CN104590243A - Whole vehicle functional safety monitoring system - Google Patents
Whole vehicle functional safety monitoring system Download PDFInfo
- Publication number
- CN104590243A CN104590243A CN201510003348.0A CN201510003348A CN104590243A CN 104590243 A CN104590243 A CN 104590243A CN 201510003348 A CN201510003348 A CN 201510003348A CN 104590243 A CN104590243 A CN 104590243A
- Authority
- CN
- China
- Prior art keywords
- acceleration
- vehicle
- torque
- monitoring module
- car load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- B60W10/02—Conjoint control of vehicle sub-units of different type or different function including control of driveline clutches
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
- B60W40/107—Longitudinal acceleration
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/038—Limiting the input power, torque or speed
-
- 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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
-
- 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
- B60W2710/02—Clutches
- B60W2710/021—Clutch engagement state
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Human Computer Interaction (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Hybrid Electric Vehicles (AREA)
Abstract
The invention discloses a whole vehicle functional safety monitoring system, which is a centralized whole vehicle functional safety monitoring system with a torque monitoring and an acceleration monitoring, an acceleration signal source is introduced for monitoring the instantaneous whole vehicle acceleration information in real time, the validity of the whole vehicle torque distribution control is considered by the torque comparison monitoring and the whole vehicle acceleration comparison monitoring, when the whole vehicle power system torque calculation and controlling occur an undesired torque increase, security protection can be carried out on the basis of the torque comparison information and the whole vehicle acceleration information of the current vehicle, so that the centralized monitoring of the vehicle functional safety can be realized; the whole vehicle functional safety monitoring system has the advantage that the requirement on the function safety level of the terminal power source controller is lowered, so that the complexity and cost of the monitoring system is reduced, and realization of the systematic design with the more higher functional security level is facilitated.
Description
Technical field
The present invention relates to automotive safety technology, particularly a kind of whole vehicle functions safety monitoring system.
Background technology
Along with the development of energy-saving and emission-reduction technology of vehicles, vehicle power control system is day by day complicated, expand to the many power control systems of car load (as hybrid power system and control system of electric automobile) from traditional single power control system, Fig. 1 and Fig. 2 is respectively the car load power control system structure diagram of hybrid vehicle and pure electric automobile, by Fig. 1, Fig. 2 is visible, the power system of car load controls by entire car controller, engine controller, electric machine controller and battery management system collaborative work, car load power system core transfers to from traditional engine electronic control the car load power control system that entire car controller is core, the whole vehicle functions caused thus for multi-power system proposes safely huge challenge.Along with the issue of functional safety international standard ISO 26262 is implemented, preventing vehicle from unexpected acceleration occurring is the vital Security Target of car load power control system, prior art has the functional safety grade for this functional safety target to be ASIL (Automotive Safety Integrity Level, automotive safety integrity level) technical scheme of B, but along with the introducing of vehicle-mounted auxiliary driving technique is (as adaptive cruise, driverless operation technology etc.), car load factory proposes higher functional safety grade and target call for car load power control system gradually, thus exploitation meets the car load power system controller of ISO 26262 international standard and higher function safe class is the required technical barrier solved of car load power control system.
Existingly prevent from vehicle from unexpected acceleration correlation technique occurring having:
(1) car engine electronic controller electronic air throttle body normalisation monitoring
This correlation technique provides three grades of torque monitoring frameworks, carry out functional safety system development according to ISO 26262 standard for engine electronic control, the functional safety target for " preventing vehicle from unexpected acceleration occurring " provides the torque monitoring concept of similarity redundancy to reach the requirement of the functional safety grade of ASILB.
This correlation technique is ASILB for the safe class that the Security Target of " preventing vehicle from unexpected acceleration occurring " is corresponding, does not propose the technical scheme meeting more high safety grade; In addition, the functional safety that this correlation technique is only limitted to engine electronic control proposes the technical solution that three grades are monitored frameworks, application for the entire car controller extending to many power control systems does not provide concrete technical scheme, there is the limitation of expanded application.
(2) technical scheme of existing a kind of entire car controller torque monitoring, as shown in Figure 3, entire car controller 10 is responsible for calculating chaufeur car load torque demand, realize distributing for the demand torque of engine controller 20 and electric machine controller 30 through torque distribution unit 101, car load torque safety module 103 goes out permission moment of torsion for engine controller and electric machine controller based on the current rotating speed of driving engine and motor and acceleration pedal calculated signals simultaneously; The moment of torsion comparison module 205,305 of this torque monitoring system protocols call engine electronic control and electric machine controller inside realizes for demand torque and the monitoring allowing moment of torsion.
This correlation technique is a kind of distributed whole vehicle functions safeguard construction based on torque monitoring, in order to meet ISO 26262 requirement, require entire car controller, engine controller and the electric machine controller corresponding safe class demand all shown in demand fulfillment Fig. 5, in Fig. 5, X can be A, B, C or D.This correlation technique is not carried out actv. degraded to the functional safety grade of car load and is distributed, thus require that engine electronic control and electric machine controller all need to design and develop according to the functional safety grade of car load aspect, cause whole control system complexity and system cost greatly to increase.
(3) existing a kind of distributed whole vehicle functions safeguard construction based on torque monitoring, as shown in Figure 4, send torque request to electric machine controller 12 by entire car controller 10, entire car controller 10 monitors car load safe condition further according to the torque feedback of electric machine controller 12.
This correlation technique, distributed torque monitoring structure is still adopted in torque monitoring structure, the vehicle acceleration information adopted in vehicle state monitoring function only comes from vehicle speed signal, the checking signal of a redundancy does not carry out the verification of acceleration information, thus centralized vehicle state monitoring can not be realized, thus whole vehicle functions safe class does not obtain actv. degraded distribution, thus causes system complexity and system cost greatly to increase.
Therefore, existing whole vehicle functions safety monitoring system, employing is the distributed function security monitoring structure based on torque distribution, based on ISO 26262 standard-required, this distributed function safety monitoring system adopts the topological structure of functional safety grade as shown in Figure 5 usually, complex structure, cost is high; Existing whole vehicle functions safety monitoring system, adopts the functional safety Software Architecture Design of similarity redundancy, and this similarity redundancy feature fail-safe software framework is not enough to the functional safety design meeting higher function safe class.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of whole vehicle functions safety monitoring system, the technical requirements of higher function safe class can be realized, reduce the functional safety class requirement for terminal propulsion source controller, realize the functional safety degraded of car load aspect, reduce complexity and the cost of monitored control system.
For solving the problems of the technologies described above, whole vehicle functions safety monitoring system provided by the invention, comprises acceleration signal source, main control module;
Described acceleration signal source, for exporting car load instantaneous acceleration to described main control module;
Described main control module, comprises power train control module, safe torque monitoring module, safe acceleration monitoring module;
Described power train control module, for calculating the chaufeur wheel end demand torque of car load power system, the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, by engine demand torque distribution to engine electronic control, motor demand torque is distributed to electric machine controller, and controls the work of messenger chain power-transfer clutch; If receive the functional safety failure response of described safe acceleration monitoring module or the torque ratio comparatively errored response of described safe torque monitoring module output, then control to disconnect messenger chain power-transfer clutch, and forbid sending torque request to engine electronic control, electric machine controller;
Described safe torque monitoring module, car load actual output driving torque under real-time operating mode more at that time and vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle under this operating mode, if the actual output of the car load at that time under operating mode driving torque is greater than the vehicle maximum permissible torque under this operating mode, or the minimum permission moment of torsion of vehicle be less than under this operating mode, then output torque comparison error responds described safe acceleration monitoring module and described power train control module;
Described safe acceleration monitoring module, compare the actual instantaneous acceleration of vehicle under current working and the maximum permission speed-raising acceleration/accel of the vehicle under this operating mode and vehicle maximum permission reduction of speed acceleration/accel in real time, if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working exceedes the maximum permission speed-raising acceleration/accel of vehicle under this operating mode and meets fault confirming time, or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode and meets fault confirming time, or receive the torque ratio comparatively errored response that described safe torque monitoring module exports, then output function safety failure responds described power train control module.
Preferably, described whole vehicle functions safety monitoring system, also comprises monitoring module;
Described monitoring module; communicate with described main control module; monitor described power train control module, whether safe torque monitoring module, safe acceleration monitoring module be normal; if described power train control module, safe torque monitoring module or safe acceleration monitoring module run mal or main control module exists hardware fault, then trigger described main control module and reset.
Preferably, described power train control module, in conjunction with external torque request and Full Vehicle System drived control pattern, the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, and coordinate the work of Full Vehicle System drived control Schema control messenger chain power-transfer clutch.
Preferably, described safe torque monitoring module, calculates car load actual output driving torque based on car load actual power system topological structure;
For multi power source, described safe torque monitoring module according to the power combination of each propulsion source driving torque, and considers transmission system transmission when driving efficiency, calculates car load actual output driving torque;
For single power source, described safe torque monitoring module calculates car load actual output driving torque according to the torque model of single power source;
Described safe torque monitoring module, according to information such as the rotating speed of acceleration pedal information, system of vehicle transmission chain output shaft and gears, calculates vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle.
Preferably, described safe acceleration monitoring module, according to the car load instantaneous acceleration information that described acceleration signal source is transmitted, and vehicle speed signal, carry out the actual instantaneous acceleration of vehicle and calculate and diagnosis;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates with the deviation of the instantaneous acceleration calculated based on vehicle speed signal in certain threshold range, then judge that acceleration detection information is effective, determines the actual instantaneous acceleration of vehicle under current working;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates exceeds certain threshold range with the instantaneous acceleration calculated based on vehicle speed signal, then judge that acceleration detection information is invalid, exports an acceleration information invalid signals to described power train control module;
Described power train control module, if receive acceleration information invalid signals, then reduces the greatest requirements moment of torsion distributed engine electronic control, electric machine controller.
Preferably, described safe acceleration monitoring module, according to rotating speed and the automobile gear level information of acceleration pedal information, system of vehicle transmission chain output shaft, calculates the maximum permission speed-raising acceleration/accel of vehicle under current working and vehicle maximum permission reduction of speed acceleration/accel.
Preferably, described safe acceleration monitoring module, at the vehicle exceeded under this operating mode because of the actual instantaneous acceleration of the vehicle under current working when vehicle raises speed maximum permission speed-raising acceleration/accel, the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode, Trigger Function safety failure responds described power train control module after setting-up time, if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working still exceedes vehicle maximum permission speed-raising acceleration/accel, or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working still exceedes vehicle maximum permission reduction of speed acceleration/accel, then export complete vehicle fault and respond described monitoring module, described monitoring module, when receiving the complete vehicle fault response that described safe acceleration monitoring module sends, then triggers described main control module and resets.
Preferably, described safe torque monitoring module, if the vehicle maximum permissible torque that the actual output of the car load at that time under operating mode driving torque is greater than under this operating mode exceedes setting-up time, or the minimum permission moment of torsion of vehicle be less than under this operating mode exceedes setting-up time, then trigger the first level failure response, output torque comparison error responds described safe acceleration monitoring module and described power train control module, forbids the torque request to terminal power controller, and is disconnected by messenger chain power-transfer clutch; If after the failure response of the first level performs, car load actual output driving torque is still greater than vehicle maximum permissible torque and exceedes setting-up time, or car load actual output driving torque is still less than the minimum permission moment of torsion of vehicle and exceedes setting-up time, then trigger the second level failure response, export complete vehicle fault and respond described monitoring module; Described monitoring module, when receiving the complete vehicle fault response that described safe torque monitoring module sends, then triggers described main control module and resets.
Preferably, described acceleration signal source, comes from external third-parties electronic controller signal, outside independently acceleration pick-up or acceleration/accel hardware chip.
Whole vehicle functions safety monitoring system of the present invention, it is the centralized whole vehicle functions safety monitoring system with torque monitoring and acceleration monitor, introduce acceleration signal source with Real-Time Monitoring car load instantaneous acceleration information, the correctness comparatively monitored with car load acceleration ratio and consider car load torque distribution and control comparatively is monitored by torque ratio, when car load power system torque arithmetic with when controlling unexpected moment of torsion increase occurs, safety guard-safeguard is carried out by based on the moment of torsion comparison information of Current vehicle and car load instantaneous acceleration information, thus achieve the monitoring of whole vehicle functions safe collection Chinese style, achieve the functional safety degraded of car load aspect, reduce the functional safety class requirement for terminal propulsion source controller, thus reduce complexity and the cost of monitored control system, in addition, this invention adopts differentiation redundancy design method, improves centralized whole vehicle functions security system function fail-safe software error detection mechanism, can realize the designing requirement (as ASILD) of more high safety grade.
Accompanying drawing explanation
In order to be illustrated more clearly in technical scheme of the present invention, below the accompanying drawing that will use required for the present invention is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is hybrid electric vehicle complete vehicle power system control structure figure;
Fig. 2 is whole pure electric vehicle power system control structure figure;
Fig. 3 is existing a kind of monitoring system of mixing dynamical vehicle torsional moment constructional drawing;
Fig. 4 is existing a kind of pure electric automobile torque monitoring system constructional drawing;
Fig. 5 distributed whole vehicle functions safeguard construction functional safety hierarchy topology constructional drawing;
Fig. 6 is centralized whole vehicle functions safeguard construction functional safety hierarchy topology constructional drawing;
Fig. 7 is whole vehicle functions safety monitoring system one embodiment schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, carry out clear, complete description to the technical scheme in the present invention, obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, other embodiments all that those of ordinary skill in the art obtain under the prerequisite not making creative work, all belong to the scope of protection of the invention.
Embodiment one
Whole vehicle functions safety monitoring system, as shown in Figure 7, comprises acceleration signal source, main control module 11;
Described acceleration signal source, for exporting car load instantaneous acceleration to described main control module 11;
Described main control module 11, comprises power train control module 111, safe torque monitoring module 112, safe acceleration monitoring module 113;
Described power train control module 111, for calculating the chaufeur wheel end demand torque of car load power system, the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, by engine demand torque distribution to engine electronic control, motor demand torque is distributed to electric machine controller, and controls the work of messenger chain power-transfer clutch; If receive the functional safety failure response of described safe acceleration monitoring module 113 or the torque ratio comparatively errored response of described safe torque monitoring module 112 output, then control to disconnect messenger chain power-transfer clutch, and forbid sending torque request to engine electronic control, electric machine controller;
Described safe torque monitoring module 112, car load actual output driving torque under real-time operating mode more at that time and vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle under this operating mode, if the actual output of the car load at that time under operating mode driving torque is greater than the vehicle maximum permissible torque under this operating mode, or the minimum permission moment of torsion of vehicle be less than under this operating mode, then output torque comparison error responds described safe acceleration monitoring module 113 and described power train control module 111;
Described safe acceleration monitoring module 113, compare the actual instantaneous acceleration of vehicle under current working and the maximum permission speed-raising acceleration/accel of the vehicle under this operating mode and vehicle maximum permission reduction of speed acceleration/accel in real time, (continue for some time if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working exceedes the maximum permission speed-raising acceleration/accel of vehicle under this operating mode and meets fault confirming time, to determine certain et out of order, avoid being mistaken for et out of order because transient state transfinites), or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode and meets fault confirming time, or receive the torque ratio comparatively errored response that described safe torque monitoring module exports, then output function safety failure responds described power train control module 111.
Preferably, described power train control module 111, in conjunction with external torque request and Full Vehicle System drived control pattern (such as, engine drive, direct motor drive, engine motor drive jointly), the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, and coordinates the work of Full Vehicle System drived control Schema control messenger chain power-transfer clutch.
Preferably, described safe torque monitoring module 112, calculates car load actual output driving torque based on car load actual power system topological structure;
For multi power source (such as, using driving engine and electrical motor as propulsion source), described safe torque monitoring module 112 according to the power combination of each propulsion source driving torque, and considers transmission system transmission when driving efficiency, calculates car load actual output driving torque;
For single power source (such as, using one of driving engine or electrical motor as propulsion source), described safe torque monitoring module calculates car load actual output driving torque according to the torque model of single power source;
Described safe torque monitoring module 112, according to information such as the rotating speed of acceleration pedal information, system of vehicle transmission chain output shaft and gears, calculates vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle.
Preferably, described acceleration signal source can be come from external third-parties electronic controller signal, outside independently acceleration pick-up or acceleration/accel hardware chip.
The whole vehicle functions safety monitoring system of embodiment one, the power train control module 111 of main control module 11, be responsible for calculating and the distribution of the chaufeur wheel end demand torque of car load power system, and control the work of messenger chain power-transfer clutch, in functional safety strategy, the torque ratio that power train control module 111 performs safe torque monitoring module 112 operates compared with the functional safety failure response of errored response and safe acceleration monitoring module 113, control messenger chain power-transfer clutch disconnect and forbid for terminal propulsion source controller (engine electronic control, electric machine controller) torque request, thus ensure car load power transmission chain does not have driving torque output to wheel end, Full Vehicle System enters safe Claudication states, thus the guarantee realized for whole vehicle functions safety.Safe torque monitoring module 112, monitor for whole vehicle functions safe torque, the monitoring of car load actual torque distribution is carried out with the monitoring design method of similarity redundancy, if car load actual output driving torque exceeds limit value, then the response of output torque comparison error is to safe acceleration monitoring module 113 and power train control module 111.Safe acceleration monitoring module 113, monitor for whole vehicle functions safe acceleration, compare the actual instantaneous acceleration of vehicle under current working and the maximum permission speed-raising acceleration/accel of the vehicle under this operating mode and vehicle maximum permission reduction of speed acceleration/accel in real time, if exceed limited range, or receive the torque ratio comparatively errored response that safe torque monitoring module 112 exports, then output function safety failure responds power train control module 111.
The whole vehicle functions safety monitoring system of embodiment one, it is the centralized whole vehicle functions safety monitoring system with torque monitoring and acceleration monitor, introduce acceleration signal source with Real-Time Monitoring car load instantaneous acceleration information, the correctness comparatively monitored with car load acceleration ratio and consider car load torque distribution and control comparatively is monitored by torque ratio, when car load power system torque arithmetic with when controlling unexpected moment of torsion increase occurs, safety guard-safeguard is carried out by based on the moment of torsion comparison information of Current vehicle and car load instantaneous acceleration information, thus achieve the monitoring of whole vehicle functions safe collection Chinese style, reduce for terminal propulsion source controller (engine electronic control, electric machine controller) functional safety class requirement, achieve the functional safety degraded of car load aspect, thus reduce complexity and the cost of monitored control system, and system application (as ASILD) of more high safety grade can be met.As shown in Figure 6, in Fig. 6, X is A, B, C or D to the functional safety hierarchy topology structure of the whole vehicle functions safety monitoring system of embodiment one.
Embodiment two
Based on embodiment one, described whole vehicle functions safety monitoring system, also comprises monitoring module 12;
Described monitoring module 12; communicate with described main control module 11; monitor described power train control module 111, whether safe torque monitoring module 112, safe acceleration monitoring module 113 be normal; if described power train control module 111, safe torque monitoring module 112 or safe acceleration monitoring module 113 run mal or main control module 11 exists hardware fault, then trigger described main control module 11 and reset.
The whole vehicle functions safety monitoring system of embodiment two, monitoring module 12 is hardware monitoring layers, primary responsibility, for the monitoring of main control module 11, prevents from the inefficacy of main control module occurrence logic or timeliness from causing torque arithmetic mistake and causes vehicle unexpected acceleration risk occurs.When power train control module 111, safe torque monitoring module 112 or safe acceleration monitoring module 113 run mal or main control module 11 exists hardware fault; the then failure response of trigger hardware aspect; main control module 11 is resetted; forbid sending torque request to engine electronic control, electric machine controller; messenger chain power-transfer clutch also will be disconnected, thus ensure that system enters safe condition.
Embodiment three
Based on the whole vehicle functions safety monitoring system of embodiment one, described safe acceleration monitoring module 113, according to the car load instantaneous acceleration information that described acceleration signal source is transmitted, and vehicle speed signal, carry out the actual instantaneous acceleration of vehicle and calculate and diagnosis;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates with the deviation of the instantaneous acceleration calculated based on vehicle speed signal in certain threshold range, then judge that acceleration detection information is effective, determines the actual instantaneous acceleration of vehicle under current working;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates exceeds certain threshold range with the instantaneous acceleration calculated based on vehicle speed signal, then judge that acceleration detection information is invalid, exports an acceleration information invalid signals to described power train control module 111;
Preferably, described power train control module, if receive acceleration information invalid signals, then reduces the greatest requirements moment of torsion distributed engine electronic control, electric machine controller.
Described power train control module, to the greatest requirements moment of torsion that engine electronic control, electric machine controller distribute in acceleration information invalid signals situation, need to set according to the functional safety target of whole vehicle functions safety monitoring system, lower to the greatest requirements moment of torsion of engine electronic control, electric machine controller distribution in acceleration information invalid signals situation, thus can in the incredible situation of the actual instantaneous acceleration of vehicle calculated, the demand torque that limiting module power train control module 111 exports, ensures that vehicle operation is in safe condition.
Preferably, described safe acceleration monitoring module 113, according to rotating speed and the automobile gear level information of acceleration pedal information, system of vehicle transmission chain output shaft, calculates the maximum permission speed-raising acceleration/accel of vehicle under current working and vehicle maximum permission reduction of speed acceleration/accel.
Preferably, described safe acceleration monitoring module, failure response adopts degradation tupe, the failure response of the second level is: at the vehicle exceeded under this operating mode because of the actual instantaneous acceleration of the vehicle under current working when vehicle raises speed maximum permission speed-raising acceleration/accel, the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode, Trigger Function safety failure responds described power train control module after setting-up time, if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working still exceedes vehicle maximum permission speed-raising acceleration/accel, or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working still exceedes vehicle maximum permission reduction of speed acceleration/accel, then export complete vehicle fault and respond described monitoring module, described monitoring module, when receiving the complete vehicle fault response that described safe acceleration monitoring module sends, then triggers described main control module and resets.
Preferably, described safe torque monitoring module, failure response adopts degradation tupe, if the vehicle maximum permissible torque that the actual output of the car load at that time under operating mode driving torque is greater than under this operating mode exceedes setting-up time, or the minimum permission moment of torsion of vehicle be less than under this operating mode exceedes setting-up time, then trigger the first level failure response, output torque comparison error responds described safe acceleration monitoring module and described power train control module, forbid terminal power controller (engine electronic control, electric machine controller) torque request, and messenger chain power-transfer clutch is disconnected, if after the failure response of the first level performs, car load actual output driving torque is still greater than vehicle maximum permissible torque and exceedes setting-up time, or car load actual output driving torque is still less than the minimum permission moment of torsion of vehicle and exceedes setting-up time, then trigger the second level failure response, export complete vehicle fault and respond described monitoring module, described monitoring module, when receiving the complete vehicle fault response that described safe torque monitoring module sends, then triggers described main control module and resets.
The whole vehicle functions safety monitoring system of embodiment three, safe acceleration monitoring module 113, the instantaneous acceleration information of Current vehicle is obtained according to acceleration signal source, simultaneously in order to ensure the accuracy of acceleration information, introduce vehicle speed signal and signal redundancy verification is carried out to the signal in acceleration signal source, if the actual instantaneous acceleration of vehicle calculated based on the acceleration information in acceleration signal source and the deviation of the actual instantaneous acceleration of vehicle that calculates based on vehicle speed signal are in certain threshold range, then think that the acceleration detection information now for whole vehicle functions security monitoring is effective, when generation speed sensor failure, acceleration signal source fault, or when exceeding pre-set threshold value based on the actual instantaneous acceleration deviation of vehicle that vehicle speed signal and acceleration signal source signal calculate, safe acceleration monitoring module 113 will judge that acceleration detection information is invalid, export an acceleration information invalid signals to described power train control module 111, limit car load demand torque, and corresponding failure code can be stored by fault management module, triggering secure warning light is lighted.
The whole vehicle functions safety monitoring system of embodiment three, using the main signal that acceleration signal source signal calculates as the actual instantaneous acceleration of vehicle, redundancy check signal using vehicle speed signal as acceleration signal source signal, thus effectively can guarantee the safe class (prior art only calculates the actual instantaneous acceleration of vehicle with vehicle speed signal and is difficult to ensure the particularity of car load longitudinal acceleration calculating and the validity of acceleration information) that the actual instantaneous acceleration of vehicle calculates.The whole vehicle functions safety monitoring system of embodiment three, safe acceleration monitoring module is comparatively monitored based on vehicle acceleration information realization car load acceleration ratio with the monitoring design method of differentiation redundancy, prevent from unexpected acceleration or deceleration occurs losing efficacy (deceleration be applicable to hybrid power system unify the electric machine control system of pure electronic electric car) because torque arithmetic mistake causing vehicle, improve centralized whole vehicle functions security system function security error checkout system further, contribute to the system realizing higher function safe class.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within the scope of protection of the invention.
Claims (9)
1. a whole vehicle functions safety monitoring system, is characterized in that, comprises acceleration signal source, main control module;
Described acceleration signal source, for exporting car load instantaneous acceleration to described main control module;
Described main control module, comprises power train control module, safe torque monitoring module, safe acceleration monitoring module;
Described power train control module, for calculating the chaufeur wheel end demand torque of car load power system, the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, by engine demand torque distribution to engine electronic control, motor demand torque is distributed to electric machine controller, and controls the work of messenger chain power-transfer clutch; If receive the functional safety failure response of described safe acceleration monitoring module or the torque ratio comparatively errored response of described safe torque monitoring module output, then control to disconnect messenger chain power-transfer clutch, and forbid sending torque request to engine electronic control, electric machine controller;
Described safe torque monitoring module, car load actual output driving torque under real-time operating mode more at that time and vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle under this operating mode, if the actual output of the car load at that time under operating mode driving torque is greater than the vehicle maximum permissible torque under this operating mode, or the minimum permission moment of torsion of vehicle be less than under this operating mode, then output torque comparison error responds described safe acceleration monitoring module and described power train control module;
Described safe acceleration monitoring module, compare the actual instantaneous acceleration of vehicle under current working and the maximum permission speed-raising acceleration/accel of the vehicle under this operating mode and vehicle maximum permission reduction of speed acceleration/accel in real time, if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working exceedes the maximum permission speed-raising acceleration/accel of vehicle under this operating mode and meets fault confirming time, or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode and meets fault confirming time, or receive the torque ratio comparatively errored response that described safe torque monitoring module exports, then output function safety failure responds described power train control module.
2. whole vehicle functions safety monitoring system according to claim 1, is characterized in that,
Described whole vehicle functions safety monitoring system, also comprises monitoring module;
Described monitoring module; communicate with described main control module; monitor described power train control module, whether safe torque monitoring module, safe acceleration monitoring module be normal; if described power train control module, safe torque monitoring module or safe acceleration monitoring module run mal or main control module exists hardware fault, then trigger described main control module and reset.
3. whole vehicle functions safety monitoring system according to claim 1, is characterized in that,
Described power train control module, in conjunction with external torque request and Full Vehicle System drived control pattern, the chaufeur of car load power system wheel end demand torque is resolved into engine demand moment of torsion and motor demand torque, and coordinate the work of Full Vehicle System drived control Schema control messenger chain power-transfer clutch.
4. whole vehicle functions safety monitoring system according to claim 1, is characterized in that,
Described safe torque monitoring module, calculates car load actual output driving torque based on car load actual power system topological structure;
For multi power source, described safe torque monitoring module according to the power combination of each propulsion source driving torque, and considers transmission system transmission when driving efficiency, calculates car load actual output driving torque;
For single power source, described safe torque monitoring module calculates car load actual output driving torque according to the torque model of single power source;
Described safe torque monitoring module, according to rotating speed and the gear information of acceleration pedal information, system of vehicle transmission chain output shaft, calculates vehicle maximum permissible torque, the minimum permission moment of torsion of vehicle.
5. whole vehicle functions safety monitoring system according to claim 2, is characterized in that,
Described safe acceleration monitoring module, according to the car load instantaneous acceleration information that described acceleration signal source is transmitted, and vehicle speed signal, carry out the actual instantaneous acceleration of vehicle and calculate and diagnosis;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates with the deviation of the instantaneous acceleration calculated based on vehicle speed signal in certain threshold range, then judge that acceleration detection information is effective, determines the actual instantaneous acceleration of vehicle under current working;
If the instantaneous acceleration that the car load instantaneous acceleration information transmitted based on acceleration signal source calculates exceeds certain threshold range with the instantaneous acceleration calculated based on vehicle speed signal, then judge that acceleration detection information is invalid, exports an acceleration information invalid signals to described power train control module;
Described power train control module, if receive acceleration information invalid signals, then reduces the greatest requirements moment of torsion distributed engine electronic control, electric machine controller.
6. whole vehicle functions safety monitoring system according to claim 5, is characterized in that,
Described safe acceleration monitoring module, according to rotating speed and the automobile gear level information of acceleration pedal information, system of vehicle transmission chain output shaft, calculates the maximum permission speed-raising acceleration/accel of vehicle under current working and vehicle maximum permission reduction of speed acceleration/accel.
7. whole vehicle functions safety monitoring system according to claim 6, is characterized in that,
Described safe acceleration monitoring module, at the vehicle exceeded under this operating mode because of the actual instantaneous acceleration of the vehicle under current working when vehicle raises speed maximum permission speed-raising acceleration/accel, the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working exceedes the vehicle maximum permission reduction of speed acceleration/accel under this operating mode, Trigger Function safety failure responds described power train control module after setting-up time, if the actual instantaneous acceleration of vehicle during vehicle speed-raising under current working still exceedes vehicle maximum permission speed-raising acceleration/accel, or the actual instantaneous acceleration of vehicle during vehicle reduction of speed under current working still exceedes vehicle maximum permission reduction of speed acceleration/accel, then export complete vehicle fault and respond described monitoring module,
Described monitoring module, when receiving the complete vehicle fault response that described safe acceleration monitoring module sends, then triggers described main control module and resets.
8. whole vehicle functions safety monitoring system according to claim 6, is characterized in that,
Described safe torque monitoring module, if the vehicle maximum permissible torque that the actual output of the car load at that time under operating mode driving torque is greater than under this operating mode exceedes setting-up time, or the minimum permission moment of torsion of vehicle be less than under this operating mode exceedes setting-up time, then trigger the first level failure response, output torque comparison error responds described safe acceleration monitoring module and described power train control module, forbid the torque request to terminal power controller, and messenger chain power-transfer clutch is disconnected; If after the failure response of the first level performs, car load actual output driving torque is still greater than vehicle maximum permissible torque and exceedes setting-up time, or car load actual output driving torque is still less than the minimum permission moment of torsion of vehicle and exceedes setting-up time, then trigger the second level failure response, export complete vehicle fault and respond described monitoring module; Described monitoring module, when receiving the complete vehicle fault response that described safe torque monitoring module sends, then triggers described main control module and resets.
9. the whole vehicle functions safety monitoring system according to any one of claim 1 to 8, is characterized in that,
Described acceleration signal source, comes from external third-parties electronic controller signal, outside independently acceleration pick-up or acceleration/accel hardware chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510003348.0A CN104590243B (en) | 2015-01-05 | 2015-01-05 | Whole vehicle functional safety monitoring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510003348.0A CN104590243B (en) | 2015-01-05 | 2015-01-05 | Whole vehicle functional safety monitoring system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104590243A true CN104590243A (en) | 2015-05-06 |
| CN104590243B CN104590243B (en) | 2017-03-22 |
Family
ID=53116406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510003348.0A Active CN104590243B (en) | 2015-01-05 | 2015-01-05 | Whole vehicle functional safety monitoring system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104590243B (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105573209A (en) * | 2015-12-30 | 2016-05-11 | 惠州市德赛西威汽车电子股份有限公司 | Function module monitoring and resetting method in vehicle electronic system |
| CN105774591A (en) * | 2016-04-07 | 2016-07-20 | 周泽鑫 | Electromobile control method, device and system and electromobile |
| WO2017012575A1 (en) * | 2015-07-23 | 2017-01-26 | 冯春魁 | Method and system for integrating vehicle data measurement and computation, monitoring, surveillance, and troubleshooting |
| CN107264518A (en) * | 2017-06-14 | 2017-10-20 | 北京新能源汽车股份有限公司 | Safety monitoring method and device based on hybrid vehicle |
| CN108749648A (en) * | 2018-08-03 | 2018-11-06 | 深圳市大地和电气股份有限公司 | A kind of electric machine control system and method reducing functional safety grade |
| CN109027217A (en) * | 2018-09-27 | 2018-12-18 | 重庆长安汽车股份有限公司 | A kind of shift control method of double-clutch speed changer, device and automobile |
| CN109130886A (en) * | 2018-09-11 | 2019-01-04 | 深圳市大地和电气股份有限公司 | A kind of System and method for reducing electric machine controller ASIL grade |
| CN109969190A (en) * | 2017-12-28 | 2019-07-05 | 宝沃汽车（中国）有限公司 | Control method, system and the vehicle of vehicle |
| CN111267868A (en) * | 2020-03-30 | 2020-06-12 | 郑州精益达汽车零部件有限公司 | Motor controller optimization design method meeting passenger car function safety |
| CN111674265A (en) * | 2020-05-21 | 2020-09-18 | 中国汽车技术研究中心有限公司 | Braking energy monitoring device and method for electric automatic driving automobile |
| CN112319238A (en) * | 2020-11-17 | 2021-02-05 | 睿驰电装(大连)电动系统有限公司 | Electric vehicle torque monitoring method and device and electric vehicle |
| CN112537206A (en) * | 2019-09-20 | 2021-03-23 | 广州汽车集团股份有限公司 | New energy automobile torque monitoring method and system |
| CN112622637A (en) * | 2020-12-28 | 2021-04-09 | 长城汽车股份有限公司 | Vehicle torque control method, device, medium and vehicle |
| CN112918276A (en) * | 2021-03-29 | 2021-06-08 | 东风汽车集团股份有限公司 | Pure electric power assembly control method, device, equipment and storage medium |
| CN113859352A (en) * | 2021-02-08 | 2021-12-31 | 联创汽车电子有限公司 | EPS monitoring system |
| CN113954631A (en) * | 2021-10-26 | 2022-01-21 | 华人运通(江苏)技术有限公司 | Vehicle safe driving control method, device, equipment and medium |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066674A (en) * | 2007-02-09 | 2007-11-07 | 联合汽车电子有限公司 | Architecture and system of safe torque monitor for mixed power automobile |
| CN102774375A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system of hybrid power automobile |
| US20120290187A1 (en) * | 2011-05-10 | 2012-11-15 | Bayerische Motoren Werke Aktiengesellschaft | Acceleration-Based Safety Monitoring of a Drive of a Motor Vehicle |
| JP2013191130A (en) * | 2012-03-15 | 2013-09-26 | Omron Corp | Control device of power source |
-
2015
- 2015-01-05 CN CN201510003348.0A patent/CN104590243B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066674A (en) * | 2007-02-09 | 2007-11-07 | 联合汽车电子有限公司 | Architecture and system of safe torque monitor for mixed power automobile |
| US20120290187A1 (en) * | 2011-05-10 | 2012-11-15 | Bayerische Motoren Werke Aktiengesellschaft | Acceleration-Based Safety Monitoring of a Drive of a Motor Vehicle |
| CN102774375A (en) * | 2011-05-12 | 2012-11-14 | 上海汽车集团股份有限公司 | Torque monitoring system of hybrid power automobile |
| JP2013191130A (en) * | 2012-03-15 | 2013-09-26 | Omron Corp | Control device of power source |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017012575A1 (en) * | 2015-07-23 | 2017-01-26 | 冯春魁 | Method and system for integrating vehicle data measurement and computation, monitoring, surveillance, and troubleshooting |
| CN105573209A (en) * | 2015-12-30 | 2016-05-11 | 惠州市德赛西威汽车电子股份有限公司 | Function module monitoring and resetting method in vehicle electronic system |
| CN105774591A (en) * | 2016-04-07 | 2016-07-20 | 周泽鑫 | Electromobile control method, device and system and electromobile |
| CN107264518A (en) * | 2017-06-14 | 2017-10-20 | 北京新能源汽车股份有限公司 | Safety monitoring method and device based on hybrid vehicle |
| CN107264518B (en) * | 2017-06-14 | 2021-07-30 | 北京新能源汽车股份有限公司 | Safety monitoring method and device based on hybrid vehicle |
| CN109969190B (en) * | 2017-12-28 | 2020-09-18 | 宝沃汽车（中国）有限公司 | Vehicle control method and system and vehicle |
| CN109969190A (en) * | 2017-12-28 | 2019-07-05 | 宝沃汽车（中国）有限公司 | Control method, system and the vehicle of vehicle |
| CN108749648A (en) * | 2018-08-03 | 2018-11-06 | 深圳市大地和电气股份有限公司 | A kind of electric machine control system and method reducing functional safety grade |
| CN109130886A (en) * | 2018-09-11 | 2019-01-04 | 深圳市大地和电气股份有限公司 | A kind of System and method for reducing electric machine controller ASIL grade |
| CN109130886B (en) * | 2018-09-11 | 2023-06-06 | 深圳市大地和电气股份有限公司 | System and method for reducing ASIL (automatic service instruction level) level of motor controller |
| CN109027217B (en) * | 2018-09-27 | 2020-04-07 | 重庆长安汽车股份有限公司 | Gear shifting control method and device of double-clutch transmission and automobile |
| CN109027217A (en) * | 2018-09-27 | 2018-12-18 | 重庆长安汽车股份有限公司 | A kind of shift control method of double-clutch speed changer, device and automobile |
| CN112537206A (en) * | 2019-09-20 | 2021-03-23 | 广州汽车集团股份有限公司 | New energy automobile torque monitoring method and system |
| CN111267868A (en) * | 2020-03-30 | 2020-06-12 | 郑州精益达汽车零部件有限公司 | Motor controller optimization design method meeting passenger car function safety |
| CN111267868B (en) * | 2020-03-30 | 2021-09-07 | 郑州精益达汽车零部件有限公司 | Motor controller optimization design method meeting passenger car function safety |
| CN111674265A (en) * | 2020-05-21 | 2020-09-18 | 中国汽车技术研究中心有限公司 | Braking energy monitoring device and method for electric automatic driving automobile |
| CN112319238A (en) * | 2020-11-17 | 2021-02-05 | 睿驰电装(大连)电动系统有限公司 | Electric vehicle torque monitoring method and device and electric vehicle |
| CN112622637A (en) * | 2020-12-28 | 2021-04-09 | 长城汽车股份有限公司 | Vehicle torque control method, device, medium and vehicle |
| CN113859352A (en) * | 2021-02-08 | 2021-12-31 | 联创汽车电子有限公司 | EPS monitoring system |
| CN112918276A (en) * | 2021-03-29 | 2021-06-08 | 东风汽车集团股份有限公司 | Pure electric power assembly control method, device, equipment and storage medium |
| CN113954631A (en) * | 2021-10-26 | 2022-01-21 | 华人运通(江苏)技术有限公司 | Vehicle safe driving control method, device, equipment and medium |
| CN113954631B (en) * | 2021-10-26 | 2023-10-20 | 华人运通(江苏)技术有限公司 | Vehicle safe driving control method, device, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104590243B (en) | 2017-03-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104590243A (en) | Whole vehicle functional safety monitoring system | |
| CN110254512B (en) | Design method for functional safety architecture of steering system of distributed intelligent electric vehicle | |
| JP6694325B2 (en) | Vehicle control system | |
| CN102582460B (en) | Method for setting target torque of motor applicable to pure electric vehicle | |
| CN101503087B (en) | Electronic steering column lock controller and control method thereof | |
| CN104691555A (en) | Full-vehicle function safety monitoring system | |
| CN101572332B (en) | Control system of high-voltage battery and control method thereof | |
| CN101596901A (en) | A kind of safety monitoring system of electronlmobil and method for supervising thereof | |
| CN103685560A (en) | Network structure of automobile electronic system | |
| CN106394313A (en) | Drive control method and device | |
| CN106240493A (en) | Electric automobile wire-controlled apparatus based on CAN | |
| CN101624053A (en) | Plug-in hybrid-power automobile shift signal safety controlling method | |
| CN101254787A (en) | Monitoring method of hybrid electric vehicle safety monitor SCU | |
| CN105711425B (en) | A kind of vehicle drive control method and its system | |
| CN104981368A (en) | Method for controlling the coupling/decoupling of a traction machine of a motor vehicle | |
| CN103770774B (en) | A kind of vehicle safety control system and method | |
| CN107139932A (en) | Communication diagnosing method applied to whole-control system | |
| WO2023125127A1 (en) | New energy vehicle safety protection method and apparatus, vehicle and storage medium | |
| CN104755299A (en) | Method for controlling the coupling/uncoupling of a drive machine of a motor vehicle | |
| CN114013390B (en) | Network architecture of automobile and automobile | |
| US11535272B2 (en) | Vehicle system for autonomous control in response to abnormality | |
| CN114940183A (en) | Distributed power backup control system meeting automatic driving and vehicle | |
| CN115805964A (en) | Redundant control system and method for automatic driving vehicle and vehicle | |
| CN114675568A (en) | Electric automobile's function safety control system and electric automobile | |
| CN215851077U (en) | Control circuit and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |