CN114379644A - Redundant electric power steering system for intelligent driving automobile and working method - Google Patents
Redundant electric power steering system for intelligent driving automobile and working method Download PDFInfo
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- CN114379644A CN114379644A CN202210111584.4A CN202210111584A CN114379644A CN 114379644 A CN114379644 A CN 114379644A CN 202210111584 A CN202210111584 A CN 202210111584A CN 114379644 A CN114379644 A CN 114379644A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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Abstract
The invention discloses a redundant electric power steering system and a working method of an intelligent driving automobile, wherein the system comprises a sensing sensor assembly, an intelligent driving area controller, an electric power steering controller, a steering motor and a steering gear, the intelligent driving area controller is in communication connection with the electric power steering controller through a double-circuit CAN bus, a steering column below a steering wheel is also provided with a corner sensor assembly and a torque sensor assembly, the corner sensor assembly and the torque sensor assembly are both in communication connection with the electric power steering controller, the corner sensor assembly comprises two corner sensors, the two corner sensors are symmetrically arranged on two sides of the steering column, the torque sensor assembly comprises two torque sensors, and the two torque sensors are symmetrically arranged on two sides of the steering column. The scheme has advanced technology through multiple redundancy design, improves the robustness of the system and the safety of automatic driving, and can effectively meet the application of an intelligent driving automobile L4 scene.
Description
Technical Field
The invention relates to the technical field of intelligent driving, in particular to a redundant electric power steering system of an intelligent driving automobile and a working method thereof.
Background
At present, intelligent driving automobiles gradually develop from L3 (conditional automatic control) to L4 (highly automatic), scenes to be solved are from a single closed scene, scenes such as a trunk road, an expressway and the like, and scenes such as urban working conditions, complex environments such as complex traffic intersections, natural traffic flows, overhead intelligent driving and the like are required to be faced, and therefore the intelligent driving vehicles are required to have high redundancy and robustness so as to solve the failure influence under the complex working conditions and minimize the influence of component failure on the system.
As shown in fig. 1, a technical solution of a current Intelligent driving vehicle EPS (electric power steering system), an electric power steering system in the prior art mainly includes a sensing sensor, an Intelligent driving area Controller, an EPS Controller, a steering motor, a steering gear, a rotation angle sensor, a torque sensor, and the like, wherein the rotation angle sensor and the torque sensor are both installed on a steering column below a steering wheel to respectively output a rotation angle value and a torque value of the steering wheel to the EPS Controller, the sensing sensor (laser radar, millimeter wave radar, vision, and the like) senses surrounding environment information and sends data information to the Intelligent driving area Controller (Intelligent driving Controller), the Intelligent driving area Controller receives sensor data sent by the sensing sensor and outputs an expected torque to the EPS Controller (EPS Controller) through a CAN bus, the EPS Controller receives an expected steering torque command sent by the Intelligent driving area Controller through the CAN bus, and combining the turning angle value and the torque value of the steering wheel, outputting a control command of a steering motor through logic calculation, and outputting driving force to drive a steering gear by the steering motor to execute vehicle steering.
Such an electric power steering system is currently the mainstream solution, but in the application for the L4 scenario of a smart driving car, the solution has the following disadvantages: if the Chassis Chassis CAN (CAN where the steering signal is located) has information failure or invalidation in a complex scene, the EPS controller cannot receive an expected steering torque instruction sent by the intelligent driving area controller, and the vehicle cannot steer, so that great potential safety hazards are achieved.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide a redundant electric power steering system of an intelligent driving automobile and a working method thereof, which can improve the communication stability between an electric power steering controller and an intelligent driving domain controller, further reduce the probability of vehicle steering failure and greatly improve the driving safety.
In order to solve the technical problems, the invention adopts the following technical scheme:
a redundant electric power steering system of an intelligent driving automobile comprises a sensing sensor assembly, an intelligent driving domain controller, an electric power steering controller, a steering motor and a steering gear, the intelligent driving area controller is in communication connection with the electric power steering controller through a two-way CAN bus, a steering column below the steering wheel is also provided with a corner sensor assembly and a torque sensor assembly, the rotation angle sensor assembly and the torque sensor assembly are both in communication connection with the electric power steering controller, to output a steering angle value and a torque value of a steering wheel to the electric power steering controller, respectively, the steering angle sensor assembly including two steering angle sensors, the two rotation angle sensors are symmetrically arranged on two sides of the steering column, the torque sensor assembly comprises two torque sensors, and the two torque sensors are symmetrically arranged on two sides of the steering column.
The working principle of the invention is as follows: when steering control is carried out, the sensing sensor assembly senses environmental information and transmits sensed environmental information data to the intelligent driving area controller; the intelligent driving area controller calculates an expected driving path of the vehicle through a perception algorithm and a planning control algorithm according to received environment information data transmitted by the perception sensor assembly and map positioning information, and outputs steering control information to the electric power steering controller through two CAN buses;
the electric power steering controller calculates according to the received steering control information of the intelligent driving domain controller by combining the steering angle torque value information of the steering wheel transmitted by the steering angle sensor assembly and the torque sensor assembly, and outputs a steering control signal to the steering motor according to the calculation result; the steering motor outputs a driving force to the steering gear according to the steering control signal to achieve steering of the vehicle.
When the electric power steering system works, the intelligent driving area controller and the electric power steering controller are in communication connection through the two CAN buses, when one CAN bus has a communication fault, the other CAN bus CAN still ensure normal communication between the intelligent driving area controller and the electric power steering controller, so that the two CAN buses are redundant with each other, the communication stability between the electric power steering controller and the intelligent driving area controller is effectively improved, the probability of vehicle steering failure is reduced, and the driving safety is greatly improved; meanwhile, the two corner sensors in the corner sensor assembly and the two torque sensors in the torque sensor assembly are also designed in a redundant mode, so that the corner and torque information of a steering wheel can be effectively transmitted to the electric power steering controller, the electric power steering controller can combine the steering control information of the intelligent driving area controller and the torque of the steering wheel, the corner information is comprehensively calculated and controls a steering motor, and therefore the scheme is designed in a multiple redundant mode, the technology is advanced, the robustness of the system and the safety of automatic driving are improved, and the application of an intelligent driving automobile L4 scene can be effectively met.
Preferably, the intelligent driving area controller and the electric power steering controller are in communication connection through a main CAN bus and a sub CAN bus simultaneously, the electric power steering controller comprises a first CAN bus chip, a second CAN bus chip, a first electric power steering control chip and a second electric power steering control chip, the first CAN bus chip is in communication connection with the main CAN bus and the first electric power steering control chip respectively so as to receive the control signal of the intelligent driving area controller through the main CAN bus and transmit the received control signal of the intelligent driving area controller to the first electric power steering control chip, the second CAN bus chip is in communication connection with the sub CAN bus and the second electric power steering control chip respectively so as to receive the control signal of the intelligent driving area controller through the sub CAN bus, and transmitting the received control signal of the intelligent driving area controller to the second electric power steering control chip, wherein the first electric power steering control chip and the second electric power steering control chip are both in communication connection with the steering motor so as to respectively send steering control signals to the steering motor.
Therefore, when the main CAN bus is in normal communication, the intelligent driving area controller outputs steering control information to the first CAN bus chip through the main CAN bus, the first CAN bus chip transmits the received steering control information of the intelligent driving area controller to the first electric power steering control chip, and the first electric power steering control chip sends a steering control signal to the steering motor; when the main CAN bus is in fault, the intelligent driving area controller outputs steering control information to the second CAN bus chip through the auxiliary CAN bus, the second CAN bus chip transmits the received steering control information of the intelligent driving area controller to the second electric power steering control chip, and the second electric power steering control chip sends a steering control signal to the steering motor, so that the first CAN bus chip and the second CAN bus chip are redundant with each other, and the first electric power steering control chip and the second electric power steering control chip are redundant with each other, thereby further improving the safety of intelligent driving.
Preferably, the electric power steering controller further comprises a first power module and a second power module, and the first power module and the second power module respectively output a first power and a second power to supply power to the electric power steering system.
Therefore, the first power supply module and the second power supply module are redundant, when one power supply module fails, the other power supply module can still supply power for the electric power steering system, and the working reliability of the electric power steering system is further improved.
Preferably, the electric power steering system further comprises a position sensor assembly, the position sensor assembly is mounted on the steering motor and used for collecting position information of the steering motor, and the position sensor assembly is further in communication connection with the electric power steering controller and used for transmitting the collected position information of the steering motor to the electric power steering controller.
Therefore, the position sensor assembly transmits the collected position information of the steering motor to the electric power steering controller, and the electric power steering controller calculates the position information of the steering motor transmitted by combining the position sensor assembly, so that the feedback control of the steering motor is realized.
Preferably, the position sensor assembly includes a first position sensor and a second position sensor, and the first position sensor and the second position sensor are both installed on the steering motor to respectively collect position information of the steering motor.
Therefore, the first position sensor and the second position sensor are redundant to each other, and the stability of the steering motor position acquisition signal is ensured.
A working method of the redundant electric power steering system of the intelligent driving automobile comprises the following steps:
step 1) the perception sensor assembly perceives environmental information and transmits the perceived environmental information data to the intelligent driving area controller;
step 2) the intelligent driving area controller calculates an expected driving path of the vehicle through a perception algorithm and a planning control algorithm according to received environment information data transmitted by the perception sensor assembly and map positioning information, and outputs steering control information to the electric power steering controller through two CAN buses;
step 3) the electric power steering controller calculates according to the received steering control information of the intelligent driving area controller by combining the steering angle torque value information of the steering wheel transmitted by the steering angle sensor assembly and the torque sensor assembly, and outputs a steering control signal to the steering motor according to the calculation result;
and 4) the steering motor outputs driving force to the steering gear according to the steering control signal so as to realize the steering of the vehicle.
Preferably, the intelligent driving area controller and the electric power steering controller are in communication connection through a main CAN bus and a sub CAN bus simultaneously, the electric power steering controller comprises a first CAN bus chip, a second CAN bus chip, a first electric power steering control chip and a second electric power steering control chip, the first CAN bus chip is in communication connection with the main CAN bus and the first electric power steering control chip respectively so as to receive the control signal of the intelligent driving area controller through the main CAN bus and transmit the received control signal of the intelligent driving area controller to the first electric power steering control chip, the second CAN bus chip is in communication connection with the sub CAN bus and the second electric power steering control chip respectively so as to receive the control signal of the intelligent driving area controller through the sub CAN bus, the received control signal of the intelligent driving area controller is transmitted to the second electric power steering control chip, and the first electric power steering control chip and the second electric power steering control chip are both in communication connection with the steering motor so as to respectively send steering control signals to the steering motor;
in step 2), when the main CAN bus is in normal communication, the intelligent driving area controller outputs steering control information to the electric power steering controller through the main CAN bus; when the main CAN bus fails, the intelligent driving area controller outputs steering control information to the electric power steering controller through the auxiliary CAN bus;
in step 3), when the main CAN bus is in normal communication, the first CAN bus chip receives the steering control information of the intelligent driving area controller through the main CAN bus and transmits the received steering control information of the intelligent driving area controller to the first electric power steering control chip, and the first electric power steering control chip sends a steering control signal to the steering motor; when the main CAN bus fails, the second CAN bus chip receives the steering control information of the intelligent driving area controller through the auxiliary CAN bus and transmits the received steering control information of the intelligent driving area controller to the second electric power steering control chip, and the second electric power steering control chip sends a steering control signal to the steering motor.
Preferably, the method for judging the fault of the main CAN bus comprises the following steps: the electric power steering controller cannot receive a signal of the main CAN bus or receives a fault of the main CAN bus for a time duration exceeding 5 cycles.
Preferably, the working state of the main CAN bus is assigned to a first electric power steering control chip in the form of a master control channel state word, and the working state of the auxiliary CAN bus is assigned to a second electric power steering control chip in the form of a backup channel state word;
in the step 3), when the main CAN bus is in normal communication, the steering motor receives a steering control signal sent by a first electric power steering control chip; and when the first electric power steering control chip cannot receive the steering control information of the first CAN bus chip or the first electric power steering control chip receives a master control channel state word of the main CAN bus fault and the duration time exceeds 5 cycles, the second electric power steering control chip sends a steering control signal to the steering motor.
Therefore, when the communication between the first electric power steering control chip and the first CAN bus chip fails, the second electric power steering control chip sends a steering control signal to the steering motor, and the working reliability of the system is further improved.
Preferably, the electric power steering system further comprises a position sensor assembly, the position sensor assembly is mounted on the steering motor and used for collecting position information of the steering motor, and the position sensor assembly is further connected with the electric power steering controller in a communication manner so as to transmit the collected position information of the steering motor to the electric power steering controller;
in step 3), the electric power steering controller further calculates position information of the steering motor transmitted in combination with the position sensor assembly.
Drawings
FIG. 1 is a system block diagram of a prior art electric power steering system;
FIG. 2 is a system connection block diagram of a redundant electric power steering system of an intelligently driven vehicle according to the present invention;
FIG. 3 is a diagram of an internal architecture of an electric power steering controller in a redundant electric power steering system of an intelligently driven vehicle according to the present invention.
Description of reference numerals: the intelligent steering control system comprises an intelligent driving area controller 1, an electric power steering controller 2, a first CAN bus chip 21, a second CAN bus chip 22, a first electric power steering control chip 23, a second electric power steering control chip 24, a first power module 25, a second power module 26, a steering motor 3, a steering gear 4, a rotation angle sensor assembly 5, a torque sensor assembly 6, a position sensor assembly 7, a steering wheel 8 and a steering column 9.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
As shown in fig. 2, a redundant electric power steering system for an intelligent driving automobile comprises a sensing sensor assembly, an intelligent driving area controller 1 (iECU), an electric power steering controller 2 (EPS ECU), a steering motor 3 and a steering gear 4, wherein the intelligent driving area controller 1 and the electric power steering controller 2 are in communication connection through a two-way CAN bus, a steering column 9 below a steering wheel 8 is further provided with a corner sensor assembly 5 and a torque sensor assembly 6, the corner sensor assembly 5 and the torque sensor assembly 6 are both in communication connection with the electric power steering controller 2 so as to respectively output a corner value and a torque value of the steering wheel to the electric power steering controller 2, the corner sensor assembly 5 comprises two corner sensors which are symmetrically arranged on two sides of the steering column 9, the torque sensor assembly 6 comprises two torque sensors, and the two torque sensors are symmetrically arranged on both sides of the steering column 9.
When steering control is carried out, the sensing sensor assembly senses environmental information and transmits sensed environmental information data to the intelligent driving area controller 1; the intelligent driving area controller 1 calculates an expected driving path of the vehicle through a perception algorithm and a planning control algorithm according to received environment information data transmitted by the perception sensor assembly and map positioning information, and outputs steering control information to the electric power steering controller 2 through two CAN buses;
the electric power steering controller 2 calculates according to the received steering control information of the intelligent driving area controller 1 by combining the steering angle torque value information of the steering wheel transmitted by the steering angle sensor assembly 5 and the torque sensor assembly 6, and outputs a steering control signal to the steering motor 3 according to the calculation result; the steering motor 3 outputs a driving force to the steering gear 4 according to a steering control signal to achieve steering of the vehicle.
When the electric power steering system works, the intelligent driving area controller 1 and the electric power steering controller 2 are in communication connection through two CAN buses, when one CAN bus has communication faults, the other CAN bus CAN still ensure normal communication between the intelligent driving area controller 1 and the electric power steering controller 2, so that the two CAN buses are redundant, the communication stability between the electric power steering controller 2 and the intelligent driving area controller 1 is effectively improved, the probability of vehicle steering failure is reduced, and the driving safety is greatly improved; meanwhile, the two corner sensors in the corner sensor assembly 5 and the two torque sensors in the torque sensor assembly 6 are also designed in a redundant mode, so that the corner and torque information of a steering wheel can be effectively transmitted to the electric power steering controller 2, the electric power steering controller 2 can combine the steering control information of the intelligent driving area controller 1 and the torque of the steering wheel, the corner information is comprehensively calculated and controls the steering motor 3, and therefore the scheme is designed in a multiple redundant mode, the technology is advanced, the system robustness and the automatic driving safety are improved, and the application of an intelligent driving automobile L4 scene can be effectively met.
As shown in fig. 3, in the present embodiment, the intelligent driving area controller 1 and the electric power steering controller 2 are communicatively connected via a main CAN bus and a sub CAN bus at the same time, the electric power steering controller 2 includes a first CAN bus chip 21, a second CAN bus chip 22, a first electric power steering control chip 23 and a second electric power steering control chip 24, the first CAN bus chip 21 is communicatively connected with the main CAN bus and the first electric power steering control chip 23 respectively to receive the control signal of the intelligent driving area controller 1 via the main CAN bus and transmit the received control signal of the intelligent driving area controller 1 to the first electric power steering control chip 23, the second CAN bus chip 22 is communicatively connected with the sub CAN bus and the second electric power steering control chip 24 respectively to receive the control signal of the intelligent driving area controller 1 via the sub CAN bus, and the received control signal of the intelligent driving area controller 1 is transmitted to the second electric power steering control chip 24, and the first electric power steering control chip 23 and the second electric power steering control chip 24 are both in communication connection with the steering motor 3 so as to respectively send steering control signals to the steering motor 3.
Therefore, when the main CAN bus is in normal communication, the intelligent driving area controller 1 outputs steering control information to the first CAN bus chip 21 through the main CAN bus, the first CAN bus chip 21 transmits the received steering control information of the intelligent driving area controller 1 to the first electric power steering control chip 23, and the first electric power steering control chip 23 sends a steering control signal to the steering motor 3; when the main CAN bus fails, the intelligent driving area controller 1 outputs steering control information to the second CAN bus chip 22 through the auxiliary CAN bus, the second CAN bus chip 22 transmits the received steering control information of the intelligent driving area controller 1 to the second electric power steering control chip 24, and the second electric power steering control chip 24 sends a steering control signal to the steering motor 3, so that the first CAN bus chip 21 and the second CAN bus chip 22 are redundant, the first electric power steering control chip 23 and the second electric power steering control chip 24 are redundant, and the safety of intelligent driving is further improved.
In this embodiment, the electric power steering controller 2 further includes a first power module 25 and a second power module 26, and the first power module 25 and the second power module 26 respectively output a first power and a second power to power the electric power steering system.
In this way, the first power module 25 and the second power module 26 are redundant to each other, and when one of the power modules fails, the other power module can still supply power to the electric power steering system, thereby improving the reliability of the operation of the electric power steering system.
In this embodiment, the electric power steering system further includes a position sensor assembly 7, the position sensor assembly 7 is installed on the steering motor 3 for collecting position information of the steering motor 3, and the position sensor assembly 7 is further connected in communication with the electric power steering controller 2 for transmitting the collected position information of the steering motor 3 to the electric power steering controller 2.
In this way, the position sensor assembly 7 transmits the collected position information of the steering motor 3 to the electric power steering controller 2, and the electric power steering controller 2 also calculates the position information of the steering motor 3 transmitted by combining the position sensor assembly 7, thereby realizing the feedback control of the steering motor 3.
In the present embodiment, the position sensor assembly 7 includes a first position sensor and a second position sensor, both of which are mounted on the steering motor 3 to collect position information of the steering motor 3, respectively.
Therefore, the first position sensor and the second position sensor are redundant, and the stability of the signal acquired by the steering motor 3 is ensured.
A working method of the redundant electric power steering system of the intelligent driving automobile comprises the following steps:
step 1), sensing environmental information by a sensing sensor assembly, and transmitting sensed environmental information data to an intelligent driving area controller 1;
step 2) the intelligent driving area controller 1 calculates an expected driving path of the vehicle through a sensing algorithm and a planning control algorithm according to received environment information data transmitted by the sensing sensor assembly in combination with map positioning information, and outputs steering control information to the electric power steering controller 2 through two CAN buses, wherein the steering control information comprises vehicle speed information, awakening information, steering wheel corner information, corner/torque instructions and the like;
step 3) the electric power steering controller 2 calculates according to the received steering control information of the intelligent driving area controller 1 by combining the steering angle torque value information of the steering wheel transmitted by the steering angle sensor assembly 5 and the torque sensor assembly 6, and outputs a steering control signal to the steering motor 3 according to the calculation result;
and 4) outputting a driving force to the steering gear 4 by the steering motor 3 according to the steering control signal to realize the steering of the vehicle.
In the embodiment, in step 2), when the main CAN bus is in normal communication, the intelligent driving area controller 1 outputs steering control information to the electric power steering controller 2 through the main CAN bus; when the main CAN bus fails, the intelligent driving area controller 1 outputs steering control information to the electric power steering controller 2 through the auxiliary CAN bus;
in step 3), when the main CAN bus is in normal communication, the first CAN bus chip 21 receives the steering control information of the intelligent driving area controller 1 through the main CAN bus, and transmits the received steering control information of the intelligent driving area controller 1 to the first electric power steering control chip 23, and the first electric power steering control chip 23 sends a steering control signal to the steering motor 3; when the main CAN bus fails, the second CAN bus chip 22 receives the steering control information of the intelligent driving area controller 1 through the auxiliary CAN bus, and transmits the received steering control information of the intelligent driving area controller 1 to the second electric power steering control chip 24, and the second electric power steering control chip 24 sends a steering control signal to the steering motor 3.
In this embodiment, the method for determining the master CAN bus fault includes: the electric power steering controller 2 cannot receive a signal of the main CAN bus or receives a fault of the main CAN bus for a duration time exceeding 5 cycles.
In the embodiment, the working state of the main CAN bus is assigned to the first electric power steering control chip 23 in the form of a master control channel state word, and the working state of the auxiliary CAN bus is assigned to the second electric power steering control chip 24 in the form of a backup channel state word;
in step 3), when the main CAN bus is in normal communication, the steering motor 3 receives a steering control signal sent by the first electric power steering control chip 23; when the first electric power steering control chip 23 does not receive the steering control information of the first CAN bus chip 21, or the first electric power steering control chip 23 receives the master control channel state word of the master CAN bus fault and the duration time exceeds 5 cycles, the second electric power steering control chip 24 sends a steering control signal to the steering motor 3.
In this way, when the communication between the first electric power steering control chip 23 and the first CAN bus chip 21 fails, the second electric power steering control chip 24 sends a steering control signal to the steering motor 3, thereby further improving the reliability of the system operation.
In the present embodiment, the electric power steering controller 2 also calculates the position information of the steering motor 3 transmitted in conjunction with the position sensor assembly 7 in step 3).
The complete working method of the electric power steering system comprises the following steps:
the iECU (intelligent driving area controller 1) outputs a steering control command through a main CAN bus and an auxiliary CAN bus by collecting data of a perception sensor assembly and logical calculation, and the electric power steering controller 2 collects a corner and torque command, a vehicle speed signal and a wake-up signal output by the intelligent driving area controller 1 and communicates with the intelligent driving area controller 1 in real time.
The iECU is connected with the EPS ECU (electric power steering controller 2) through a main CAN bus and an auxiliary CAN bus to realize double CAN redundant communication; when the intelligent driving vehicle normally runs (the main CAN bus normally communicates), the EPS ECU receives information from the main CAN bus, and performs information interaction with the iECU through the main CAN bus to execute closed-loop control of the electric power steering system; when the main CAN bus fails, namely the EPS ECU cannot receive signals of the main CAN bus or receives fault state words of the main CAN bus and the duration time exceeds 5 cycles, the EPS ECU receives the auxiliary CAN bus information to implement electric power steering control.
Meanwhile, the EPS ECU acquires the rotation angle and the torque of the steering wheel and the position signal of the steering motor 3, carries out comprehensive logic calculation, finally outputs a PWM signal to control the steering motor 3 to act, and the steering motor 3 outputs driving force to drive the steering gear 4 to execute vehicle steering.
The EPS ECU executes redundant control through a first CAN bus chip 21, a second CAN bus chip 22, a first electric power steering control chip 23 and a second electric power steering control chip 24 which are redundant, and the first electric power steering control chip 23 and the second electric power steering control chip 24 carry out communication and diagnosis.
When the intelligent driving vehicle is started, the system automatically assigns values, assigns the master control channel state word to the first electric power steering control chip 23 and assigns the backup channel state word to the second electric power steering control chip 24; when the vehicle normally runs, the steering motor 3 receives a control instruction sent by the first CAN bus chip 21 and executes vehicle steering control; when the first electric power steering control chip 23 does not receive the steering angle/torque command and other signals, or when the first electric power steering control chip 23 receives the master control channel state word with the main CAN bus fault and the duration time exceeds 5 cycles, the second electric power steering control chip 24 takes over and executes the vehicle steering command.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (10)
1. A redundant electric power steering system of an intelligent driving automobile comprises a perception sensor assembly, an intelligent driving domain controller (1), an electric power steering controller (2), a steering motor (3) and a steering gear (4), and is characterized in that the intelligent driving domain controller (1) is in communication connection with the electric power steering controller (2) through a double-circuit CAN bus, a turning angle sensor assembly (5) and a torque sensor assembly (6) are further arranged on a steering column (9) below a steering wheel (8), the turning angle sensor assembly (5) and the torque sensor assembly (6) are in communication connection with the electric power steering controller (2) so as to respectively output a turning angle value and a torque value of the steering wheel (8) to the electric power steering controller (2), and the turning angle sensor assembly (5) comprises two turning angle sensors, the two rotation angle sensors are symmetrically arranged on two sides of a steering column (9), the torque sensor assembly (6) comprises two torque sensors, and the two torque sensors are symmetrically arranged on two sides of the steering column (9).
2. The redundant electric power steering system of the intelligent driving automobile according to claim 1, wherein the intelligent driving area controller (1) and the electric power steering controller (2) are connected in communication through a main CAN bus and a sub CAN bus simultaneously, the electric power steering controller (2) comprises a first CAN bus chip (21), a second CAN bus chip (22), a first electric power steering control chip (23) and a second electric power steering control chip (24), the first CAN bus chip (21) is respectively connected in communication with the main CAN bus and the first electric power steering control chip (23) to receive the control signal of the intelligent driving area controller (1) through the main CAN bus and transmit the received control signal of the intelligent driving area controller (1) to the first electric power steering control chip (23), the second CAN bus chip (22) is in communication connection with the auxiliary CAN bus and the second electric power steering control chip (24) respectively, so that the control signal of the intelligent driving area controller (1) is received through the auxiliary CAN bus, the received control signal of the intelligent driving area controller (1) is transmitted to the second electric power steering control chip (24), and the first electric power steering control chip (23) and the second electric power steering control chip (24) are in communication connection with the steering motor (3) to send steering control signals to the steering motor (3) respectively.
3. A redundant electric power steering system of a smart-driven vehicle according to claim 1, wherein the electric power steering controller (2) further comprises a first power module (25) and a second power module (26), and the first power module (25) and the second power module (26) respectively output a first power and a second power to power the electric power steering system.
4. Redundant electric power steering system of a smart-driven vehicle according to claim 1, further comprising a position sensor assembly (7), wherein the position sensor assembly (7) is mounted on the steering motor (3) for collecting the position information of the steering motor (3), and the position sensor assembly (7) is further connected in communication with the electric power steering controller (2) for transmitting the collected position information of the steering motor (3) to the electric power steering controller (2).
5. Redundant electric power steering system of a smart-driven vehicle according to claim 4, wherein the position sensor assembly (7) comprises a first position sensor and a second position sensor, both of which are mounted on the steering motor (3) to collect position information of the steering motor (3), respectively.
6. A method of operating a redundant electric power steering system for a smart-driven vehicle as recited in claim 1, comprising the steps of:
step 1), the perception sensor assembly perceives environmental information and transmits the perceived environmental information data to the intelligent driving area controller (1);
step 2), the intelligent driving area controller (1) calculates an expected driving path of a vehicle through a perception algorithm and a planning control algorithm according to received environment information data transmitted by the perception sensor assembly and map positioning information, and outputs steering control information to the electric power steering controller (2) through two CAN buses;
step 3), the electric power steering controller (2) calculates according to the received steering control information of the intelligent driving area controller (1) by combining the steering angle torque value information of the steering wheel (8) transmitted by the steering angle sensor assembly (5) and the torque sensor assembly (6), and outputs a steering control signal to the steering motor (3) according to the calculation result;
and 4) outputting a driving force to the steering gear (4) by the steering motor (3) according to a steering control signal so as to realize the steering of the vehicle.
7. The working method of the redundant electric power steering system of the intelligent driving automobile according to claim 6, wherein the intelligent driving area controller (1) and the electric power steering controller (2) are in communication connection through a main CAN bus and a sub CAN bus simultaneously, the electric power steering controller (2) comprises a first CAN bus chip (21), a second CAN bus chip (22), a first electric power steering control chip (23) and a second electric power steering control chip (24), the first CAN bus chip (21) is in communication connection with the main CAN bus and the first electric power steering control chip (23) respectively, so as to receive the control signal of the intelligent driving area controller (1) through the main CAN bus and transmit the received control signal of the intelligent driving area controller (1) to the first electric power steering control chip (23), the second CAN bus chip (22) is in communication connection with the auxiliary CAN bus and the second electric power steering control chip (24) respectively, so as to receive the control signal of the intelligent driving area controller (1) through the auxiliary CAN bus and transmit the received control signal of the intelligent driving area controller (1) to the second electric power steering control chip (24), and the first electric power steering control chip (23) and the second electric power steering control chip (24) are both in communication connection with the steering motor (3) so as to send steering control signals to the steering motor (3) respectively;
in the step 2), when the main CAN bus is in normal communication, the intelligent driving area controller (1) outputs steering control information to the first CAN bus chip (21) through the main CAN bus; when the main CAN bus fails, the intelligent driving area controller (1) outputs steering control information to the second CAN bus chip (22) through the auxiliary CAN bus;
in the step 3), when the main CAN bus is in normal communication, the first CAN bus chip (21) receives the steering control information of the intelligent driving area controller (1) through the main CAN bus and transmits the received steering control information of the intelligent driving area controller (1) to the first electric power steering control chip (23), and the first electric power steering control chip (23) sends a steering control signal to the steering motor (3); when the main CAN bus fails, the second CAN bus chip (22) receives the steering control information of the intelligent driving area controller (1) through the auxiliary CAN bus, transmits the received steering control information of the intelligent driving area controller (1) to the second electric power steering control chip (24), and the second electric power steering control chip (24) sends a steering control signal to the steering motor (3).
8. The redundant electric power steering system of claim 7, wherein the method for determining the main CAN bus failure is as follows: the electric power steering controller (2) cannot receive signals of the main CAN bus or receives fault duration of the main CAN bus for more than 5 cycles.
9. The operating method of the redundant electric power steering system of the intelligent driving automobile according to claim 8, wherein the operating state of the main CAN bus is assigned to a first electric power steering control chip (23) in the form of a master channel state word, and the operating state of the sub CAN bus is assigned to a second electric power steering control chip (24) in the form of a backup channel state word;
in the step 3), when the main CAN bus is in normal communication, the steering motor (3) receives a steering control signal sent by a first electric power steering control chip (23); when the first electric power steering control chip (23) cannot receive steering control information of the first CAN bus chip (21) or the first electric power steering control chip (23) receives a master control channel state word of the main CAN bus fault and the duration time exceeds 5 cycles, the second electric power steering control chip (24) sends a steering control signal to the steering motor (3).
10. The working method of the redundant electric power steering system of the intelligent driving automobile is characterized in that the electric power steering system further comprises a position sensor assembly (7), the position sensor assembly (7) is installed on the steering motor (3) and used for collecting the position information of the steering motor (3), and the position sensor assembly (7) is further in communication connection with the electric power steering controller (2) so as to transmit the collected position information of the steering motor (3) to the electric power steering controller (2);
in the step 3), the electric power steering controller (2) also calculates the position information of the steering motor (3) transmitted by combining the position sensor assembly (7).
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| CN202210111584.4A CN114379644A (en) | 2022-01-29 | 2022-01-29 | Redundant electric power steering system for intelligent driving automobile and working method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116605284A (en) * | 2023-06-01 | 2023-08-18 | 中国航空油料集团有限公司 | Automobile steering system and automobile |
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