit, the control unit firstly filters the input signal to eliminate the influence of environmental noise, then analyzes the intention of a driver according to the current working mode, pedal movement and change rate, calculates the basic requirement on the torque of an engine and obtains a corresponding basic expected value of a throttle angle; then, the control unit communicates with the whole vehicle control unit through a Controller Area Network (CAN) bus to acquire other working condition information and various sensor signals such as engine speed, gear, throttle position, air conditioner energy consumption and the like; therefore, all torques required by the whole vehicle are calculated, the optimal opening degree of the throttle valve is obtained by compensating the expected value of the throttle valve rotation angle, and the corresponding voltage signals are sent to the driving circuit module to drive the control motor to enable the throttle valve to reach the optimal opening degree position. In this embodiment, the required torque refers to a required torque of the entire vehicle, and the required torque may be determined by analyzing a driver's intention with an accelerator pedal position sensor.

Step d, judging whether the preset fault torque limit is matched with the application torque limit;

step e, if yes, constructing an application layer torque limit according to the preset fault torque limit and the application torque limit;

the preset fault torque limit is a fixed value that is preset to limit the torque request for a vehicle fault. The value is a smaller value which can ensure that the vehicle can normally run and can not cause the load pressure of other various components of the vehicle to be overlarge when a fault occurs. And if the vehicle is detected to have a fault, acquiring application torque limit in preset fault torque limit and motor torque limit, and constructing a limit minimum range in a range corresponding to the preset fault torque limit and the application torque limit. The minimum limit range may be a smaller value between the preset fault torque limit and the application torque limit, or may be constructed according to a range corresponding to the preset fault torque limit and a range corresponding to the application torque limit, and when the range corresponding to the preset fault torque limit is within the range corresponding to the application torque limit, the preset fault torque limit is used as the application layer torque limit; and when the range corresponding to the application torque limit is in the range corresponding to the preset fault torque limit, taking the application torque limit as the application layer torque limit. When the range corresponding to the preset fault torque limit is crossed with the range corresponding to the application torque limit, a smaller torque limit value is obtained in a positive torque area of the crossed corresponding range of the preset fault torque limit and a larger torque limit value is obtained in a negative torque area of the crossed corresponding range of the preset fault torque limit and the application torque limit. And determining an application layer torque limit according to the acquired torque limit value.

Step f, judging whether the torque value corresponding to the required torque exceeds the application layer torque limit;

and g, if not, taking the required torque as an application layer torque request.

And judging whether a torque value corresponding to the required torque exceeds the application layer torque limit, and when the torque value does not exceed the application layer torque limit, taking the required torque as an application layer torque request. And if the torque value exceeds the application layer torque limit, triggering a torque reduction command, and controlling the required torque to be kept in a range corresponding to the application layer torque limit, so that the required torque in the range corresponding to the application layer torque limit is used as the application layer torque request.

If the vehicle fault is not detected, judging whether a torque value corresponding to the required torque exceeds an application torque limit in the motor torque limit, and when the torque value does not exceed the application torque limit, taking the required torque as an application layer torque request; and if the torque value exceeds the application torque limit of the motor torque limit, triggering a torque reduction command, and controlling the required torque to be kept in the application torque limit range, so that the required torque in the application torque limit range is used as the application layer torque request.

After the torque limitation of the motor is determined, the preset fault torque limitation is superposed, so that the torque multiple limitation can be realized when a vehicle fault occurs, the effectiveness of the torque limitation of the vehicle is ensured, and the potential safety hazard of driving is reduced.

Further, the step of determining an applied one of the motor torque limits comprises:

h, determining energy torque limit according to the power limit of the battery pack of the whole vehicle and the power of high-voltage accessories in the vehicle;

the BMS (Battery MANAGEMENT SYSTEM, a BATTERY management system) CAN calculate the discharge power of the power BATTERY in real time and send the discharge power to a Controller Area Network (CAN) VCU (Vehicle control unit) after receiving the signal, and the discharge power of the power BATTERY is distributed to each high-voltage accessory according to the starting condition of the high-voltage accessory. The high-voltage accessory comprises a bridge connecting a high-voltage part and a low-voltage part, a DC/DC converter (Direct-Direct current converter) which charges a low-voltage storage battery and supplies power to low-voltage electric appliances at any time, an air conditioner AC (air conditioning), a warm air blower PTC (PTC heater), a DC/AC (DC-Direct current, AC-Alternating current, Direct current/Alternating current) converter and the like. In this embodiment, the energy torque limit refers to a torque limit reference value determined according to the energy of the entire vehicle, where a power limit of a battery pack of the entire vehicle is obtained, and after subtracting the power of each high-voltage accessory, upper and lower limits of the energy torque of the entire vehicle are calculated, so as to determine the energy torque limit.

Step i, acquiring a preset motor torque limit range, and determining application torque limit according to the preset motor torque limit range and the energy torque limit;

in another embodiment, if the preset motor torque limit range is a single value, determining a motor torque minimum value of the upper and lower torque limits, wherein the motor torque minimum value of the motor torque limit range may be used as the motor torque minimum value, or the motor torque limit value may be determined, or an average value of a maximum value and a minimum value in the range may be determined as the motor torque minimum value according to the motor torque limit range, or other rules for determining the motor torque minimum value according to the motor torque limit range, and when the acquired required torque is a positive value, the minimum value of the upper and lower torque limits of the motor capacity is acquired, and when the acquired required torque is a negative torque, the maximum value of the upper and lower torque limits of the motor capacity is acquired. And acquiring a corresponding value as the minimum value of the motor torque.

When the application torque limit is determined, if the preset motor torque limit range is in the range corresponding to the energy torque limit, taking the preset motor torque limit range as the application torque limit; and when the range corresponding to the energy torque limit is within the preset motor torque limit range, taking the energy torque limit as the application torque limit. When the preset motor torque limit range is crossed with the range corresponding to the energy torque limit, a smaller torque limit value is obtained in a positive torque area of the crossed corresponding range of the motor torque limit range and a larger torque limit value is obtained in a negative torque area of the crossed corresponding range of the motor torque limit range and the energy torque limit range. An application torque limit is determined based on the obtained torque limit.

The torque limit is determined and applied through the upper and lower torque limits of the capacity of the motor and the power limit of the battery pack of the whole vehicle, and the pertinence and the effectiveness of the torque limit can be improved.

Specifically, the step of determining an application torque limit based on the preset motor torque limit range and the energy torque limit comprises:

j, judging whether the preset motor torque limit range is matched with the energy torque limit or not;

and step k, if yes, constructing application torque limit according to a preset motor torque limit range and the energy torque limit.

After the energy torque limit and the preset motor torque limit range are determined, whether the energy torque limit is matched with the preset motor torque limit range or not is judged, and therefore the application torque limit is constructed according to the energy torque limit and the preset motor torque limit range. The matching judgment may be to judge whether the energy torque limit and a preset motor torque limit range overlap.

The application torque limit in the motor torque limit is determined by performing double-layer limit on the energy torque limit and the minimum value of the motor torque, so that the effectiveness of the torque limit can be further ensured, and the driving safety is ensured.

Further, determining the entire vehicle torque request according to the application layer torque request and the monitoring layer torque limit comprises:

step l, judging whether the application layer torque request exceeds the monitoring layer torque limit;

and m, if the application layer torque request does not exceed the monitoring layer torque limit, taking the application layer torque request as a finished automobile torque request.

After determining the application layer torque request, further limiting the application layer torque request by using the monitoring layer torque limit, acquiring the monitoring layer torque limit, and judging whether the application layer torque request exceeds the monitoring layer torque limit, if the application layer torque request does not exceed the monitoring layer torque limit, determining that the application layer torque request is a normal torque request, and using the normal torque request as a finished automobile torque request to send the finished automobile torque request to the MCU to obtain a torque response, so as to drive the automobile to normally run.

After the application layer torque request is obtained, the torque is further determined to be in a controllable state by utilizing the monitoring layer torque limit, the hidden danger that the torque exceeds the limit after the application layer torque request passes through the motor torque limit and the preset fault torque limit is prevented, the condition that the vehicle is unexpectedly accelerated possibly is avoided, and the driving safety is ensured.

Specifically, after the step of determining whether the application layer torque request exceeds the monitoring layer torque limit, the method further includes:

n, if the torque request of the application layer exceeds the torque limit of the monitoring layer, triggering a torque overrun fault and outputting a fault alarm;

and judging whether the application layer torque request exceeds the monitoring layer torque limit, if so, triggering a torque overrun fault, and outputting a fault alarm according to the fault. The failure alarm may be output through a target component such as a vehicle dashboard or a speaker.

And a fault alarm mechanism is arranged, so that alarm information can be output in time when a fault occurs, and a user can know the current vehicle state according to the fault alarm.

And step o, executing a fault processing instruction according to the fault alarm and a preset fault processing strategy.

The preset fault handling strategy refers to a combination of fault handling instructions with targeted handling preset aiming at possible faults of the whole vehicle, and corresponding fault handling instructions are executed according to the fault handling strategy corresponding to the fault alarm. For example, when the torque request of the application layer exceeds the torque request limit of the monitoring layer, the torque is considered to exceed the limit value, the monitoring layer informs the application layer of the occurrence of the torque overrun fault, and based on the torque overrun fault, the torque overrun fault is reported at the application layer, and the active torque reduction operation is performed at the application layer, so that the occurrence of abnormal conditions such as unexpected acceleration of the vehicle is avoided; the fault processing strategy can also be a processing mode of powering off when serious faults occur, actively limiting power and the like.

A fault handling strategy is preset, faults are handled actively in time, the accident rate possibly caused by the faults is reduced, and the driving safety is improved.

Specifically, after the step of executing the fault handling instruction according to the preset fault handling policy, the method further includes:

step p, judging whether the torque overrun fault is eliminated;

and q, if the torque overrun fault is eliminated, stopping outputting a fault alarm and re-determining the torque request of the application layer.

And detecting whether the torque overrun fault is eliminated in real time, and stopping outputting a fault alarm after the torque overrun fault is eliminated. The application layer torque request needs to be re-determined since the torque request will change after the fault handling instruction is executed due to a fault alarm caused by a torque overrun. After the application layer torque request is determined again, monitoring of the monitoring layer torque limit is continued, so that the whole vehicle torque is in a controllable range.

The fault progress is detected in real time, the torque request is determined again according to the fault processing result, the torque request is effectively limited, and the torque is ensured to be in a controllable state all the time, so that the potential safety hazard of the vehicle is reduced, and the driving safety of the vehicle is improved.

In addition, the invention also provides a computer readable storage medium, wherein the whole vehicle torque limiting program is stored on the computer readable storage medium. The computer-readable storage medium may be the Memory 20 in the terminal of fig. 1, and may also be at least one of a ROM (Read-Only Memory)/RAM (Random Access Memory), a magnetic disk, and an optical disk, and the computer-readable storage medium includes instructions for causing a vehicle having a processor to execute the vehicle torque limiting method according to various embodiments of the present invention.

It is to be understood that throughout the description of the present specification, reference to the term "one embodiment", "another embodiment", "other embodiments", or "first through nth embodiments", etc., is intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.

The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.