CN104608763B - The torque safety monitoring method and system of automobile - Google Patents
The torque safety monitoring method and system of automobile Download PDFInfo
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- CN104608763B CN104608763B CN201310535113.7A CN201310535113A CN104608763B CN 104608763 B CN104608763 B CN 104608763B CN 201310535113 A CN201310535113 A CN 201310535113A CN 104608763 B CN104608763 B CN 104608763B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0666—Engine torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Hybrid Electric Vehicles (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The present invention proposes a kind of torque safety monitoring method of automobile, wherein, automobile includes entire car controller and coupled electric machine controller, and the method is comprised the following steps：Entire car controller generates Motor torque signal and the Motor torque signal is sent into electric machine controller according to the demand torque of automobile；Entire car controller obtains the actual torque of motor output according to the power output of the electrokinetic cell of automobile and the power consumption of high-voltage load；Entire car controller judges whether entire car controller is correct according to the Motor torque signal that the parsing of the demand torque of automobile is obtained according to the actual torque that motor is exported.Embodiments of the invention can improve the safety and reliability of automobile dynamic system moment of torsion control, it is ensured that automobile safety in the process of moving.Present invention also offers a kind of torque safety monitoring system of automobile.
Description
Technical field
The present invention relates to field of automobile, the torque safety monitoring method and system of more particularly to a kind of automobile.
Background technology
At present, electric automobile, hybrid vehicle and plug-in hybrid-power automobile because of its significant effects of energy saving and emission reduction,
Important development object is classified as by domestic and international motor corporation, therefore is had to the R and D of its key technology very important
Meaning.
New-energy automobile（Electric automobile, hybrid vehicle and plug-in hybrid-power automobile）Dynamical system control
Use distributed frame, i.e. entire car controller more（VCU）As top level control device, by the accelerator pedal position, the car that read
The signal such as speed and gear is parsed to the intention of driver, also needs to carry out moment of torsion distribution calculating for hybrid vehicle,
Engine torque command and the Motor torque instruction of acquisition are sent respectively to engine management unit by bus（ECU）And motor
Controller（MCU）, ECU and MCU parses to moment of torsion respectively again, and control engine and motor output entire car controller are desired
Moment of torsion.If the moment of torsion of the torque demand of generation, the moment of torsion of transmission and execution is not monitored effectively, there is torque safety
Problem, it will cause very serious consequence, therefore torque safety monitoring is a very important link.
From the control framework of current new-energy automobile dynamical system, several links of torque safety problem are likely to result in
Have：There is mistake to the intents of driver in entire car controller, and deviation, engine occurs in the torque signal transmitted by bus
Or motor is parsed and controls engine, motor goes wrong when performing moment of torsion.
Patent No. CN201120151113.3 --- monitoring system of mixing dynamical vehicle torsional moment proposes a kind of hybrid power
Vehicle torsional moment monitoring system.The system includes entire car controller, engine controller and electric machine controller, the full-vehicle control
Device includes calculating engine torque and Motor torque and according to engine torque generation engine torque signal, the foundation for being calculated
The Motor torque for being calculated generates the torque request processing module of Motor torque signal, and calculating engine allows moment of torsion and according to it
Generation engine allows torque signal and calculates motor permission moment of torsion and allow the moment of torsion of torque signal to pacify according to its generation motor
Full module, and gather engine actual torque and allow moment of torsion to be compared so as to monitor engine reality in itself and engine
Itself and motor are simultaneously allowed torque ratio compared with so as to monitor the moment of torsion prison of motor actual torque by the actual torque of moment of torsion and collection motor
Control module.However, the system is the basic skills and framework of the mixing dynamical vehicle torsional moment security monitoring of proposition, do not give
Go out specific implementation.
A kind of patent No. CN200910142367.6 --- safe control method for electric automobile torque discloses a kind of electronic
Vehicle torsional moment method of controlling security, comprises the following steps：A. driver passes through pedal operation to full-vehicle control unit（VMS）Send
Torque request signal；B.VMS based on the peak value operation torque of now motor, is aided with wink according to tread depths signal
When motor speed and vehicle speed amendment, obtain instantaneous driver's requested torque；C.VMS is calculated driver's request and turns round
After square, three layers of monitoring are carried out to it with three kinds of different moments of torsion respectively, three kinds of different moments of torsion are newly calculated for security monitoring
Moments of torsion of moment of torsion, the real response moment of torsion of electric machine controller and the filtered VMS for obtaining to motor.However, the method is only
It is the method that torque safety monitoring is proposed from the aspect of entire car controller inner strategy, not from the generation of moment of torsion, signal
The aspects such as transmission, moment of torsion execution propose the solution of the torque safety of system.
The content of the invention
It is contemplated that at least solving one of above-mentioned technical problem.
Therefore, the torque safety monitoring method it is an object of the present invention to propose a kind of automobile, the method can be carried
The safety and reliability of automobile dynamic system moment of torsion control high, it is ensured that automobile safety in the process of moving.
A kind of torque safety monitoring system another object of the present invention is to propose automobile.
To achieve these goals, the embodiment of first aspect present invention proposes a kind of torque safety monitoring side of automobile
Method, the automobile includes the electric machine controller that entire car controller is connected with the entire car controller, and methods described includes following step
Suddenly：A：The entire car controller generates Motor torque signal according to the demand torque of automobile, and the Motor torque signal is sent out
Give the electric machine controller；B：Power output and high-voltage load of the entire car controller according to the electrokinetic cell of the automobile
Power consumption obtain motor output actual torque；C：The entire car controller is sentenced according to the actual torque that the motor is exported
Whether the entire car controller that breaks is correct according to the Motor torque signal that the parsing of the demand torque of automobile is obtained.
The torque safety monitoring method of automobile according to embodiments of the present invention, entire car controller is given birth to according to automobile demand moment of torsion
Into generator torque signal, and send to electric machine controller, and further according to the power output and high-voltage load of electrokinetic cell
Power consumption calculate the actual torque of motor output, and need of the entire car controller according to automobile are judged according to the actual torque
Ask whether correctly moment of torsion parses the Motor torque for obtaining, so as to can avoid because of moment of torsion parsing, signal transmission and Motor torque signal
The mistake occurred in transmittance process causes the generation of torque safety problem, therefore, the method can improve dynamical system moment of torsion control
The safety and reliability of system, it is ensured that the safety in vehicle traveling process.
In addition, the torque safety monitoring method of automobile according to the above embodiment of the present invention can also have what is added as follows
Technical characteristic：
In some instances, the automobile also includes the engine controller being connected with the entire car controller, the step
Rapid A is further included：The entire car controller generates engine torque signal according to the demand torque of the automobile, and will be described
Engine torque signal is sent to the engine controller；After the step C, also include：If the full-vehicle control
Device is correct according to the demand torque of the automobile Motor torque signal that obtains of parsing, then the entire car controller is by the motor
Torque signal is sent to the engine controller；And the engine controller is according to GES, gas pedal depth
With the demand torque that gear signal obtains the automobile, and calculated according to the Motor torque signal and the engine controller
The demand torque of the automobile for obtaining judges the hair that the entire car controller is obtained according to the parsing of the demand torque of the automobile
Whether motivation torque signal is correct.
In some instances, also include：In the motor that the entire car controller is obtained according to the parsing of the demand torque of automobile
When moment of torsion malfunctions, electrokinetic cell is controlled to stop as the motor is powered and alarmed.
In some instances, also include：In the entire car controller according to starting that the parsing of the demand torque of automobile is obtained
When machine moment of torsion malfunctions, limit the engine output torque is to preset value and is alarmed.
In some instances, also include：The entire car controller is given birth to according to engine torque signal and Motor torque signal
Into engine torque checking signal and Motor torque checking signal, and it is sent respectively to the engine controller and the motor
Controller；The engine controller is according to the engine torque checking signal and the engine torque signal judge
Whether normal communicate between entire car controller and the engine controller；The electric machine controller is according to the Motor torque school
Test signal and whether the Motor torque signal judges normal to communicate between the entire car controller and the electric machine controller.
In some instances, the communication abnormality and/or described between the entire car controller and the engine controller
Between entire car controller and the electric machine controller during communication abnormality, the output torque of engine and motor is alarmed and limited
To preset value.
In some instances, also include：The entire car controller is respectively according to the engine torque signal and the electricity
Machine torque signal obtains engine torque higher limit and lower limit and Motor torque higher limit and lower limit；The full-vehicle control
The engine torque higher limit and lower limit and Motor torque higher limit and lower limit are sent to described and started by device respectively
Machine controller and the electric machine controller；The engine controller is according to the hair obtained to engine torque signal parsing
Motivation moment of torsion and the engine torque higher limit and lower limit judge whether the engine controller is normal；The motor control
Device processed judges according to the Motor torque obtained to the Motor torque signal resolution and the Motor torque higher limit and lower limit
Whether the electric machine controller is normal.
In some instances, also include：The engine controller is abnormal and/or during the abnormal electric machine controller,
Alarmed and limited the output torque of engine and motor to preset value.
The embodiment of second aspect present invention provides a kind of torque safety monitoring system of automobile, including：Full-vehicle control
The electric machine controller that device is connected with the entire car controller, wherein, the entire car controller is used for the demand torque according to automobile
Generation Motor torque signal, and the Motor torque signal is sent to the electric machine controller, and according to the automobile
The power output of electrokinetic cell and the power consumption of high-voltage load obtain the actual torque of motor output, and defeated according to the motor
The actual torque for going out judges that the entire car controller is according to the Motor torque signal that the parsing of the demand torque of automobile is obtained
It is no correct,
The torque safety monitoring system of automobile according to embodiments of the present invention, entire car controller is given birth to according to automobile demand moment of torsion
Into Motor torque signal, and send to electric machine controller, and power output further according to electrokinetic cell and high-voltage load
Power consumption calculates the actual torque of motor output, and judges demand of the entire car controller according to automobile according to the actual torque
Whether the Motor torque that moment of torsion parsing is obtained is correct, so as to can avoid being passed because of moment of torsion parsing, signal transmission and Motor torque signal
The mistake occurred during passing causes the generation of torque safety problem, therefore, the monitoring system can improve dynamical system moment of torsion
The safety and reliability of control, it is ensured that the safety in vehicle traveling process.
In addition, the torque safety monitoring system of automobile according to the above embodiment of the present invention can also have what is added as follows
Technical characteristic：
In some instances, also include：The engine controller being connected with the entire car controller；The entire car controller
For generating engine torque signal according to the demand torque of the automobile, and the engine torque signal is sent to described
Engine controller, and when the Motor torque signal obtained according to the parsing of the demand torque of the automobile is correct, by institute
State Motor torque signal and be sent to the engine controller；The engine controller is used to be stepped on according to GES, throttle
Plate depth signal and gear signal obtain the demand torque of the automobile, and according to the Motor torque signal and the engine
The demand torque of the automobile that controller is calculated judges demand torque solution of the entire car controller according to the automobile
Whether the engine torque signal that analysis is obtained is correct.
In some instances, the entire car controller is additionally operable to according to the engine torque signal and Motor torque signal
Generation engine torque checking signal and Motor torque checking signal, and by the engine torque signal and described start respectively
Machine moment of torsion checking signal sends to the engine controller and verifies the Motor torque signal and the Motor torque
Signal is sent to the electric machine controller；The engine controller is used for according to the engine torque checking signal and described
Whether engine torque signal judges normal to communicate between the entire car controller and the engine controller；The motor control
Device processed is used to judge the entire car controller with the electricity according to the Motor torque checking signal and the Motor torque signal
Whether normal communicate between machine controller.
In some instances, the entire car controller is additionally operable to respectively according to the engine torque signal and the motor
Torque signal obtains engine torque higher limit and lower limit and Motor torque higher limit and lower limit, and respectively by the hair
Motivation upper torque limit value and lower limit and Motor torque higher limit and lower limit are sent to the engine controller and described
Electric machine controller；The engine controller be used for according to the engine torque signal engine torque that obtains of parsing and
The engine torque higher limit and lower limit judge whether the engine controller is normal；The electric machine controller is used for root
Judge the electricity according to the Motor torque obtained to the Motor torque signal resolution and the Motor torque higher limit and lower limit
Whether machine controller is normal.
Additional aspect of the invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the flow chart of the torque safety monitoring method of the automobile according to one embodiment of the invention；
Fig. 2 is the torque monitoring to motor of the torque safety monitoring method of the automobile according to one embodiment of the invention
Principle schematic；
Fig. 3 is the torque monitoring to engine of the torque safety monitoring method of the automobile according to one embodiment of the invention
Principle schematic；With
Fig. 4 is the structured flowchart of the torque safety monitoring system of the automobile according to one embodiment of the invention.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
It is exemplary to scheme the embodiment of description, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score,
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of and describes the present invention and simplify to describe, rather than instruction or dark
Showing the device or element of meaning must have specific orientation, with specific azimuth configuration and operation therefore it is not intended that right
Limitation of the invention.Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative
Importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
Two connections of element internal.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Below in conjunction with the torque safety monitoring method and system of Description of Drawings automobile according to embodiments of the present invention.
Fig. 1 is the flow chart of the torque safety monitoring method of the automobile according to one embodiment of the invention.As shown in figure 1,
The torque safety monitoring method of automobile according to an embodiment of the invention, wherein, the automobile includes entire car controller, whole with this
The connected electric machine controller of vehicle controller, the method is comprised the following steps：
Step S101, entire car controller generates Motor torque signal according to the demand torque of automobile, and by the Motor torque
Signal is sent to electric machine controller.
In one embodiment of the invention, above-mentioned automobile also includes the engine controller being connected with entire car controller,
And step S101 is further included：Entire car controller generates engine torque signal according to the demand torque of automobile, and will start
Machine torque signal is sent to engine controller.
Step S102, entire car controller is obtained according to the power output of the electrokinetic cell of automobile and the power consumption of high-voltage load
To the actual torque of motor output.
Step S103, entire car controller judges demand of the entire car controller according to automobile according to the actual torque that motor is exported
Whether the Motor torque signal that moment of torsion parsing is obtained is correct.Further, if entire car controller is according to the demand torque of automobile
The Motor torque signal that parsing is obtained is correct, then the Motor torque signal is sent to engine controller by entire car controller, hair
Motivation controller obtains the demand torque of automobile according to GES, gas pedal depth and gear signal, and is turned round according to motor
The demand torque of the automobile that square signal and engine controller are calculated judges demand torque of the entire car controller according to automobile
Whether the engine torque signal that parsing is obtained is correct.
Further, in one embodiment of the invention, parsed according to the demand torque of automobile in entire car controller
When the Motor torque signal for arriving malfunctions, electrokinetic cell is controlled to stop as motor is powered and is alarmed.Entire car controller according to
When the engine torque signal that the demand torque parsing of automobile is obtained malfunctions, output torque to the preset value for limiting engine is gone forward side by side
Row alarm.
As a specific example, with reference to shown in Fig. 2, entire car controller（VCU）The voltage exported by electrokinetic cell
The general power exported with electric current, cuts related accessories（For example：DCDC, electric air-conditioning, electric heating system and high-voltage electric
Steering etc.）The power of consumption, obtains for motor-driven input power, it is considered to efficiency of the motor under different operating modes and
Working characteristics etc., the actual torque value that now motor is exported can be calculated by the mode such as table look-up.By the torque value and vehicle
The Motor torque instruction of controller parsing is compared, if difference is larger, then it is assumed that there occurs torque safety problem, then vehicle
Controller need to take the strategy of correlation to be processed, such as undesirable acceleration should disconnect battery high pressure.With reference to Fig. 2, to motor
The security monitoring of torque signal comprises the following steps：
Step 1, electrokinetic cell voltage is multiplied with electrokinetic cell output current and obtains the power output of electrokinetic cell.
Step 2, electric heating system input power, compressor of air conditioner input power, DCDC input powers and high-voltage electric
Steering input power（Different vehicle is increased and decreased according to the actual conditions of high drive annex）It is added, obtains high drive
The input general power of annex.
Step 3, the input power that the power output of electrokinetic cell subtracts high drive annex obtains the input of motor
Power.
Step 4, the database of power input to a machine, rotating speed, efficiency and output torque is obtained by lot of experiments.
Step 5, obtains the output torque of motor by way of tabling look-up according to input power.
Step 6, the torsion to motor that the motor output torque that will be obtained in step 5 is obtained with entire car controller analytical Calculation
Square instruction is subtracted each other.
Step 7, if subtraction value is less than certain value（According to actual conditions value set in advance）, then decision-making system is in peace
Total state.
Step 8, if subtraction value is more than certain value, judgement there occurs torque safety problem, and entire car controller need to be taken
Related strategy is processed, such as undesirable acceleration should disconnect battery high pressure, and alarm to point out driver's automobile to occur
Failure, so as to the safety in vehicle traveling process can be ensured.
Step S104, engine controller is sent to by Motor torque signal.
Step S105, engine controller obtains the need of automobile according to GES, gas pedal depth and gear signal
Moment of torsion is sought, and the demand torque of the automobile being calculated according to Motor torque signal and engine controller judges entire car controller
Whether the engine torque that the demand torque parsing according to automobile is obtained is correct.In another embodiment of the present invention, whole
When vehicle controller malfunctions according to the demand torque of the automobile engine torque that obtains of parsing, the output torque of engine is limited to pre-
If being worth and alarming.
As a specific example, with reference to shown in Fig. 3, accelerator pedal depth signal（That is gas pedal depth signal）、
GES and gear signal can be by hardwired fashion or entire car controllers（VCU）By bus（CAN）It is transmitted to engine
Controller（ECU）, while VCU will also issue ECU by CAN to the torque command of motor, ECU calculates the torsion of vehicle in real time
Square demand, subtracts the moment of torsion of motor, obtains a torque range for engine.If the torque command that VCU is sent to ECU exceedes
The torque range, then it is assumed that occur in that torque safety problem, ECU should take the measure of correlation, for example, control engine output
Zero moment of torsion, with more than alarm reporting failure.With reference to Fig. 3, the security monitoring to engine torque signal is comprised the following steps：
Step 1, VCU obtains accelerator pedal signal, GES and selector input signal（That is gear signal）.
Step 2, VCU is parsed by driver intention and moment of torsion is distributed and obtained to the torque command of engine.
Step 3, ECU obtains accelerator pedal signal, GES, selector input signal and VCU and refers to the torque of motor
Order.
Step 4, ECU is parsed by driver intention and torque arithmetic obtains the torque range that engine needs to perform.
Step 5, the VCU that will be obtained in step 2 needs to hold to the engine obtained in the torque command and step 4 of engine
Capable torque range is contrasted.
Step 6, if VCU needs the torque range of execution to the torque command of engine not less than engine, judges
System is in a safe condition.
Step 7, if VCU has exceeded the torque range of engine needs execution to the torque command of engine, judges
Torque safety problem is occurred in that, ECU should take the measure of correlation, for example, engine output zero moment is controlled, more than alarm
Report failure.
It should be noted that for electric automobile, torque safety monitoring can only carry out above-mentioned step 1,2 and 3,
Remove the associated description on ECU and engine simultaneously, you can realize the torque safety monitoring of electric automobile, do not go to live in the household of one's in-laws on getting married herein
State.
In addition, in one embodiment of the invention, engine torque signal and motor are turned round respectively in entire car controller
Square signal is sent to after engine controller and electric machine controller, and entire car controller is turned round according to engine torque signal and motor
Square signal generation engine torque checking signal and Motor torque checking signal, and it is sent respectively to engine controller and motor
Controller；Engine controller judges entire car controller and starts according to engine torque checking signal and engine torque signal
Whether normal communicate between machine controller；Electric machine controller judges vehicle according to Motor torque checking signal and Motor torque signal
Whether normal communicate between controller and electric machine controller.
Further, communication abnormality and/or entire car controller and motor between entire car controller and engine controller
Between controller during communication abnormality, the output torque of engine and motor to preset value is alarmed and limited.Wherein, preset value
To preset, used as an example, preset value is, for example, 0.In other words, i.e., when entire car controller and engine controller and/
Or when between entire car controller and electric machine controller there is communication abnormality, then carry out alarming and when engine and motor output turn round
Square is 0, to point out driver's automobile to break down, while ensuring the safety of passenger inside the vehicle.Wherein, for example can be through but not limited to
Voice signal come realize alarm.
In sum, as a specific example, i.e.,：Entire car controller is to engine controller and electric machine controller
Torque command increases a checking signal respectively in addition to normal signal（That is moment of torsion checking signal）, the checking signal is normal with original
The corresponding binary digit of signal is negated.After engine controller and electric machine controller receive two torque commands respectively, by this
Two signals are converted to binary system and are added, if the result being added all is 1 for all positions, then it represents that automobile fault-free, otherwise,
Show that automobile breaks down, then engine controller and motor controller controls engine and motor export zero moment of torsion, same to Times
Police is with reporting fault.
In addition, in one embodiment of the invention, engine torque signal and motor are turned round respectively in entire car controller
Square signal is sent to after engine controller and electric machine controller, and entire car controller is respectively according to engine torque signal and electricity
Machine torque signal obtains engine torque higher limit and lower limit and Motor torque higher limit and lower limit, entire car controller point
Engine torque higher limit and lower limit and Motor torque higher limit and lower limit are not sent to engine controller and electricity
Machine controller, engine controller is according to the engine torque and the engine torque upper limit obtained to engine torque signal parsing
Value and lower limit judge whether engine controller is normal, and electric machine controller is according to the motor obtained to Motor torque signal resolution
Moment of torsion and Motor torque higher limit and lower limit judge whether electric machine controller normal, and engine controller it is abnormal and/or
When electric machine controller is abnormal, the output valve preset value of engine and motor is alarmed and limited.As a specific example,
For example：Entire car controller is sent to the maximum and minimum value of engine controller and electric machine controller torque command simultaneously（Should
Signal should be in unlike signal frame with torque command）, engine controller and electric machine controller parse entire car controller respectively
The torque command of transmission, if the moment of torsion that parsing is obtained has exceeded max min limitation, then it is assumed that occur in that torque safety
Problem, then engine controller should take related measure to electric machine controller, for example control engine and motor output zero turn round
Square, with more than alarm reporting failure.
Therefore, in sum, the torque safety monitoring method of automobile according to embodiments of the present invention, by entire car controller
Torque signal to engine controller and electric machine controller increases checking signal, and moment of torsion is improved by the algorithm of even-odd check
The reliability of signal transmission；In addition, sending torque signal to engine controller and electric machine controller by entire car controller
Meanwhile, the maximum and minimum value of torque command are retransmited in unlike signal frame, improve the reliability of torque signal；By work(
The method of rate balance, entire car controller carries out security monitoring to the moment of torsion of motor, is calculated simultaneously by engine controller and started
The method that the torque demand scope of machine and the torque command for issuing engine controller with entire car controller are contrasted is to starting
The moment of torsion of machine carries out security monitoring, to improve the safety and reliability of torque signal.Further, when torque safety is monitored out
Existing problem, entire car controller, engine controller can take related measure to electric machine controller（For example disconnect electrokinetic cell high
Press, allow motor to export zero moment, allow engine to export zero moment etc.）, it is ensured that vehicle occurs without undesirable acceleration or deceleration, protects
Card vehicle safety.
The torque safety monitoring method of automobile according to embodiments of the present invention, entire car controller is given birth to according to automobile demand moment of torsion
Into engine torque signal and Motor torque signal, and engine controller and electric machine controller are respectively sent to, and further
The power consumption of power output and high-voltage load according to electrokinetic cell calculates the actual torque of motor output, and according to the reality
Border moment of torsion and Motor torque instruct corresponding Motor torque to judge what entire car controller was obtained according to the parsing of the demand torque of automobile
Whether Motor torque is correct, in addition, engine controller is calculated the demand torque of automobile, and according to the demand torsion of the automobile
Square and Motor torque signal judge whether entire car controller is correct according to the engine torque that the parsing of the demand torque of automobile is obtained,
So as to the mistake because occurring in moment of torsion parsing, signal transmission, engine torque command and Motor torque instruction transmittance process can be avoided
The generation for causing torque safety problem is misled, therefore, the method can improve the safety and reliability of dynamical system moment of torsion control,
Ensure the safety in vehicle traveling process.
Present invention also offers a kind of torque safety monitoring system of automobile.Fig. 4 is according to one embodiment of the invention
The structured flowchart of the torque safety monitoring system of automobile.
As shown in figure 4, the torque safety monitoring system 400 of automobile according to an embodiment of the invention, including：Vehicle control
Device processed 410 and electric machine controller 420, wherein, entire car controller 410 is connected with electric machine controller 420.
Specifically, entire car controller 410 is used to generate Motor torque signal according to the demand torque of automobile, and by the electricity
Machine torque signal is sent to electric machine controller 420, and the electrokinetic cell according to automobile power output and the consumption of high-voltage load
Electrical power obtains the actual torque of motor output, and judges the basis of entire car controller 410 according to the actual torque that the motor is exported
Whether the Motor torque signal that the demand torque parsing of automobile is obtained is correct.Further, in entire car controller 410 according to automobile
The demand torque Motor torque signal that obtains of parsing when malfunctioning, control electrokinetic cell stopping for motor is powered and is alarmed.
As a specific example, for example, entire car controller 410 by the voltage and current that electrokinetic cell is exported exported it is total
Power, cuts related accessories（For example：DC-DC, electric air-conditioning, electric heating system and high-voltage electric steering etc.）Consumption
Power, obtains for motor-driven input power, it is considered to the efficiency and working characteristics of motor under different operating modes etc., by looking into
The modes such as table can be calculated the actual torque value of now motor output.The electricity that the torque value and entire car controller 410 are parsed
Machine torque command is compared, if difference is larger, then it is assumed that there occurs torque safety problem, then entire car controller 410 need to be adopted
The strategy for taking correlation is processed, such as undesirable acceleration should disconnect battery high pressure.
In one embodiment of the invention, as shown in figure 4, the system 400 also includes：It is connected with entire car controller 410
Electric machine controller 430.
Used as a specific example, entire car controller 410 is additionally operable to generate engine torsion according to the demand torque of automobile
Square signal, and the engine torque signal is sent to engine controller 430, and parsed in the demand torque according to automobile
When the Motor torque signal for arriving is correct, the Motor torque signal is sent to engine controller 430.Further, engine
Controller 430 is used to obtain the demand torque of automobile according to GES, gas pedal depth signal and gear signal, and according to
The demand torque of the automobile that Motor torque signal and engine controller are calculated judges entire car controller 410 according to automobile
Whether the engine torque signal that demand torque parsing is obtained is correct.Further, in entire car controller 410 according to the need of automobile
When asking moment of torsion to parse the engine torque signal that obtains and malfunction, limitation engine output torque is to preset value and alarms.As
One specific example, for example, accelerator pedal depth signal（That is gas pedal depth signal）, GES and gear signal can
Bus is passed through by hardwired fashion or entire car controller 410（CAN）Engine controller 430 is transmitted to, while full-vehicle control
Device 410 will also issue engine controller 430 by CAN to the torque command of motor, and engine controller 430 is counted in real time
The torque demand of vehicle is calculated, the moment of torsion of motor is subtracted, a torque range for engine is obtained.If entire car controller 410 is sent out
The torque command for giving engine controller 430 has exceeded the torque range, then it is assumed that occur in that torque safety problem, engine
Controller 430 should take the measure of correlation, for example, control engine to export zero moment of torsion, with more than alarm reporting failure.
In addition, in one embodiment of the invention, entire car controller 410 is additionally operable to according to engine torque signal and electricity
Machine torque signal generates engine torque checking signal and Motor torque checking signal, and respectively by engine torque signal and hair
Motivation moment of torsion checking signal sends to engine controller 430 and sends Motor torque signal and Motor torque checking signal
To electric machine controller 420.Engine controller 430 is used to be judged according to engine torque checking signal and engine torque signal
Whether normal communicate between entire car controller 410 and engine controller 430.Electric machine controller 420 is verified according to Motor torque
Whether signal and Motor torque signal judge normal to communicate between entire car controller 410 and electric machine controller 420.
Further, when communication abnormality and/or entire car controller between entire car controller 410 and engine controller 430
Between 410 and electric machine controller 420 during communication abnormality, the output torque of engine and motor is alarmed and limited to default
Value.Wherein, to preset, used as an example, preset value is, for example, 0 to preset value.In other words, i.e., when entire car controller 410
When there is communication abnormality between engine controller 430 and/or entire car controller 410 and electric machine controller 420, then reported
The output torque for warning engine and motor when simultaneously is 0, to point out driver's automobile to break down, while ensuring the peace of passenger inside the vehicle
Entirely.Wherein, alarm can be for example realized through but not limited to voice signal.
It is to sum up shown, as a specific example, i.e.,：Entire car controller 410 gives engine controller 430 and motor control
The torque command of device processed 420 increases a checking signal respectively in addition to normal signal（That is moment of torsion checking signal）, the checking signal
Negated with the corresponding binary digit of former normal signal.When engine controller 430 and electric machine controller 420 receive two torsions respectively
After square instruction, the two signals are converted into binary system and are added, if the result being added all is 1 for all positions, then it represents that vapour
Car fault-free, otherwise, shows that automobile breaks down, then engine controller 430 and electric machine controller 420 control engine and electricity
Machine exports zero moment of torsion, with more than alarm reporting failure.
Further, in another embodiment of the present invention, entire car controller 410 is additionally operable to be turned round according to engine respectively
Square signal and Motor torque signal obtain engine torque higher limit and lower limit and Motor torque higher limit and lower limit, and
Engine torque higher limit and lower limit and Motor torque higher limit and lower limit are sent to engine controller 430 respectively
With electric machine controller 420, engine controller 430 be used for according to the engine torque signal engine torque that obtains of parsing and
Engine torque higher limit and lower limit judge whether engine controller 430 is normal, and electric machine controller 420 is used for according to electricity
Whether just the machine torque signal Motor torque that obtains of parsing and Motor torque higher limit and lower limit judge electric machine controller 420
Often, and in the exception of engine controller 430 and/or abnormal electric machine controller 420, alarmed and limited engine and motor
Output valve to preset value.As a specific example, for example：Entire car controller 410 is sent to engine controller simultaneously
430 and the maximum and minimum value of the torque command of electric machine controller 420（The signal should be at unlike signal frame with torque command
In）, engine controller 430 and electric machine controller 420 parse the torque command of the transmission of entire car controller 410 respectively, if solved
Analyse the moment of torsion for obtaining and exceeded max min limitation, then it is assumed that occur in that torque safety problem, then engine controller 430
Related measure should be taken to electric machine controller 420, for example, controls engine and motor to export zero moment of torsion, reported with more than alarm
Failure.
Therefore, in sum, the torque safety monitoring system 400 of automobile according to embodiments of the present invention, by vehicle control
Device processed 410 increases checking signal to the torque signal of engine controller 430 and electric machine controller 420, by even-odd check
Algorithm come improve torque signal transmission reliability；In addition, giving engine controller 430 and motor by entire car controller 410
While controller 420 sends torque signal, the maximum and minimum value of torque command are retransmited in unlike signal frame, improve
The reliability of torque signal；By the method for power-balance, entire car controller 410 carries out security monitoring to the moment of torsion of motor, leads to
Engine controller 430 is crossed to calculate the torque demand scope of engine simultaneously and issue engine control with entire car controller 410
The method that the torque command of device 430 is contrasted carries out security monitoring to the moment of torsion of engine, to improve the safety of torque signal
Property and reliability.Further, when torque safety monitoring goes wrong, entire car controller 410, engine controller 430 and electricity
Machine controller 420 can take the measure of correlation（For example disconnect electrokinetic cell high pressure, allow motor to export zero moment, make engine defeated
Go out zero moment etc.）, it is ensured that vehicle occurs without undesirable acceleration or deceleration, it is ensured that vehicle safety.
The torque safety monitoring system of automobile according to embodiments of the present invention, entire car controller is given birth to according to automobile demand moment of torsion
Into engine torque signal and Motor torque signal, and engine controller and electric machine controller are respectively sent to, and further
The power consumption of power output and high-voltage load according to electrokinetic cell calculates the actual torque of motor output, and according to the reality
Border moment of torsion and Motor torque instruct corresponding Motor torque to judge what entire car controller was obtained according to the parsing of the demand torque of automobile
Whether Motor torque is correct, in addition, engine controller is calculated the demand torque of automobile, and according to the demand torsion of the automobile
Square and Motor torque signal judge whether entire car controller is correct according to the engine torque that the parsing of the demand torque of automobile is obtained,
So as to the mistake because occurring in moment of torsion parsing, signal transmission, engine torque command and Motor torque instruction transmittance process can be avoided
Mislead cause torque safety problem generation, therefore, the monitoring system can improve dynamical system moment of torsion control security and can
By property, it is ensured that the safety in vehicle traveling process.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.And, the specific features of description, structure, material or feature can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
Can these embodiments be carried out with various changes, modification, replacement and modification in the case of departing from principle of the invention and objective, this
The scope of invention is by claim and its equivalent limits.
Claims (8)
1. the torque safety monitoring method of a kind of automobile, it is characterised in that the automobile includes entire car controller and the vehicle
Controller connected electric machine controller and engine controller, the described method comprises the following steps：
A：The entire car controller generates Motor torque signal according to the demand torque of automobile, and the Motor torque signal is sent out
Give the electric machine controller, and engine torque signal is generated according to the demand torque of the automobile, and by the engine
Torque signal is sent to the engine controller, and the entire car controller is according to engine torque signal and Motor torque signal
Generation engine torque checking signal and Motor torque checking signal, and it is sent respectively to the engine controller and the electricity
Machine controller, the engine controller judges institute according to the engine torque checking signal and the engine torque signal
State and whether normal communicate between entire car controller and the engine controller；The electric machine controller is according to the Motor torque
Whether checking signal and the Motor torque signal judge normal to communicate between the entire car controller and the electric machine controller；
B：The entire car controller is obtained according to the power output of the electrokinetic cell of the automobile and the power consumption of high-voltage load
The actual torque of motor output；
C：The entire car controller judges need of the entire car controller according to automobile according to the actual torque that the motor is exported
Whether correct moment of torsion is asked to parse the Motor torque signal for obtaining；
D：If the entire car controller is correct according to the Motor torque signal that the parsing of the demand torque of automobile is obtained, institute
State entire car controller and the Motor torque signal is sent to the engine controller；
E：The engine controller is turned round according to the demand that GES, gas pedal depth and gear signal obtain the automobile
Square, and the demand torque of the automobile being calculated according to the Motor torque signal and the engine controller judges institute
State entire car controller whether correct according to the engine torque signal that the parsing of the demand torque of the automobile is obtained.
2. the torque safety monitoring method of automobile as claimed in claim 1, it is characterised in that also include：
When the entire car controller malfunctions according to the Motor torque signal that the parsing of the demand torque of automobile is obtained, power electric is controlled
Pond stops powering and being alarmed for the motor.
3. the torque safety monitoring method of automobile as claimed in claim 1, it is characterised in that also include：
When the entire car controller malfunctions according to the engine torque signal that the parsing of the demand torque of automobile is obtained, limitation is described
The output torque of engine is to preset value and is alarmed.
4. the torque safety monitoring method of automobile as claimed in claim 1, it is characterised in that also include：
Communication abnormality and/or the entire car controller and the electricity between the entire car controller and the engine controller
Between machine controller during communication abnormality, the output torque of engine and motor to preset value is alarmed and limited.
5. the torque safety monitoring method of automobile according to claim 1, it is characterised in that also include：
The entire car controller obtains engine torque higher limit and lower limit according to the engine torque signal, and according to institute
State Motor torque signal and obtain Motor torque higher limit and lower limit；
The entire car controller is respectively by the engine torque higher limit and lower limit and Motor torque higher limit and lower limit
Value is sent to the engine controller and the electric machine controller；
The engine controller is according to the engine torque and the engine obtained to engine torque signal parsing
Upper torque limit value and lower limit judge whether the engine controller is normal；
The electric machine controller is according to the Motor torque obtained to the Motor torque signal resolution and the Motor torque upper limit
Value and lower limit judge whether the electric machine controller is normal.
6. the torque safety monitoring method of automobile according to claim 5, it is characterised in that also include：
The engine controller is abnormal and/or during the abnormal electric machine controller, alarmed and limited engine and electricity
The output torque of machine is to preset value.
7. the torque safety monitoring system of a kind of automobile, it is characterised in that including：Entire car controller and the entire car controller
Connected electric machine controller and engine controller, wherein,
The entire car controller is used to generate Motor torque signal according to the demand torque of automobile, and by the Motor torque signal
It is sent to the electric machine controller and engine torque signal is generated according to the demand torque of the automobile, and by the engine
Torque signal is sent to the engine controller, and the entire car controller is according to engine torque signal and Motor torque signal
Generation engine torque checking signal and Motor torque checking signal, and it is sent respectively to the engine controller and the electricity
Machine controller, and motor output is obtained according to the power output of electrokinetic cell and the power consumption of high-voltage load of the automobile
Actual torque, and according to the motor export actual torque judge demand torque solution of the entire car controller according to automobile
Whether the Motor torque signal that analysis is obtained is correct, and when the Motor torque signal is correct, by the Motor torque
Signal is sent to the engine controller；
The engine controller judges described whole according to the engine torque checking signal and the engine torque signal
Whether normal communicate between vehicle controller and the engine controller, and according to GES, gas pedal depth and gear
Signal obtains the demand torque of the automobile, and be calculated according to the Motor torque signal and the engine controller
The demand torque of the automobile judges that the entire car controller is turned round according to the engine that the parsing of the demand torque of the automobile is obtained
Whether square signal is correct；
The electric machine controller judges the full-vehicle control according to the Motor torque checking signal and the Motor torque signal
Whether normal communicate between device and the electric machine controller.
8. the torque safety monitoring system of automobile according to claim 7, it is characterised in that
The entire car controller is additionally operable to obtain engine torque higher limit and lower limit according to the engine torque signal, and
Motor torque higher limit and lower limit are obtained according to the Motor torque signal and respectively by the engine torque higher limit and
Lower limit and Motor torque higher limit and lower limit are sent to the engine controller and the electric machine controller；
The engine controller is used for according to the engine torque and the hair obtained to engine torque signal parsing
Motivation upper torque limit value and lower limit judge whether the engine controller is normal；
The electric machine controller is used for according to the Motor torque and the Motor torque obtained to the Motor torque signal resolution
Higher limit and lower limit judge whether the electric machine controller is normal.
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| CN107650716B (en) * | 2017-09-28 | 2019-10-25 | 北京新能源汽车股份有限公司 | Electric automobile and torque monitoring method and system thereof |
| CN107804172B (en) * | 2017-09-28 | 2020-02-18 | 北京新能源汽车股份有限公司 | Motor controller wake-up system fault processing method and motor controller |
| CN109703378B (en) * | 2017-10-25 | 2022-05-17 | 上海汽车集团股份有限公司 | Monitoring method of electronic gear system and electronic gear system |
| CN109795336B (en) * | 2017-11-16 | 2020-12-29 | 北汽福田汽车股份有限公司 | Electric vehicle torque monitoring method, vehicle control unit and electric vehicle |
| CN108549025B (en) * | 2018-03-13 | 2022-03-15 | 江西精骏电控技术有限公司 | Safety detection method for mixed torque of permanent magnet synchronous motor for vehicle |
| CN109318896B (en) * | 2018-08-24 | 2021-03-16 | 吉利汽车研究院（宁波）有限公司 | ACC (adaptive cruise control) walking-stopping torque monitoring control strategy |
| CN110040002B (en) * | 2019-03-26 | 2024-07-05 | 阿尔特汽车技术股份有限公司 | Optimal control method for power-assisted torque peak value of motor of hybrid electric vehicle |
| CN112622637B (en) * | 2020-12-28 | 2022-08-09 | 长城汽车股份有限公司 | Vehicle torque control method, device, medium and vehicle |
| CN112834225A (en) * | 2021-01-05 | 2021-05-25 | 吉孚动力技术(中国)有限公司 | Test and response method for torque fault of driving motor of hybrid power system |
| CN113386574B (en) * | 2021-07-30 | 2022-05-31 | 重庆长安新能源汽车科技有限公司 | Monitoring method for torque direction of electric vehicle, vehicle control unit and vehicle |
| CN114789660A (en) * | 2022-04-26 | 2022-07-26 | 中国第一汽车股份有限公司 | Control method and device of electric vehicle and electric vehicle |
| CN114701482A (en) * | 2022-05-10 | 2022-07-05 | 中国第一汽车股份有限公司 | Control method and device for stability of pure electric vehicle and vehicle |
| CN115981277A (en) * | 2022-12-18 | 2023-04-18 | 沃尔特电子（苏州）有限公司 | Online diagnosis self-learning method based on wireless system and related device |
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