CN113173078A

CN113173078A - Monitoring system, monitoring method and readable storage medium for realizing electronic parking function based on motor controller

Info

Publication number: CN113173078A
Application number: CN202110417587.6A
Authority: CN
Inventors: 宋俊峰; 刑增臻; 黄文卿; 陈振挺; 吴继传
Original assignee: United Automotive Electronic Systems Co Ltd
Current assignee: United Automotive Electronic Systems Co Ltd
Priority date: 2021-04-19
Filing date: 2021-04-19
Publication date: 2021-07-27

Abstract

The invention discloses a monitoring system, a monitoring method and a readable storage medium for realizing an electronic parking function based on a motor controller, wherein the system comprises the following components: the functional layer outputs a first control signal and a PWM signal to the driving chip; a function monitoring layer outputting a second control signal; the chip monitoring layer is used for monitoring whether the main control chip and the driving chip are normal or not; the external watchdog module is communicated with the chip monitoring layer, and controls the power supply control pin to act to cut off the power supply of the driving chip when the communication is abnormal; the function monitoring layer controls an enabling pin of the driving chip to achieve turn-off through the second control signal and the first control signal, or the function monitoring layer and the chip monitoring layer share a turn-off path for cutting off power supply of the driving chip. According to the invention, the function safety target of ASIL B with the parking locking function and the function safety target of ASIL A with the parking releasing function are realized by using the position signals, so that unexpected releasing or unexpected locking in a parking mode is avoided.

Description

Monitoring system, monitoring method and readable storage medium for realizing electronic parking function based on motor controller

Technical Field

The invention relates to an electronic parking technology, in particular to a monitoring system, a monitoring method and a readable storage medium for realizing an electronic parking function based on a motor controller.

Background

According to the regulation requirement, the whole vehicle needs to be provided with two sets of parking systems so as to prevent the vehicle from sliding down the slope on the slope due to parking failure under the condition that only one set of system is provided. The mechanical structure of the parking system is mostly a ratchet-pawl mechanism. Parking systems are generally classified into two schemes, hydraulic and electromechanical, according to the source of the driving force for the parking pawl to be buckled into the parking ratchet. The hydraulic scheme is that a parking pawl is pushed to be clamped into a tooth groove of a parking ratchet wheel through a hydraulic driving device, so that a vehicle is braked. The electromechanical scheme drives the motor to complete the action of pushing the parking pawl through the controller.

Fig. 1 is a system architecture diagram for implementing a park lock (park) function via a motor controller using an electromechanical approach. As shown in fig. 1, in a motor controller (PEU), a functional layer in a main control chip enables a driving chip through an enable signal, and outputs a PWM signal to the driving chip according to a position signal and a current signal fed back by the driving motor, the driving chip outputs a driving signal to the driving motor after receiving the PWM signal, and the driving motor further pushes a parking pawl in a parking device to be buckled into a tooth slot of a parking ratchet wheel under the driving of the driving signal.

Due to the many electronic components involved in the electromechanical solution, which may lead to undesired locking or undesired release when the electrical/electronic system fails, it is necessary to analyze the functional safety of the involved hardware and software and to make relevant monitoring strategies.

When the vehicle runs at a high speed, if the motor controller pushes the parking pawl to move towards the parking ratchet wheel in an unexpected way, the parking pawl cannot be clamped into a tooth groove of the parking ratchet wheel because the speed difference between the parking pawl and the parking ratchet wheel is very large. On the other hand, when the vehicle is traveling at a low speed, the risk of unintended lock-up is not high, and therefore it is known that the functional safety target requirement for unintended lock-up is low.

For the unexpected release, the vehicle may be caused to roll down the slope on a steep slope without considering other braking manners, and the Safety accident is very likely to be caused, so the functional Safety requirement of the unexpected release is generally defined as B level (there are four levels of ASIL, A, B, C, D respectively, where a is the lowest level and D is the highest level) in ASIL (automatic Safety Integration level) level, and needs to be considered in Safety monitoring.

Therefore, a monitoring strategy is needed for the electronic parking function, which can achieve the safety target of the function ASIL B of the parking lock (park) function and the safety target of the parking release (upnp).

Disclosure of Invention

The technical problem to be solved by the invention is to provide a monitoring method for realizing an electronic parking function based on a motor controller, which can solve the problem of realizing the function safety target of ASIL B of the electronic parking locking function.

In order to solve the technical problem, the present invention provides a monitoring system for implementing an electronic parking function based on a motor controller, wherein the motor controller includes a main control chip and a driving chip, the main control chip enables the driving chip and outputs a PWM signal to the driving chip according to a position signal and a current signal fed back by the driving motor, the driving motor controls a parking pawl to operate under the driving of the driving chip, and the monitoring system includes:

the functional layer outputs a first control signal and a PWM signal to the driving chip;

a function monitoring layer outputting a second control signal;

the chip monitoring layer is used for monitoring whether the main control chip and the driving chip are normal or not;

the external watchdog module is communicated with the chip monitoring layer, and controls a power supply control pin to act to cut off the power supply of the driving chip when the communication is abnormal;

the chip monitoring layer is used for achieving turn-off by cutting off power supply of the driving chip, and the function monitoring layer controls an enabling pin of the driving chip to achieve turn-off through the second control signal and the first control signal.

Furthermore, the enable pin is active at a high level, when the enable signal is at the high level, the driving chip starts to work, and when the enable signal is at a low level, the driving chip stops working;

when the functional layer is abnormal, the functional layer cuts off the PWM signal input to the driving chip and pulls down the enabling pin of the driving chip, and when the functional monitoring layer is abnormal, the functional monitoring layer pulls down the enabling pin of the driving chip.

Further, when the power supply control pin is active at a high level, if the external watchdog module finds that communication with the chip monitoring layer is abnormal, the external watchdog module pulls down the power supply control pin to cut off power supply of the driving chip;

when the power supply control pin is effective in low level, if the external watchdog module finds that the communication with the chip monitoring layer is abnormal, the external watchdog module pulls up the power supply control pin to cut off the power supply of the driving chip.

Optionally, the monitoring system further comprises:

and the input end of the logic circuit module receives the first control signal output by the functional layer and the second control signal output by the functional monitoring layer, and the output end of the logic circuit module outputs an enable signal to an enable pin of the driving chip.

Optionally, both a first control pin outputting the first control signal and a second control pin outputting the second control signal in the main control chip are active at a low level, when the functional layer does not find abnormality, the first control pin outputs a first control signal at a high level, and when the functional monitoring layer does not find abnormality, the second control pin outputs a second control signal at a high level; when the functional layer finds abnormality, the first control pin outputs a first control signal with low level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal with low level;

the logic circuit module is an AND gate, the first control pin is connected with the first input pin of the AND gate, the second control pin is connected with the second input pin of the AND gate, and the output pin of the AND gate is connected with the enable pin of the driving chip.

Optionally, both a first control pin outputting the first control signal and a second control pin outputting the second control signal in the main control chip are active at a high level, when the functional layer does not find abnormality, the first control pin outputs the first control signal at a low level, and when the functional monitoring layer does not find abnormality, the second control pin outputs the second control signal at a low level; when the functional layer finds abnormality, the first control pin outputs a first control signal with high level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal with high level;

the logic circuit module is a NOR gate, the first control pin is connected with a first input pin of the NOR gate, the second control pin is connected with a second input pin of the NOR gate, and an output pin of the NOR gate is connected with an enable pin of the driving chip.

Based on the same invention concept, the invention also provides a monitoring system for realizing the electronic parking function based on the motor controller, wherein the motor controller comprises a main control chip and a driving chip, the main control chip enables the driving chip and outputs a PWM signal to the driving chip according to a position signal and a current signal fed back by the driving motor, the driving motor controls the parking pawl to act under the driving of the driving chip, and the monitoring system comprises:

the functional layer outputs a first control signal to an enable pin of the driving chip;

a function monitoring layer outputting a second control signal;

the external watchdog module is communicated with the chip monitoring layer and controls a power supply control pin according to whether the communication state is normal or not so as to realize the power on/off of the driving chip;

the function monitoring layer and the chip monitoring layer share a turn-off path for cutting off power supply of the driving chip.

when the functional layer is abnormal, the functional layer cuts off the PWM signal input to the driving chip and pulls down the enabling pin of the driving chip.

Further, when the power supply control pin is active at a high level, if the function monitoring layer finds that the power supply control pin is abnormal, the function monitoring layer pulls down the power supply control pin to cut off the power supply of the driving chip, and if the external watchdog module finds that the communication with the chip monitoring layer is abnormal, the external watchdog module pulls down the power supply control pin to cut off the power supply of the driving chip;

when the power supply control pin is effective in low level, if the function monitoring layer finds abnormality, the function monitoring layer pulls up the power supply control pin to cut off the power supply of the driving chip, and if the external watchdog module finds that the communication with the chip monitoring layer is abnormal, the external watchdog module pulls up the power supply control pin to cut off the power supply of the driving chip.

Optionally, the monitoring system further comprises:

and the input end of the logic circuit module receives the second control signal output by the function monitoring layer and a response signal output by the external watchdog module, and the output end of the logic circuit module outputs a power supply control signal to the power supply control pin so as to control the power on and off of the driving chip.

Optionally, a second control pin, which outputs the second control signal, in the main control chip is active at a low level, and when the function monitoring layer does not find abnormality, the second control pin outputs the second control signal at a high level; when the function monitoring layer finds abnormality, the second control pin outputs a second control signal with low level;

the output end of the external watchdog module is effective in low level, when the communication between the external watchdog module and the chip monitoring layer is normal, the output end of the external watchdog module outputs a high-level response signal, and when the communication between the external watchdog module and the chip monitoring layer is abnormal, the output end of the external watchdog module outputs a low-level response signal;

if the power supply control pin is effective in high level, the power supply of the driving chip is switched on when the power supply control signal is high level, the power supply of the driving chip is cut off when the power supply control signal is low level, the logic circuit module is an AND gate at the moment, the second control pin is connected with the first input pin of the AND gate, the output end of the external watchdog module is connected with the second input pin of the AND gate, and the output pin of the AND gate is connected with the power supply control pin;

if the power supply control pin is effective in low level, the power supply of the driving chip is switched on when the power supply control signal is effective in low level, the power supply of the driving chip is cut off when the power supply control signal is high level, the logic circuit module is a NAND gate at the moment, the second control pin is connected with the first input pin of the AND gate, the output end of the external watchdog module is connected with the second input pin of the AND gate, and the output pin of the AND gate is connected with the power supply control pin.

Optionally, a second control pin, which outputs the second control signal, in the main control chip is active at a high level, and when the function monitoring layer does not find abnormality, the second control pin outputs the second control signal at a low level; when the function monitoring layer finds abnormality, the second control pin outputs a second control signal with high level;

the output end of the external watchdog module is high-level effective, when the communication between the external watchdog module and the chip monitoring layer is normal, the output end of the external watchdog module outputs a low-level response signal, and when the communication between the external watchdog module and the chip monitoring layer is abnormal, the output end of the external watchdog module outputs a high-level response signal;

if the power supply control pin is high-level effective, the power supply of the driving chip is switched on when the power supply control signal is high-level, the power supply of the driving chip is switched off when the power supply control signal is low-level, the logic circuit module is a NOR gate at the moment, the second control pin is connected with a first input pin of the NOR gate, the output end of the external watchdog module is connected with a second input pin of the NOR gate, and the output pin of the NOR gate is connected with the power supply control pin;

if the power supply control pin is effective in low level, when the power supply control signal is in low level, the power supply of the drive chip is switched on, when the power supply control signal is in high level, the power supply of the drive chip is cut off, at the moment, the logic circuit module is an OR gate, the second control pin is connected with the first input pin of the OR gate, the output end of the external watchdog module is connected with the second input pin of the OR gate, and the output pin of the OR gate is connected with the power supply control pin.

Based on the same invention concept, the invention also provides a monitoring method for realizing the electronic parking function based on the motor controller, which is used for monitoring whether the parking lock function is abnormal or not, wherein:

monitoring the position signal fed back by the driving motor, and when the position signal is abnormal, prompting that the signal is abnormal and carrying out fault response;

when the vehicle control unit requests the motor controller to execute a parking action but the current working condition does not meet the parking action condition, the motor controller does not execute the parking action, and if the position signal indicates that the parking pawl moves, the mode monitoring is prompted to be abnormal and fault response is carried out;

when the vehicle controller requests the motor controller to execute a parking action but the parking pawl is currently in a parking action completion state, if the position signal indicates that the parking pawl deviates from a target position after a set time, prompting parking abnormity and carrying out fault response;

when the vehicle control unit requests the motor controller to execute a parking action and the current working condition meets the parking action condition, if the position signal indicates that the parking pawl does not reach the target position after the set time, the vehicle control unit prompts parking abnormity and carries out fault response;

when the vehicle control unit does not request the motor controller to execute a parking action but the motor controller enters a parking action mode, prompting the mode to monitor abnormity and carrying out fault response;

when the vehicle control unit does not request the motor controller to execute the parking action and the motor controller does not enter the parking action mode, if the position signal indicates that the parking pawl moves, the mode monitoring is prompted to be abnormal and fault response is carried out.

Optionally, the method is used for monitoring whether the parking lock function is abnormal, wherein:

monitoring the position signal fed back by the driving motor, and prompting signal abnormality and carrying out fault response when the position signal is abnormal;

when the vehicle control unit requests the motor controller to execute parking locking but the current working condition does not meet the parking locking condition, the motor controller does not execute the parking locking, and if the position signal indicates that the parking pawl moves, the mode monitoring is prompted to be abnormal and fault response is carried out;

when the vehicle controller requests the motor controller to execute parking locking but the parking pawl is currently in a parking locking state, if the position signal indicates that the parking pawl deviates from a parking locking target position after a set time, parking abnormity is prompted and fault response is carried out;

when the vehicle control unit requests the motor controller to execute parking locking and the current working condition meets the parking locking condition, if the position signal indicates that the parking pawl does not reach the parking locking target position after the set time, parking abnormity is prompted and fault response is carried out;

when the vehicle control unit does not request the motor controller to execute parking locking but the motor controller enters a parking locking mode, prompting that mode monitoring is abnormal and carrying out fault response;

and when the vehicle control unit does not request the motor controller to execute parking locking and the motor controller does not enter a parking locking mode, if the position signal indicates that the parking pawl moves, prompting mode monitoring abnormality and carrying out fault response.

Optionally, the method is for monitoring whether an abnormality occurs in the parking release function, wherein:

when the vehicle controller requests the motor controller to execute parking release but the current working condition does not meet the parking release condition, the motor controller does not execute the parking release, and if the position signal indicates that the parking pawl moves, the mode monitoring is prompted to be abnormal and fault response is carried out;

when the vehicle controller requests the motor controller to execute parking release but the parking pawl is currently in a parking release state, if the position signal indicates that the parking pawl deviates from a parking release target position after set time, parking abnormity is prompted and fault response is carried out;

when the vehicle controller requests the motor controller to execute parking release and the current working condition meets a parking release condition, if the position signal indicates that the parking pawl does not reach a parking release target position after the set time, parking abnormity is prompted and fault response is carried out;

when the vehicle control unit does not request the motor controller to execute parking release but the motor controller enters a parking release mode, prompting that mode monitoring is abnormal and carrying out fault response;

and when the vehicle control unit does not request the motor controller to execute parking release and the motor controller does not enter a parking release mode, if the position signal indicates that the parking pawl moves, prompting mode monitoring abnormality and carrying out fault response.

Further, it is determined that the position signal is abnormal when at least one of the following conditions is satisfied:

condition 1, the position signal exceeds a limit value;

and 2, the deviation between the position signal obtained by the functional layer sampling and the position signal obtained by the functional monitoring layer sampling is out of the set deviation threshold range.

Optionally, the parking pawl is moved by a distance exceeding a set distance threshold.

Further, the parking action condition comprises that the rotating speed of the motor reaches a set rotating speed requirement, the output torque of the motor controller reaches a set torque requirement, and a parking related fault does not exist.

Further, the monitoring method for the parking lock specifically includes the steps of:

step S1, the current driving cycle starts;

step S2, judging whether the position signal fed back by the driving motor is normal, if so, entering step S3, otherwise, judging the signal is abnormal, and performing fault response;

step S3, judging whether the vehicle controller requests parking locking, if so, entering step S4, otherwise, entering step S12;

step S4, judging whether the parking system enters into the parking locking mode, if so, entering step S5, otherwise, entering step S13;

step S5, judging whether the parking system is locked, if so, entering step S6, otherwise, entering step S9;

step S6, judging whether the first timing time exceeds the set time, if yes, entering step S7, otherwise entering step S8;

step S7, judging whether the position of the parking pawl deviates from the target position of the parking lock, if so, judging that the parking lock fails, and carrying out fault response, otherwise, judging that the monitoring result is normal;

step S8, return to step S6;

step S9, judging whether the second timing time exceeds the set time, if yes, entering step S10, otherwise entering step S11;

step S10, judging whether the position of the parking pawl reaches the parking locking target position, if so, judging that the monitoring result is normal, otherwise, judging that the parking is failed, and performing fault response;

step S11, return to step S9;

step S12, judging whether the parking system enters into the parking locking mode, if so, judging that the mode monitoring is abnormal, and carrying out fault response, otherwise, entering into step S13;

and step S13, judging whether the position of the parking pawl is kept static, if so, judging that the monitoring result is normal, otherwise, judging that the mode monitoring is abnormal, and carrying out fault response.

Further, the monitoring method for parking release specifically comprises the following steps:

step S1, the current driving cycle starts;

step S3, judging whether the vehicle controller requests parking release, if so, entering step S4, otherwise, entering step S12;

step S4, judging whether the parking system enters a parking release mode, if so, entering step S5, otherwise, entering step S13;

step S5, judging whether the parking system is released, if so, going to step S6, otherwise, going to step S9;

step S7, judging whether the position of the parking pawl deviates from the parking release target position, if so, judging that the parking release is failed, and carrying out fault response, otherwise, judging that the monitoring result is normal;

step S8, return to step S6;

step S10, judging whether the position of the parking pawl reaches the parking release target position, if so, judging that the monitoring result is normal, otherwise, judging that the parking is failed, and performing fault response;

step S11, return to step S9;

step S12, judging whether the parking system enters a parking release mode, if so, judging that the mode monitoring is abnormal, and carrying out fault response, otherwise, entering step S13;

Meanwhile, the present invention also provides a readable storage medium, on which a computer program is stored, which, when executed by a processor, is capable of implementing the aforementioned monitoring method.

Compared with the prior art, the monitoring system and the monitoring method provided by the invention have the advantages that the function monitoring layer and the chip monitoring layer are added in the main control chip of the motor controller, the external watchdog module is added at the same time, the mode monitoring and the chip monitoring are carried out on the electric and electronic system realizing parking based on the motor controller, and the function safety target of ASIL B with parking lock (park) function and the function safety target of ASIL A with parking release (Unpark) function are realized by using the position signal, so that the unexpected release or unexpected lock is avoided in the parking mode.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a system architecture for a park function;

fig. 2 is a schematic structural diagram of a monitoring system for implementing an electronic parking function based on a motor controller according to a first embodiment of the present invention;

fig. 3 is a schematic structural diagram of a monitoring system for implementing an electronic parking function based on a motor controller according to a third embodiment of the present invention;

FIG. 4 is a flow chart of a parking lock monitoring method for implementing an electronic parking function based on a motor controller according to the present invention;

fig. 5 is a flowchart of a parking release monitoring method for implementing an electronic parking function based on a motor controller according to the present invention.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and technical effects of the present invention will be fully apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The invention is capable of other embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the general spirit of the invention. It should be noted that, in the following embodiments, technical features may be combined with each other without conflict.

Furthermore, it will be understood that each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer program instructions. It is well known to those skilled in the art that implementation by hardware, by software, and by a combination of software and hardware are equivalent.

In addition, the terms "first" and "second" are used in the following embodiments to describe different pins and signals, but these pins and signals should not be limited by these terms, which are used to distinguish them, so that the first pin and signal discussed below can also be referred to as the second pin and signal without departing from the teaching of the embodiments according to the present invention.

Example one

In order to achieve the objective of safety function requirements of ASIL B for a parking lock function, the present invention provides a monitoring system for achieving an electronic parking function based on a motor controller, where the motor controller includes a main control chip and a driving chip, the main control chip enables the driving chip, and outputs a PWM signal to the driving chip according to a position signal and a current signal fed back by the driving motor, and the driving motor controls a parking pawl to operate under the driving of the driving chip, as shown in fig. 2, the monitoring system includes:

a function monitoring layer outputting a second control signal;

The functional layer (also called level 1 layer) is mainly used for safety mechanisms such as sensor monitoring, overtime monitoring, CAN signal monitoring and parking pawl initial position monitoring, follows the development process of ISO26262, and CAN meet the safety target of ASIL A. The function monitoring layer (also referred to as level 2 layer) mainly includes parking mode monitoring, unintended movement monitoring, and the like, in addition to completing the monitoring items included in the function layer.

The enable pin is active at a high level, the drive chip starts to work when the enable signal is at the high level, and the drive chip stops working when the enable signal is at a low level;

when the functional layer finds an abnormality (e.g., a sensor abnormality, an excessive deviation of an initial position of a parking pawl, a parking timeout, etc.), the functional layer cuts off a PWM signal input to the driver chip and pulls down an enable pin of the driver chip, and when the functional monitoring layer finds an abnormality (e.g., a sensor abnormality, a mode abnormality, an excessive deviation of an initial position of a parking pawl, a parking timeout, an unexpected movement, etc.), the functional monitoring layer pulls down an enable pin of the driver chip.

When the power supply control pin is in high level and effective, if the external watchdog module finds that the communication with the chip monitoring layer is abnormal, the external watchdog module pulls down the power supply control pin to cut off the power supply of the driving chip;

As the shutdown path of the function monitoring layer and the functional layer share the enable signal in this embodiment, as shown in fig. 2, the monitoring system further includes a logic circuit module, an input end of the logic circuit module receives the first control signal output by the functional layer and the second control signal output by the function monitoring layer, and an output end of the logic circuit module outputs the enable signal to the enable pin of the driver chip.

A first control pin for outputting the first control signal and a second control pin for outputting the second control signal in the main control chip are both effective at low level, when the functional layer does not find abnormality, the first control pin outputs a first control signal at high level, and when the functional monitoring layer does not find abnormality, the second control pin outputs a second control signal at high level; when the functional layer finds abnormality, the first control pin outputs a first control signal of a low level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal of a low level.

When the functional layer and the function monitoring layer are not abnormal, the first control pin and the second control pin are pulled high, the output first control signal and the output second control signal are both high level '1', at the moment, the driving chip should normally work, and even if the enable pin is pulled high, the enable signal input to the enable pin is high level '1'.

When the functional layer finds abnormality and the function monitoring layer does not find abnormality, the first control pin is pulled down to output a first control signal of low level '0', the second control pin is pulled up to output a second control signal of high level '1', at the moment, the driving chip should stop working, and even if the enable pin is pulled down, the enable signal input to the enable pin is low level '0'.

When the functional layer does not find the abnormality and the function monitoring layer finds the abnormality, the first control pin is pulled high to output a first control signal of high level '1', the second control pin is pulled low to output a second control signal of low level '0', at this time, the driving chip should stop working, and even if the enable pin is pulled low, the enable signal input to the enable pin is low level '0'.

When both the functional layer and the function monitoring layer find abnormality, the first control pin and the second control pin are pulled down, the output first control signal and the output second control signal are both low level "0", at this time, the driving chip should stop working, and even if the enable pin is pulled down, the enable signal input to the enable pin is low level "0".

Table 1 shows a signal relationship table when the first control pin and the second control pin are active low and the enable pin is active high. As can be seen from the signal correspondence relationship in table 1, the logic circuit module is an and gate, the first control pin is connected to the first input pin of the and gate, the second control pin is connected to the second input pin of the and gate, and the output pin of the and gate is connected to the enable pin of the driver chip.

TABLE 1 Signal relationship Table for control pin active at Low level and Enable pin active at high level

In this embodiment, increase function monitoring layer and chip monitoring layer in motor controller's the main control chip, increase outside watchdog module simultaneously, carry out mode monitoring and chip monitoring to the electrical and electronic system based on motor controller realizes the parking, the shutoff on chip monitoring layer is through the power supply realization that outside watchdog module cuts off driver chip, the shutoff on function monitoring layer then through with functional layer sharing enable signal realization. The present embodiment implements the functional safety target of ASIL B for the parking lock (park) function and the functional safety target of ASIL a for the parking release (upnp) function using the position signals, thereby preventing an unintended release or an unintended lock from occurring in the parking mode.

Example two

The difference from the first embodiment is that the first control pin and the second control pin of the main control chip in the actual hardware circuit are active at high level, and the logic circuit module needs to be changed according to the active levels of the first control pin, the second control pin and the enable pin.

Specifically, a first control pin outputting the first control signal and a second control pin outputting the second control signal in the main control chip are both active at a high level, when the functional layer does not find abnormality, the first control pin outputs the first control signal at a low level, and when the functional monitoring layer does not find abnormality, the second control pin outputs the second control signal at a low level; when the functional layer finds abnormality, the first control pin outputs a first control signal with a high level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal with a high level.

When the functional layer and the function monitoring layer are not abnormal, the first control pin and the second control pin are pulled down, the output first control signal and the output second control signal are both low level '0', at the moment, the driving chip should normally work, and even if the enable pin is pulled up, the enable signal input to the enable pin is high level '1'.

When the functional layer finds abnormality and the function monitoring layer does not find abnormality, the first control pin is pulled high to output a first control signal of high level '1', the second control pin is pulled low to output a second control signal of low level '0', at this time, the driving chip should stop working, and even if the enable pin is pulled low, the enable signal input to the enable pin is low level '0'.

When the functional layer does not find the abnormality and the function monitoring layer finds the abnormality, the first control pin is pulled down to output a first control signal of low level '0', the second control pin is pulled up to output a second control signal of high level '1', at this time, the driving chip should stop working, and even if the enable pin is pulled down, the enable signal input to the enable pin is low level '0'.

When both the functional layer and the function monitoring layer find abnormality, the first control pin and the second control pin are pulled high, the output first control signal and the output second control signal are both high level "1", at this time, the driving chip should stop working, even if the enable pin is pulled low, the enable signal input to the enable pin is low level "0".

Table 2 shows a signal relationship table when the first control pin and the second control pin are active high and the enable pin is active high. As can be seen from the signal correspondence relationship in table 2, the logic circuit module is a nor gate, the first control pin is connected to a first input pin of the nor gate, the second control pin is connected to a second input pin of the nor gate, and an output pin of the nor gate is connected to an enable pin of the driver chip.

TABLE 2 Signal relationship table for control pin active high level and enable pin active high level

Similarly, when the first control pin and the second control pin of the main control chip are active at low level and the enable pin is active at low level, the logic circuit module is a nand gate, and when the first control pin and the second control pin of the main control chip are active at high level and the enable pin is active at low level, the logic circuit module is an or gate.

EXAMPLE III

The difference from the first embodiment is that in this embodiment, the shutdown path of the functional monitoring layer does not share an enable signal with the functional layer, but shares the shutdown path with the chip monitoring layer. Specifically, as shown in fig. 3, the monitoring system includes:

a function monitoring layer outputting a second control signal;

The enable pin is active at a high level, the drive chip starts to work when the enable signal is at the high level, and the drive chip stops working when the enable signal is at a low level; when the functional layer is abnormal, the functional layer cuts off the PWM signal input to the driving chip and pulls down the enabling pin of the driving chip. In other exemplary embodiments, the enable pin may also be active low, even if the enable signal is low, the driver chip starts to operate, and when the enable signal is high, the driver chip stops operating; when the functional layer is abnormal, the functional layer cuts off the PWM signal input to the driving chip and pulls up the enabling pin of the driving chip.

When the power supply control pin is in high level and effective, if the function monitoring layer finds abnormality, the function monitoring layer pulls down the power supply control pin to cut off the power supply of the driving chip, and if the external watchdog module finds that the communication with the chip monitoring layer is abnormal, the external watchdog module pulls down the power supply control pin to cut off the power supply of the driving chip;

In this embodiment, the function monitoring layer and the chip monitoring layer share a turn-off path (power supply of the driving chip is cut off), as shown in fig. 3, the monitoring system further includes:

A second control pin for outputting the second control signal in the main control chip is effective in low level, when the function monitoring layer does not find abnormality, the second control pin outputs the second control signal in high level, and when the function monitoring layer finds abnormality, the second control pin outputs the second control signal in low level;

the power supply control pin is effective in high level, when the power supply control signal is high level, the power supply of the driving chip is switched on, and when the power supply control signal is low level, the power supply of the driving chip is switched off.

When the function monitoring layer does not find abnormality and the communication between the external watchdog module and the chip monitoring layer is normal, the second control pin is pulled high to output a second control signal of high level '1', the output end of the external watchdog module outputs a response signal of high level '1', the driving chip is normally powered, namely, the power supply control pin is pulled high, and the power supply control signal input to the power supply control pin is high level '1'.

When the function monitoring layer finds that the function monitoring layer is abnormal and the communication between the external watchdog module and the chip monitoring layer is normal, the second control pin is pulled down to output a second control signal of low level '0', the output end of the external watchdog module outputs a response signal of high level '1', the driving chip is required to cut off power supply, namely, the power supply control pin is pulled down, and the power supply control signal input to the power supply control pin is low level '0'.

When the function monitoring layer does not find abnormality and the communication between the external watchdog module and the chip monitoring layer is abnormal, the second control pin is pulled high to output a second control signal of high level '1', the output end of the external watchdog module outputs a response signal of low level '0', the driving chip is required to cut off power supply, namely, the power supply control pin is pulled low, and the power supply control signal input to the power supply control pin is low level '0'.

When the function monitoring layer finds that the external watchdog module is abnormal and the communication between the external watchdog module and the chip monitoring layer is abnormal, the second control pin is pulled down to output a second control signal of low level '0', the output end of the external watchdog module outputs a response signal of low level '0', the driving chip is required to cut off power supply, namely, the power supply control pin is pulled down, and the power supply control signal input to the power supply control pin is low level '0'.

Table 3 shows a signal relationship table when the first control pin and the second control pin are active low and the enable pin is active high. As can be seen from the signal correspondence relationship in table 3, at this time, the logic circuit module is an and gate, as shown in fig. 3, the second control pin is connected to the first input pin of the and gate, the output end of the external watchdog module is connected to the second input pin of the and gate, and the output pin of the and gate is connected to the power supply control pin.

TABLE 3 Signal relationship Table for the second control pin and the output of the external watchdog Module being active at low level and the power supply control pin being active at high level

In this embodiment, increase function monitoring layer and chip monitoring layer in motor controller's the main control chip, increase outside watchdog module simultaneously, carry out mode monitoring and chip monitoring to the electric and electronic system based on motor controller realizes the parking, function monitoring layer and chip monitoring layer share the shutoff route of cutting off drive chip's power supply. The present embodiment implements the functional safety target of ASIL B for the parking lock (park) function and the functional safety target of ASIL a for the parking release (upnp) function using the position signals, thereby preventing an unintended release or an unintended lock from occurring in the parking mode.

On the basis of this embodiment, if the power supply control pin is active at a low level, the power supply of the driver chip is turned on when the power supply control signal is active at a low level, and the power supply of the driver chip is turned off when the power supply control signal is active at a high level, while the second control pin and the output end of the external watchdog module are both active at a low level, at this time, the logic circuit module is a nand gate, the second control pin is connected with the first input pin of the and gate, the output end of the external watchdog module is connected with the second input pin of the and gate, and the output pin of the and gate is connected with the power supply control pin.

Similarly, when the output of second control pin and outside watchdog module is that the high level is effective, the power supply control pin is that the high level is effective, the logic circuit module is a nor gate, and when the output of second control pin and outside watchdog module is that the high level is effective, the power supply control pin is that the low level is effective, the logic circuit module is an or gate, and this is that technical staff in the field can hold up one to three based on this embodiment and realize.

Example four

The monitoring method for realizing the electronic parking function based on the monitoring system of the three embodiments is shown in fig. 4, wherein:

Parking lock (park)/parking release (Unpark) is used for responding to a request of a Vehicle Control Unit (VCU), but a motor controller still needs to meet certain conditions to enter a corresponding mode, and the parking action conditions comprise that the rotating speed of a motor reaches a set rotating speed requirement, the output torque of the motor controller reaches a set torque requirement, and parking related faults do not exist.

EXAMPLE five

On the basis of the fourth embodiment, the monitoring method of the present embodiment is mainly used for monitoring whether the parking lock function is abnormal, wherein:

Determining that the position signal is abnormal when at least one of the following conditions is satisfied:

condition 1, the position signal exceeds a limit value;

Optionally, the parking pawl moves, that is, the moving distance of the pawl exceeds a set distance threshold, a fault is reported at this time, and the parking system enters a safe state, that is, the function monitoring layer pulls off the enable pin, so that the drive chip of the parking system is turned off.

As shown in fig. 4, the method for monitoring whether the parking lock function is normal specifically includes the steps of:

step S1, the current driving cycle starts;

step S8, return to step S6;

step S11, return to step S9;

EXAMPLE six

On the basis of the fourth embodiment, the monitoring method of the present embodiment is mainly used for monitoring whether the parking release function is abnormal, wherein:

As shown in fig. 5, the method of monitoring whether the parking release function is normal specifically includes the steps of:

step S1, the current driving cycle starts;

step S8, return to step S6;

step S11, return to step S9;

Based on the six embodiments, the embodiment of the present invention further provides a readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, can implement the monitoring method of the foregoing embodiment.

These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the programs, which execute via the processor of the computer or other programmable data processing apparatus, implement the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer programs may also be stored in a readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner. The computer program may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the computer program which executes on the computer, other programmable apparatus or other devices implements the functions/acts specified in the flowchart and/or block diagram block or blocks.

The present invention has been described in detail with reference to the specific embodiments, which are merely preferred embodiments of the present invention, and the present invention is not limited to the above embodiments. Equivalent alterations and modifications of the above-described elements by those skilled in the art should be considered to be within the scope of the invention as hereinafter claimed, without departing from the principles of the invention.

Claims

1. The utility model provides a monitored control system based on motor controller realizes electron parking function, motor controller contains main control chip and driver chip, main control chip enables driver chip to according to the position signal and the current signal output PWM signal of driver motor feedback extremely driver chip, driver motor is in the action of control parking pawl under driver chip's the drive, its characterized in that, monitored control system includes:

a function monitoring layer outputting a second control signal;

2. The motor controller based monitoring system for realizing the electronic parking function according to claim 1,

3. The motor controller based monitoring system for realizing the electronic parking function according to claim 1,

4. The motor controller-based electronic parking function monitoring system according to claim 2, further comprising:

5. The motor controller based monitoring system for realizing the electronic parking function according to claim 4,

a first control pin for outputting the first control signal and a second control pin for outputting the second control signal in the main control chip are both effective at low level, when the functional layer does not find abnormality, the first control pin outputs a first control signal at high level, and when the functional monitoring layer does not find abnormality, the second control pin outputs a second control signal at high level; when the functional layer finds abnormality, the first control pin outputs a first control signal with low level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal with low level;

6. The motor controller based monitoring system for realizing the electronic parking function according to claim 4,

a first control pin for outputting the first control signal and a second control pin for outputting the second control signal in the main control chip are both effective at a high level, when the functional layer does not find abnormality, the first control pin outputs a first control signal at a low level, and when the functional monitoring layer does not find abnormality, the second control pin outputs a second control signal at a low level; when the functional layer finds abnormality, the first control pin outputs a first control signal with high level, and when the functional monitoring layer finds abnormality, the second control pin outputs a second control signal with high level;

7. The utility model provides a monitored control system based on motor controller realizes electron parking function, motor controller contains main control chip and driver chip, main control chip enables driver chip to according to the position signal and the current signal output PWM signal of driver motor feedback extremely driver chip, driver motor is in the action of control parking pawl under driver chip's the drive, its characterized in that, monitored control system includes:

a function monitoring layer outputting a second control signal;

8. The motor controller based monitoring system for realizing the electronic parking function according to claim 7,

9. The motor controller based monitoring system for realizing the electronic parking function according to claim 7,

10. The motor controller-based electronic parking function monitoring system according to claim 9, further comprising:

11. The motor controller based monitoring system for realizing the electronic parking function according to claim 10,

a second control pin for outputting the second control signal in the main control chip is effective at a low level, and when the function monitoring layer does not find abnormality, the second control pin outputs the second control signal at a high level; when the function monitoring layer finds abnormality, the second control pin outputs a second control signal with low level;

12. The motor controller based monitoring system for realizing the electronic parking function according to claim 10,

a second control pin for outputting the second control signal in the main control chip is effective in a high level, and when the function monitoring layer does not find abnormality, the second control pin outputs the second control signal in a low level; when the function monitoring layer finds abnormality, the second control pin outputs a second control signal with high level;

13. A method for monitoring an electronic parking function by using the motor controller-based monitoring system according to any one of claims 1 to 12, wherein the method comprises the steps of:

14. The monitoring method according to claim 13, wherein the method is used for monitoring whether an abnormality occurs in a parking lock function, wherein:

15. The monitoring method according to claim 13, wherein the method is used for monitoring whether an abnormality occurs in a parking release function, wherein:

16. The monitoring method according to claim 14 or 15, characterized in that the position signal is determined to be abnormal when at least one of the following conditions is satisfied:

condition 1, the position signal exceeds a limit value;

17. A method of monitoring as claimed in claim 14 or 15, wherein the parking pawl is moved by a distance exceeding a set distance threshold.

18. The monitoring method according to claim 13, wherein the parking action condition includes that a motor rotation speed reaches a set rotation speed requirement, an output torque of a motor controller reaches a set torque requirement, and there is no parking-related malfunction.

19. The monitoring method according to claim 14, characterized by comprising the steps of:

step S1, the current driving cycle starts;

step S8, return to step S6;

step S10, judging whether the position of the parking pawl reaches the parking locking target position, if so, judging that the monitoring result is normal, otherwise, judging that the parking locking is failed, and carrying out fault response;

step S11, return to step S9;

20. The monitoring method according to claim 15, characterized by comprising the steps of:

step S1, the current driving cycle starts;

step S8, return to step S6;

step S10, judging whether the position of the parking pawl reaches the parking release target position, if so, judging that the monitoring result is normal, otherwise, judging that the parking release is failed, and performing fault response;

step S11, return to step S9;

21. A readable storage medium, on which a computer program is stored, which, when being executed by a processor, is able to carry out the monitoring method according to any one of claims 13 to 20.