CN115009357A

CN115009357A - Vehicle steering detection control system, method, electronic device, and storage medium

Info

Publication number: CN115009357A
Application number: CN202210778925.3A
Authority: CN
Inventors: 张祖豪
Original assignee: Beijing Zhuxian Technology Co Ltd
Current assignee: Beijing Zhuxian Technology Co Ltd
Priority date: 2022-06-30
Filing date: 2022-06-30
Publication date: 2022-09-06
Anticipated expiration: 2042-06-30
Also published as: CN115009357B

Abstract

The application discloses a vehicle steering detection control system, a vehicle steering detection control method, electronic equipment and a storage medium, which can be applied to scenes such as high speed, trunk logistics, port mines and the like. The vehicle turns to detection control system includes domain controller module, turns to the module, turns to hydraulic oil measuring module, perception module and engine braking module, wherein: the steering hydraulic oil measuring module is used for measuring the steering hydraulic oil flow information in the steering module; the sensing module is used for monitoring vehicle running environment information; the domain controller module is used for sending a lane change test instruction to the steering module if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined to be met according to the vehicle running state information and the vehicle running environment information obtained based on the steering module; determining a lane change test result based on the torque value information of the first steering motor obtained by the steering module; and controlling the engine braking module according to the lane changing test result and the corresponding control strategy.

Description

Vehicle steering detection control system, method, electronic device, and storage medium

Technical Field

The present application relates to the field of automatic driving control, and in particular, to a vehicle steering detection control system, method, electronic device, and storage medium.

Background

In the related art, a steering system in an automatic driving system of a vehicle includes an electric control portion and a steering motor hydraulic portion. The electric control part is used for controlling the movement of a hydraulic valve port of the steering motor, and the steering force born by the electric control part is equivalent to the steering force of a driver holding a steering wheel by hands. The hydraulic part builds pressure of high and low cavities through a hydraulic valve of a steering motor to enable a piston to move so as to drive wheels to move, the steering force borne by the hydraulic part is the friction force of the wheels on the ground, and in the steering process of a vehicle, the hydraulic part bears more than 90% of the steering force.

The automatic driving system of the vehicle can detect the running state of an electric control part of a steering system in real time in the running process, if the hydraulic part is abnormal, the steering system can be known to be incapable of providing enough steering force only when the vehicle runs to a curve to steer, so that the vehicle deviates from a lane, and if a driver takes over the steering system in time, the driving potential safety hazard exists.

Disclosure of Invention

In order to solve the problem that a steering detection mode of an automatic driving vehicle has driving potential safety hazards, the embodiment of the application provides a vehicle steering detection control system, a vehicle steering detection control method, electronic equipment and a storage medium.

In a first aspect, an embodiment of the present application provides a vehicle steering detection control system, including: domain controller module, turn to the module, turn to hydraulic oil measuring module, perception module and engine braking module, wherein:

the steering hydraulic oil measuring module is used for measuring the steering hydraulic oil flow information in the steering module;

the sensing module is used for monitoring vehicle running environment information;

the domain controller module is used for sending a lane change test instruction to the steering module if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined to be met according to the vehicle running state information and the vehicle running environment information obtained based on the steering module; determining a lane change test result based on the torque value information of the first steering motor obtained by the steering module; controlling the engine braking module according to the lane changing test result and a corresponding control strategy;

the steering module is used for obtaining the vehicle running state information, executing steering operation according to the lane change test instruction and obtaining the torque value information of the first steering motor in the steering operation executing process;

and the engine braking module is used for braking according to the control of the domain controller module.

The vehicle brake test control system provided by the embodiment of the application comprises a domain controller module, a steering hydraulic oil measuring module, a sensing module and an engine brake module, wherein the steering hydraulic oil measuring module is used for measuring the flow information of steering hydraulic oil in the steering module, the sensing module is used for monitoring the running environment information of a vehicle, the steering module is used for monitoring the running state information of the vehicle, the domain controller module is used for sending a lane change test instruction to the steering module and controlling the steering module to execute steering operation if the steering hydraulic oil is determined to be abnormal according to the flow information of the steering hydraulic oil and the lane change test condition is determined to be met according to the running state information of the vehicle and the running environment information of the vehicle, the steering module is also used for executing the steering operation according to the lane change test instruction sent by the domain controller module and obtaining the torque value information of a first steering motor in the process of executing the steering operation, the domain controller module determines a lane change test result based on the torque value information of the first steering motor, and controls the engine brake module according to a corresponding control strategy according to the lane change test result, the vehicle brake test control system in the embodiment of the application is provided with a steering hydraulic oil measurement module, the steering hydraulic oil flow information in the steering module is measured in real time through the steering hydraulic oil measurement module, the domain controller module monitors whether steering hydraulic oil is abnormal in real time according to the steering hydraulic oil flow information measured by the steering hydraulic oil measurement module, can monitor the running state of the steering motor hydraulic part of the steering system (namely the steering module) in real time, monitors whether the steering motor hydraulic part is in fault, and if the steering hydraulic oil is abnormal, further judges whether the lane change test condition is met based on the current vehicle running state information and the vehicle running environment information, if the lane change test condition is met, controlling the steering module to perform a lane change test, monitoring the torque value of the steering motor during steering operation in the lane change test process in real time by the steering module, obtaining a lane change test result based on the torque value of the steering motor by the domain controller module, controlling the engine brake module according to a corresponding control strategy according to the lane change test result, verifying the actual performance and bearing capacity of the steering motor before the vehicle does not enter the curve through the lane change test, and handling according to the actual performance of the steering motor according to the corresponding control strategy, so that the risk that the vehicle is out of control due to untimely measures taken by a driver when the vehicle enters the curve if the performance of the steering motor is in a problem (such as insufficient steering force) is avoided, and the driving safety is improved.

In an optional embodiment, the system further comprises an alarm module;

the domain controller module is further used for sending a torque control command to the steering module and sending a fault alarm for prompting a steering wheel take-over to the alarm module if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined not to be met according to the vehicle running state information and the vehicle running environment information;

the steering module is used for starting torque limiting operation of the steering motor according to the torque control command so as to enter a torque increasing mode, and obtaining second steering motor torque value information and steering force information applied to the steering wheel in the torque increasing mode;

and the domain controller module is used for determining the abnormal state of the vehicle according to the torque value information of the second steering motor and the steering force information exerted by the steering wheel and controlling the vehicle.

In the above optional implementation manner, the vehicle steering detection system provided in this embodiment of the application further includes an alarm module, if the domain controller module determines that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information in the steering module measured by the steering hydraulic oil measurement module, and determines that the lane change test condition is not satisfied based on the current vehicle driving state information and the vehicle driving environment information, the domain controller module may directly send a torque control command to the steering module to control the steering module to start the steering motor torque limiting operation to enter the lift-twist mode, that is, to raise the steering motor torque value, and send a fault alarm to the alarm module to prompt the driver to take over the steering wheel, so that the driver may take over the vehicle in time by sending an early warning to the driver in advance, thereby avoiding a potential safety hazard, and after the driver takes over the steering wheel, the steering module monitors the second steering motor torque value in the lift-twist mode and the steering force applied to the steering wheel in real time (that is, the steering force applied to the steering wheel is the steering wheel) The steering force applied to the steering wheel by the driver, that is, the steering force of the driver holding the steering wheel), so that the field controller module can be monitored according to the torque value of the second steering motor and the steering force applied to the steering wheel, verify the actual performance and bearing capacity of the steering motor when the vehicle enters a curve or enters the curve, control the vehicle, and further improve the driving safety.

In an optional embodiment, the steering hydraulic oil flow information includes a steering hydraulic oil inlet flow and a steering hydraulic oil outlet flow;

the domain controller module is specifically used for controlling the difference value between the flow of the steering hydraulic oil inlet and the flow of the steering hydraulic oil outlet to be larger than a first threshold value; and/or determining that the steering hydraulic oil is abnormal under the condition that the flow of the steering hydraulic oil inlet is smaller than a second threshold corresponding to the current engine rotating speed.

In the above optional embodiment, the domain controller module may preliminarily determine whether the steering hydraulic oil is abnormal or not by a difference between a flow rate of the steering hydraulic oil inlet and a flow rate of the steering hydraulic oil outlet, because it can determine whether the hydraulic oil leaks when acting inside the steering motor or not by a difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet, under a normal working condition, after the hydraulic oil moves inside the steering motor, a certain flow rate loss may exist, if the difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet is less than or equal to a first threshold of a normal loss flow rate threshold, it may be considered that the steering hydraulic oil works normally, and if the difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet is greater than the first threshold, it may be considered that the steering hydraulic oil works abnormally. The domain controller module can also judge whether the steering hydraulic oil is abnormal or not according to the flow of the steering hydraulic oil inlet, because the flow of the steering hydraulic oil inlet is large, the process that the steering motor builds the pressure in a high-low pressure cavity through the hydraulic valve can be known, whether enough hydraulic oil is provided for the steering motor in a short time or not, if the flow of the steering hydraulic oil inlet is smaller than a second threshold, the input of the steering hydraulic oil can be considered to be in a problem, and because the second threshold corresponding to the normal steering hydraulic oil inlet flow is positively correlated with the engine speed, different engine speeds correspond to different second thresholds, therefore, whether the flow of the current steering hydraulic oil inlet is abnormal or not can be measured according to the second threshold corresponding to the current engine speed.

In an optional embodiment, the lane change test instruction includes a steering angle;

the domain controller module is specifically configured to determine that the lane change test result is that a flow sensor in the steering hydraulic oil measurement module is abnormal or that signal transmission of the flow sensor is abnormal when the first steering motor torque value is within a first set range and the lane change is successful after the steering module performs a steering operation according to the first steering motor torque value reaching the steering angle;

if the steering module is determined to achieve the steering angle in the lift-twist mode and the lane change is successful after the steering module performs the steering operation in the lift-twist mode under the condition that the torque value of the first steering motor exceeds the first set range and the steering module cannot achieve the steering angle according to the torque value of the first steering motor, determining that the lane change test result indicates that a steering hydraulic fault exists in the steering module; and if the steering module fails to reach the steering angle in the torsion-increasing mode and the lane change fails, determining that the lane change test result indicates that a steering hydraulic fault exists in the steering module.

In an optional implementation manner, the domain controller module is specifically configured to, when the torque value of the first steering motor is within a first set range and the lane change is successful after the steering module performs a steering operation according to the torque value of the first steering motor reaching the steering angle, control the vehicle to move forward according to an original cruising lane after the lane change, update a destination to a specified position, and send a fault alarm for prompting to overhaul the steering module and the steering hydraulic oil measurement module to an alarm module;

under the condition that the steering module successfully switches lanes after achieving the steering angle in the lift-twist mode and performing steering operation, controlling the vehicle to move forwards according to the original cruising lane after the lane is switched, updating the destination to the specified position, and sending a fault alarm for prompting to overhaul the steering module to the alarm module;

under the condition that the steering module cannot reach the steering angle in the torsion-up mode and lane change fails, sending a parking instruction to the engine braking module, and sending a fault alarm for prompting a steering fault and a steering wheel connecting pipe to an alarm module;

and the engine braking module is used for responding to the parking instruction and reducing the speed of the vehicle to the current lane according to the parking instruction.

In the above optional embodiment, the lane change test instruction sent by the domain controller module to the steering module includes a steering angle that the steering module needs to reach, and if the torque value of the first steering motor used by the steering module is within a first set range, that is, the steering angle can be successfully steered and the lane change can be reached, it indicates that the possibility that the signal transmission of the flow sensor or the flow sensor in the steering hydraulic oil measurement module is abnormal is high, and a fault occurs inside the non-steering module, and at this time, the control strategy of the domain controller module for the vehicle is as follows: and controlling the vehicle to move forwards according to the original cruising lane after lane changing, updating the destination to the specified position, sending a fault alarm, and prompting a driver to drive to the specified position to overhaul the steering module and the steering hydraulic oil measuring module so as to position a real fault point. If the torque value of a first steering motor used by the steering module exceeds a first set range but cannot reach a required steering angle, the steering module enters a torque-up mode through autonomous judgment, the steering module can increase the torque value of the steering motor in the torque-up mode, if the steering motor can reach the required steering angle after increasing the torque value of the steering motor and successfully turns to lane change, the hydraulic pressure of the steering motor is possibly in a problem and is not enough to support normal lane change operation, but the torque value of the steering motor can be partially compensated through the torque-up of the steering motor to complete lane change, at the moment, the domain controller module controls the vehicle to move forwards according to an original cruising lane after lane change and simultaneously changes a destination to a designated position, a fault alarm is sent to the alarm module to prompt a driver to overhaul the steering module, and if the steering module still cannot reach the required steering angle in the torque-up mode and fails to change lanes, at this moment, if the vehicle moves ahead continuously and needs to change lanes, accidents may occur, and in order to avoid the accidents, the domain controller module sends a parking instruction to the engine brake module and sends a fault alarm to prompt the driver to turn to a fault and prompt the driver to take over a steering wheel, and the engine brake module decelerates the vehicle to the current lane. Through the control modes, the real fault point can be positioned, and the driving safety of the vehicle is ensured.

In an optional embodiment, the domain controller module is specifically configured to determine that a flow sensor in the steering hydraulic oil measurement module is abnormal or that signal transmission of the flow sensor is abnormal if the steering module turns successfully after performing a steering operation in a torque-up mode according to the second steering motor torque value and the steering force applied to the steering wheel when the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range;

under the conditions that the second steering motor torque value exceeds the first set range, the steering force exerted by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted by the steering wheel in the torque-up mode, determining that a steering hydraulic fault exists in the steering module;

and determining that a steering hydraulic fault exists in the steering module under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

In an optional implementation manner, the domain controller control module is specifically configured to send a fault alarm for prompting to overhaul the steering module and the steering hydraulic oil measurement module to the alarm module when the second steering motor torque value is within a first set range, the steering force applied to the steering wheel is within a second set range, and the steering module turns successfully after performing steering operation according to the second steering motor torque value in the lift-and-twist mode;

sending a fault alarm for prompting to overhaul the steering module to the alarm module under the conditions that the torque value of the second steering motor exceeds the first set range and the steering force exerted on the steering wheel exceeds the second set range and the steering module turns successfully after steering operation is carried out on the steering module in a torsion-up mode according to the torque value of the second steering motor and the steering force exerted on the steering wheel;

and sending a warning for prompting parking maintenance fault warning to the steering module to the warning module under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

In the above optional embodiment, the domain controller module determines that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information, determines that the lane change test condition is not satisfied according to the vehicle running state information and the vehicle running environment information, controls the steering module to enter the lift-twist mode, and after the driver takes over the steering wheel, the domain controller module further determines a fault point and controls the vehicle according to the second steering motor torque value information in the lift-twist mode sent by the steering module and the steering force applied to the steering wheel (i.e., the steering force applied to the steering wheel by the driver) information, if the second steering motor torque value is within a first set range, the steering force applied to the steering wheel is within a second set range, and the steering module successfully turns after performing the steering operation according to the second steering motor torque value in the lift-twist mode, it indicates that the signal transmission of the flow sensor or the flow sensor in the steering hydraulic oil measurement module is abnormal at this time There is a high probability that a failure occurs inside the steering module, and the control strategy of the domain controller module for the vehicle is: and sending a fault alarm to the alarm module to prompt a driver to overhaul the steering module and the steering hydraulic oil measuring module so as to locate a real fault point. Under the condition that the torque value of the second steering motor exceeds the first set range, the torque value of the second steering motor reaches the maximum value, and the steering force exerted on the steering wheel exceeds the second set range, if the steering module performs the steering operation to successfully turn under the combined action of the torque value of the second steering motor reaching the maximum value and the steering force exerted on the current steering wheel, the situation shows that the hydraulic pressure of the steering motor possibly has problems and is not enough to support normal lane changing (namely turning) operation, but the torque value of the steering motor can be partially compensated by lifting the torque value of the steering motor through the steering motor, and the steering force exerted on the steering wheel also completes the turning together in a controllable range, at the moment, the domain controller module gives a fault alarm to prompt a driver to overhaul the steering module, so that the steering system is overhauled in advance, and the real fault point of the vehicle is located. And under the condition that the torque value of the second steering motor exceeds the first set range, the torque value of the second steering motor reaches the maximum value, and the steering force exerted on the steering wheel exceeds the second set range, if the steering module can turn successfully when the torque value of the second steering motor reaches the maximum value and the steering force exerted on the steering wheel by a driver is increased, at the moment, the situation shows that the hydraulic pressure of the steering motor possibly has problems and is not enough to support normal turning operation, but the torque value of the steering motor is increased through the steering motor to partially compensate, and the steering force exerted on the steering wheel is further increased, so that turning can be completed, at the moment, accidents can occur if the vehicle continues to move forwards, and in order to avoid the situation, the domain controller module gives a fault alarm to prompt the driver of the steering fault, and prompts the driver to stop and overhaul the steering module immediately.

In a second aspect, an embodiment of the present application provides a vehicle steering detection control method, including:

the method comprises the steps of obtaining steering hydraulic oil flow information, vehicle running state information and vehicle running environment information, wherein the steering hydraulic oil flow information is the steering hydraulic oil flow information in a steering module of the vehicle obtained on the basis of measurement of a flow sensor;

if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined to be met according to the vehicle running state information and the vehicle running environment information, a lane change test instruction is triggered to instruct the vehicle to execute steering operation;

acquiring first steering motor torque value information of the vehicle in a steering operation process;

and determining a lane change test result based on the first steering motor torque value information, and controlling the vehicle according to the lane change test result and a corresponding control strategy.

In an optional embodiment, the method further comprises:

if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined not to be met according to the vehicle running state information and the vehicle running environment information, starting torque limiting operation of a steering motor to enter a torque increasing mode, and triggering a fault alarm to prompt a steering wheel to take over;

acquiring second steering motor torque value information and steering force information applied to the steering wheel in a torque-up mode;

and determining the abnormal state of the vehicle according to the second steering motor torque value information and the steering force information applied by the steering wheel, and controlling the vehicle.

In an optional implementation manner, determining that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information specifically includes:

the difference value between the flow of the steering hydraulic oil inlet and the flow of the steering hydraulic oil outlet is greater than a first threshold value; and/or determining that the steering hydraulic oil is abnormal under the condition that the flow of the steering hydraulic oil inlet is smaller than a second threshold corresponding to the current engine rotating speed.

determining a lane change test result based on the first steering motor torque value information, specifically comprising:

when the torque value of the first steering motor is within a first set range and the lane change of the vehicle is successful after the vehicle performs steering operation according to the torque value of the first steering motor reaching the steering angle, determining that the lane change test result is abnormal of the flow sensor or abnormal signal transmission of the flow sensor;

if the lane change is successful after the steering angle is reached in the torque-up mode and the steering operation is carried out on the vehicle according to the first steering motor torque value, determining that the lane change test result is that a steering hydraulic fault exists in a steering module of the vehicle; and if the steering angle cannot be reached in the torsion-up mode and the lane change fails, determining that the lane change test result is that a steering hydraulic fault exists in the steering module.

In an optional implementation manner, controlling the vehicle according to the lane change test result and a corresponding control strategy specifically includes:

under the condition that the torque value of the first steering motor is within a first set range and the lane change is successful after the steering module performs steering operation according to the torque value of the first steering motor reaching the steering angle, controlling the vehicle to move forwards according to the original cruising lane after the lane change, updating the destination to a specified position, and triggering a fault alarm to prompt the maintenance of the steering module and the flow sensor;

under the condition that the steering module successfully switches lanes after reaching the steering angle in the torque-up mode to perform steering operation, controlling the vehicle to move forwards according to the original cruising lane after lane switching, updating the destination to the specified position, and triggering a fault alarm to prompt the maintenance of the steering module;

and under the condition that the steering module cannot reach the steering angle in the torsion-up mode and lane change fails, triggering a parking instruction and a fault alarm to prompt a steering fault and a steering wheel to take over, and decelerating the vehicle to the current lane.

In an optional implementation, determining the abnormal state of the vehicle according to the second steering motor torque value information and the steering force information applied to the steering wheel specifically includes:

when the second steering motor torque value is within a first set range, the steering force exerted on the steering wheel is within a second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel in the torsion-increasing mode, determining that the flow sensor is abnormal or the signal transmission of the flow sensor is abnormal;

determining that a steering hydraulic fault exists in the steering module under the conditions that the second steering motor torque value exceeds the first set range, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel in the torsion-up mode;

In an optional implementation, the controlling the vehicle specifically includes:

when the torque value of the second steering motor is within a first set range, the steering force exerted on the steering wheel is within a second set range, and the steering module turns successfully after steering operation is carried out according to the torque value of the second steering motor and the steering force exerted on the steering wheel in a torsion-increasing mode, a fault alarm is triggered to prompt the maintenance of the steering module and the flow sensor;

when the torque value of the second steering motor exceeds the first set range, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the torque value of the second steering motor and the steering force exerted on the steering wheel in a torsion-increasing mode, a fault alarm is triggered to prompt the maintenance of the steering module;

and triggering a fault alarm to prompt the steering module to stop for maintenance under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

The technical effects of the vehicle steering detection control method provided by the present application may refer to the technical effects of the first aspect or each implementation manner of the first aspect, and are not described herein again.

In a third aspect, an embodiment of the present application provides a vehicle steering detection control apparatus, including:

the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring steering hydraulic oil flow information, vehicle running state information and vehicle running environment information, and the steering hydraulic oil flow information is steering hydraulic oil flow information in a steering module of the vehicle, which is obtained based on measurement of a flow sensor;

the lane change indicating unit is used for triggering a lane change test instruction to indicate the vehicle to execute steering operation if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined to be met according to the vehicle running state information and the vehicle running environment information;

a second acquisition unit for acquiring first steering motor torque value information of the vehicle during a steering operation;

and the first control unit is used for determining a lane change test result based on the first steering motor torque value information and controlling the vehicle according to the lane change test result and a corresponding control strategy.

In an optional embodiment, the apparatus further comprises:

the warning unit is used for starting torque limiting operation of a steering motor to enter a torque increasing mode and triggering fault warning to prompt a steering wheel to take over if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane changing test condition is determined not to be met according to the vehicle running state information and the vehicle running environment information;

a second acquisition unit configured to acquire second steering motor torque value information in a lift-and-twist mode and steering force information to which the steering wheel is applied;

and a second control unit for determining an abnormal state of the vehicle according to the second steering motor torque value information and the steering force information applied to the steering wheel, and controlling the vehicle.

In an optional embodiment, the apparatus further comprises:

the determining unit is used for determining that the difference value between the flow of the steering hydraulic oil inlet and the flow of the steering hydraulic oil outlet is larger than a first threshold value; and/or determining that the steering hydraulic oil is abnormal under the condition that the flow of the steering hydraulic oil inlet is smaller than a second threshold corresponding to the current engine rotating speed.

the first control unit is specifically configured to determine that the lane change test result is that the flow sensor is abnormal or the signal transmission of the flow sensor is abnormal when the first steering motor torque value is within a first set range and the lane change of the vehicle is successful after the vehicle performs a steering operation according to the first steering motor torque value reaching the steering angle; if the lane change is successful after the steering angle is reached in the torque-up mode and the steering operation is carried out on the vehicle according to the first steering motor torque value, determining that the lane change test result is that a steering hydraulic fault exists in a steering module of the vehicle; and if the steering angle cannot be reached in the torsion-up mode and the lane change fails, determining that the lane change test result is that a steering hydraulic fault exists in the steering module.

In an optional implementation manner, the first control unit is specifically configured to, when the torque value of the first steering motor is within a first set range and the lane change is successful after the steering module performs a steering operation according to the torque value of the first steering motor reaching the steering angle, control the vehicle to move forward according to an original cruising lane after the lane change, update a destination to a specified position, and trigger a fault alarm to prompt to overhaul the steering module and the flow sensor; under the condition that the steering module successfully switches lanes after achieving the steering angle in the lift-twist mode and performing steering operation, controlling the vehicle to move forwards according to the original cruising lane after the lane is switched, updating the destination to the specified position, and triggering a fault alarm to prompt the maintenance of the steering module; and under the condition that the steering module cannot reach the steering angle in the torsion-up mode and lane change fails, triggering a parking instruction and a fault alarm to prompt a steering fault and a steering wheel to take over, and decelerating the vehicle to the current lane.

In an optional embodiment, the second control unit is specifically configured to determine that the flow sensor is abnormal or that the signal transmission of the flow sensor is abnormal if the steering module turns successfully after performing a steering operation in a torque-up mode according to the second steering motor torque value and the steering force applied to the steering wheel, and the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range; determining that a steering hydraulic fault exists in the steering module under the conditions that the second steering motor torque value exceeds the first set range, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel in the torsion-up mode; and determining that a steering hydraulic fault exists in the steering module under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

In an optional embodiment, the second control unit is specifically configured to trigger a fault alarm to prompt to repair the steering module and the flow sensor when the steering module turns successfully after performing a steering operation according to the second steering motor torque value and the steering force applied to the steering wheel in the lift-and-twist mode, where the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range; when the torque value of the second steering motor exceeds the first set range, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the torque value of the second steering motor and the steering force exerted on the steering wheel in a torsion-increasing mode, a fault alarm is triggered to prompt the maintenance of the steering module; and under the conditions that the torque value of the second steering motor exceeds the first set range, the torque value of the second steering motor reaches the maximum value, the steering force applied to the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the torque value of the second steering motor and the steering force applied to the steering wheel, a fault alarm is triggered to prompt the steering module to stop for maintenance.

The technical effects of the vehicle steering detection control device provided by the present application can be referred to the technical effects of the first aspect or the respective implementation manners of the first aspect, and are not described herein again.

In a fourth aspect, an embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the vehicle steering detection control method described in the present application when executing the program.

In a fifth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps in the vehicle steering detection control method described in the present application.

In a sixth aspect, embodiments of the present application provide a computer program product, which includes computer instructions stored in a computer-readable storage medium; when the processor of the electronic device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the electronic device executes the steps in the vehicle steering detection control method described above.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

Fig. 1 is an architecture diagram of a vehicle steering detection control system provided in an embodiment of the present application;

FIG. 2 is a schematic flow chart of an implementation of a vehicle steering detection control method according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a vehicle steering detection control device according to an embodiment of the present application;

fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to solve the problem that a steering detection mode of an automatic driving vehicle has driving potential safety hazards, the embodiment of the application provides a vehicle steering detection control system, a vehicle steering detection control method, electronic equipment and a storage medium. The system, the method and the device are based on the same technical conception, and because the principles of solving the problems of the system, the method and the device are similar, the implementation of the system, the method and the device can be mutually referred, and repeated parts are not repeated.

It should be noted that "and/or" referred to in this application is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone.

The term "plurality" as used herein means two or more.

Reference to "at least one" in this application means any combination of any one or more of the plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.

The preferred embodiments of the present application will be described below with reference to the accompanying drawings of the specification, it should be understood that the preferred embodiments described herein are merely for illustrating and explaining the present application, and are not intended to limit the present application, and that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

As shown in fig. 1, which is an architecture diagram of a vehicle steering detection control system according to an embodiment of the present application, the present application may be applied to steering detection and control of an autonomous vehicle in a high-speed scenario, a main logistics scenario, a port mine scenario, and the like, where the autonomous vehicle may include an autonomous truck. The vehicle steering detection system 100 (i.e., an automatic driving system of a vehicle) provided in the embodiment of the present application may include: the system comprises a domain controller module 101, a steering module 102, a steering hydraulic oil measuring module 103, a sensing module 104, an engine braking module 105, and an alarm module 106, wherein:

and the steering hydraulic oil measuring module 103 is used for measuring the steering hydraulic oil flow information in the steering module 102.

During specific implementation, the steering hydraulic oil measuring module 103 may adopt a flow sensor, the steering module 102 includes an electric control part and a steering motor hydraulic part, the steering module 102 is configured to adjust a vehicle body direction, the flow sensor may be installed at an oil inlet and an oil outlet of the steering motor hydraulic part of the steering module 102, and is configured to measure a steering hydraulic oil inlet flow and a steering hydraulic oil outlet flow, and report steering hydraulic oil inlet flow information and steering hydraulic oil outlet flow information to the domain controller module 101 in real time, and the flow sensor may also measure other parameter information of the steering hydraulic oil inlet and the steering hydraulic oil outlet, such as pressure information, and the like.

The sensing module 104 is configured to monitor vehicle driving environment information.

In specific implementation, the sensing module 104 may include a camera (e.g., a short-focus camera, a middle-focus camera, a long-focus camera, etc.), a laser radar, a millimeter-wave radar, etc. for sensing, detecting and positioning the environment.

Specifically, the sensing module 104 monitors vehicle driving environment information in real time and reports the vehicle driving environment information to the domain controller module 101, where the vehicle driving environment information may include, but is not limited to, the following information: position information of the vehicle, lane information on which the vehicle is traveling, vehicle type of a lane on which the vehicle is traveling, vehicle speed, and the like, and vehicle type of a lane adjacent to the lane on which the vehicle is traveling, vehicle speed, and the like. The position information of different vehicles can be positioned through a high-precision map and a positioning system.

The steering module 102 may monitor the vehicle driving state information in real time and report the vehicle driving state information to the domain controller module 101, where the vehicle driving state may include, but is not limited to, the following information: the driving state of the vehicle can be obtained by collecting a steering angle through the steering module 102, and the larger the value of the steering angle is, the larger the angle representing the current turning is. The curvature of the lane at the current position of the lane where the vehicle runs can be acquired by the steering module 102, and the larger the curvature of the lane, the larger the degree of curvature of the lane is.

The domain controller module 101 is configured to send a lane change test instruction to the steering module 102 if it is determined that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information and it is determined that a lane change test condition is met according to the vehicle running state information and the vehicle running environment information obtained based on the steering module 102; determining a lane change test result based on the first steering motor torque value information obtained by the steering module 102; the engine braking module 105 is controlled according to the corresponding control strategy based on the lane change test results.

The steering module 102 is configured to obtain vehicle driving state information, perform a steering operation according to the lane change test instruction, and obtain first steering motor torque value information during the steering operation.

An engine braking module 105 for braking according to the control of the domain controller module 101.

In specific implementation, the domain controller module 101 serves as a centralized control center for automatic driving, and can make corresponding decisions and instructions according to information reported by other modules. After the domain controller module 101 receives the flow information of the steering hydraulic oil inlet and the flow information of the steering hydraulic oil outlet sent by the steering hydraulic oil measuring module 103, whether the steering hydraulic oil is abnormal or not can be preliminarily judged, and the abnormality of the steering hydraulic oil can be determined in the following way:

the domain controller module 101 is specifically used for enabling the difference value between the flow of the steering hydraulic oil inlet and the flow of the steering hydraulic oil outlet to be larger than a first threshold value; and/or determining that the steering hydraulic oil is abnormal under the condition that the flow of the steering hydraulic oil inlet is smaller than a second threshold corresponding to the current engine rotating speed.

In specific implementation, the steering hydraulic oil can be determined to be abnormal if either one of the two conditions is met or both the two conditions are met.

Specifically, the domain controller module 101 may preliminarily determine whether the steering hydraulic oil is abnormal through a difference between a flow rate of the steering hydraulic oil inlet and a flow rate of the steering hydraulic oil outlet, which is because it may determine whether the hydraulic oil leaks when acting inside the steering motor through the difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet, under a normal working condition, after the hydraulic oil moves inside the steering motor, a certain flow rate loss may exist, if the difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet is less than or equal to a first threshold of a normal loss flow rate threshold, it may be considered that the steering hydraulic oil is working normally, and if the difference between the flow rate of the steering hydraulic oil inlet and the flow rate of the steering hydraulic oil outlet is greater than the first threshold, it may be considered that the steering hydraulic oil is working abnormally. The first threshold of normal loss flow threshold, can be by turning to the test of motor rank in the module 102 and obtaining, through experiment bench simulation steering motor actual measurement operating condition, the tactics turns to the difference of hydraulic pressure oil inlet flow and oil-out flow, obtain the flow difference under the normal behavior, also can be through the real vehicle test, continuously gather the difference that turns to hydraulic pressure oil inlet flow and oil-out flow under different operating conditions of real vehicle, obtain the flow difference under the normal behavior, can add certain surplus on the flow difference under the normal behavior, obtain normal loss flow threshold: a first threshold value.

Domain controller module 101 can also judge through the size of turning to hydraulic pressure oil inlet flow whether turning to hydraulic oil and appearing unusually, this is because through the size of turning to hydraulic pressure oil inlet flow, can learn to turn to the motor and carry out the pressure building in-process in high-low pressure chamber through the hydrovalve, whether provide sufficient hydraulic oil to turning to the motor in the short time, if turn to hydraulic pressure oil inlet flow and be less than normal oil inlet flow threshold: a second threshold value, which may be considered a problem with the input of steering oil. The second threshold of the normal oil inlet flow threshold can be obtained through theoretical calculation, the value of the theoretical calculation is related to the engine speed, the transmission ratio of the oil pump to the engine, the oil pump discharge capacity and the transmission efficiency, in the normal working process, the transmission ratio of the oil pump to the engine, the oil pump discharge capacity and the transmission efficiency are related to be constant, therefore, the theoretical calculation value of the second threshold is positively related to the engine speed, namely, the oil pump and the engine speed correspond to different second thresholds at different engine speeds, the test can be carried out through a real vehicle, the oil inlet flow of the real vehicle at different engine speeds is continuously collected, the normal input flow value (namely, the normal steering hydraulic oil inlet flow value) at different engine speeds is obtained, a certain allowance is subtracted on the basis of the normal input flow value, and the normal oil inlet flow threshold at different engine speeds can be obtained: second threshold, as shown in table 1:

the domain controller module 101 may measure whether the flow of the current steering hydraulic oil inlet is abnormal according to a second threshold corresponding to the current engine speed.

If the domain controller module 101 determines that the steering hydraulic oil is abnormal, it further determines whether the current lane change test condition is satisfied according to the vehicle running state information and the vehicle running environment information reported by the sensing module 104.

Specifically, the lane change test is performed to determine the performance and the bearing capacity of the steering motor in advance before the vehicle turns to determine whether the steering motor is enough to support the vehicle to turn successfully when changing lanes (such as turning from the current lane to an adjacent lane, or still running on the current lane with a turn in front of the current lane) based on the performance and the bearing capacity of the current steering motor, so that the lane change test condition can be determined to be met and the lane change test can be triggered when the running state of the vehicle is a straight-going state and the distance between the current running position of the vehicle and the next curve to be turned is greater than a third threshold (the distance is enough to complete the lane change test). And when the vehicle driving state is a straight-ahead driving state, the distance between the current driving position of the vehicle and the curve to be turned next is less than or equal to a third threshold value (the distance is not enough to finish the lane change test, namely, the vehicle is about to turn on the current lane to enter the curve), or the vehicle driving state is a turning state (namely, the vehicle is driving on the curve currently), the lane change test condition is determined not to be met. The third threshold may be set by itself, which is not limited in this application.

If the domain controller module 101 determines that the lane change test condition is met, it sends a lane change test instruction to the steering module 102, where the lane change instruction includes a required steering angle, so as to control the steering module 102 to execute a steering operation according to the steering angle, and perform a lane change test.

The steering module 102 is configured to respond to a lane change test instruction sent by the domain controller module 101, execute a steering operation according to a steering angle, monitor a steering motor torque value in a steering operation process, which may be recorded as a first steering motor torque value, and report the first steering motor torque value to the domain controller module 101.

The domain controller module 101 is specifically configured to determine that a lane change test result is that a flow sensor in the steering hydraulic oil measurement module 103 is abnormal or that signal transmission of the flow sensor is abnormal when the first steering motor torque value is within a first set range and the lane change is successful after the steering module 102 performs a steering operation according to the first steering motor torque value reaching a steering angle.

If the steering module 102 is determined to successfully switch the steering after the steering module 102 achieves the steering angle in the torque-up mode and performs the steering operation according to the first steering motor torque value under the condition that the first steering motor torque value exceeds the first set range and the steering module 102 cannot achieve the steering angle according to the first steering motor torque value, determining that a steering hydraulic fault exists in the steering module 102 as a lane switching test result; if it is determined that the steering module 102 fails to reach the steering angle in the lift-twist mode and the lane change fails, it is determined that the lane change test result indicates that a steering hydraulic fault exists in the steering module 102.

And the domain controller module is specifically configured to, under the condition that the torque value of the first steering motor is within a first set range and the lane change is successful after the steering module 102 performs steering operation according to the torque value of the first steering motor reaching a steering angle, control the vehicle to move forward according to the original cruising lane after the lane change, update the destination to an assigned position, and send a fault alarm for prompting to overhaul the steering module 102 and the steering hydraulic oil measurement module 103 to the alarm module 106.

And under the condition that the steering module successfully switches the lane after reaching the steering angle in the torque-up mode to perform steering operation, controlling the vehicle to move forwards according to the original cruising lane after switching the lane, updating the destination to the specified position, and sending a fault alarm for prompting to overhaul the steering module 102 to the alarm module 106.

And under the condition that the steering module cannot reach the steering angle in the torsion-up mode and the lane change fails, sending a parking instruction to the engine braking module 105 and sending a fault alarm for prompting a steering fault and a steering wheel connecting pipe to the alarm module 106.

And the engine braking module 105 is used for responding to the parking instruction and reducing the speed of the vehicle to the current lane according to the parking instruction.

In particular, the warning module 105 may be implemented by, but not limited to, an HMI (Human Machine Interface), which is used as an Interface for communicating, transmitting, and receiving information between a driver and an automatic driving system of a vehicle. The alarm module 105 may include a dashboard, alarm lights, voice module, etc. And the engine braking module is used for adjusting the vehicle speed based on the braking control command sent by the domain controller module.

The lane change test instruction sent by the domain controller module 101 to the steering module 102 includes a steering angle that the steering module 102 needs to reach, and if a torque value of a first steering motor used by the steering module 102 is within a first set range, the steering angle can be successfully changed to a lane, where the first set range is a range of a torque value of the steering motor when the rotating motor normally works, it indicates that the possibility that signal transmission of a flow sensor or a flow sensor in the steering hydraulic oil measurement module 103 is abnormal is high, and the possibility that a fault occurs inside the steering module 102 is low, and at this time, the control strategy of the domain controller module 101 for the vehicle is as follows: the method includes the steps that a vehicle is controlled to move forwards according to an original cruising lane after lane changing, a destination is updated to a specified position, a fault alarm is sent to an alarm module 106 when the vehicle runs to the specified position (the fault alarm can also be sent in advance, and the method is not limited in the embodiment of the application), the alarm module 106 can prompt a driver to overhaul a steering module 102 and a steering hydraulic oil measuring module 103 in a voice broadcasting mode so as to locate a real fault point, and the specified position can be a service area closest to the current position of the vehicle.

If the torque value of the first steering motor used by the steering module 102 exceeds a first set range, that is, exceeds the range of the torque value of the steering motor when the steering motor normally works, but cannot reach the steering angle required by the domain controller module 101, the steering module may start the torque limiting operation of the steering motor by autonomous judgment to enter a torque-up mode, in the torque-up mode, the steering module 102 may increase the torque value of the steering motor, if the required steering angle can be reached after the torque value of the steering motor is increased to successfully switch lanes, it is indicated that the hydraulic pressure of the steering motor may be problematic, and is not enough to support the normal lane-changing operation, but the torque value of the steering motor is increased by the steering motor to partially compensate to complete lane-changing, at this time, the control strategy of the domain controller module 101 for the vehicle is: and controlling the vehicle to move forwards according to the original cruising lane after lane changing, simultaneously changing the destination to the specified position, sending a fault alarm to the alarm module 106, and prompting a driver to drive the vehicle to the specified position to overhaul the steering module 102. If the steering module 102 still cannot reach the steering angle required by the domain controller module 101 in the lift-and-twist mode and lane change fails, at this time, an accident may occur if the vehicle moves ahead and needs to change lanes, in order to avoid the occurrence of the situation, the domain controller module 101 sends a parking instruction to the engine brake module 105, and sends a fault alarm to the alarm module 106, so as to prompt the driver of the steering fault and prompt the driver of taking over a steering wheel, and light a danger alarm lamp, the sensing module 104 detects whether the vehicle comes behind to safely park, and the engine brake module 105 slowly reduces the speed of the vehicle until the vehicle stops on the current lane. During the safe parking process, the driver can control the parking by stepping on the accelerator and the brake pedal. Through the control strategies, the real fault point can be positioned, and the driving safety of the vehicle is ensured.

In an optional implementation manner, in a case that the lane change test condition is not currently satisfied, the domain controller module 101 is further configured to send a torque control command to the steering module 102 and send a fault warning message for prompting the steering wheel to take over to the warning module 106 if it is determined that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information and it is determined that the lane change test condition is not satisfied according to the vehicle running state information and the vehicle running environment information.

And the alarm module 106 is used for broadcasting a fault alarm message and prompting to take over the steering wheel.

And a steering module 102, configured to start a steering motor torque limiting operation according to the torque control command to enter a torque-up mode, and obtain second steering motor torque value information and steering force information applied to the steering wheel in the torque-up mode.

And the domain controller module 101 is configured to determine an abnormal state of the vehicle according to the second steering motor torque value information and the steering force information applied to the steering wheel, and control the vehicle.

The domain controller module 101 is specifically configured to determine that a flow sensor in the steering hydraulic oil measurement module 103 is abnormal or that signal transmission of the flow sensor is abnormal when the steering module 102 turns successfully after performing a steering operation in the lift-and-twist mode according to the second steering motor torque value and the steering force applied to the steering wheel, when the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range.

And determining that the steering hydraulic fault exists in the steering module 102 under the conditions that the second steering motor torque value exceeds the first set range, the steering force exerted by the steering wheel exceeds the second set range, and the steering module 102 successfully turns after steering operation is carried out according to the second steering motor torque value and the steering force exerted by the steering wheel in the torsion-up mode.

And determining that a steering hydraulic fault exists in the steering module 102 under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module 102 turns successfully after steering operation is performed according to the second steering motor torque value and the steering force exerted on the steering wheel.

And the domain controller control module is specifically configured to send a fault alarm for prompting to overhaul the steering module 102 and the steering hydraulic oil measurement module 103 to the alarm module 106 when the second steering motor torque value is within the first set range, the steering force applied to the steering wheel is within the second set range, and the steering module 102 turns successfully after steering operation is performed according to the second steering motor torque value in the lift-and-twist mode.

And sending a fault alarm for prompting to overhaul the steering module 102 to the alarm module 106 under the conditions that the second steering motor torque value exceeds the first set range, the steering force applied to the steering wheel exceeds the second set range, and the steering module 102 turns successfully after steering operation is performed according to the second steering motor torque value and the steering force applied to the steering wheel in the torque-up mode.

And sending a fault alarm for prompting parking maintenance of the steering module 102 to the alarm module 106 under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module 102 turns successfully after steering operation is performed according to the second steering motor torque value and the steering force exerted on the steering wheel.

In specific implementation, the domain controller module 101 determines that the steering hydraulic oil is abnormal according to the steering hydraulic oil flow information, and determines that the lane change test condition is not satisfied according to the vehicle running state information and the vehicle running environment information, then sends a torque control command to the steering module 102 to control the steering module 102 to enter a torque-up mode, and sends a fault alarm to the alarm module 106, the alarm module 106 may prompt the driver to perform a steering wheel result in a voice broadcast manner, after receiving the torque control command sent by the domain controller module 101, the steering module 102 starts the steering motor torque limiting operation to enter the torque-up mode, and after entering the torque-up mode and taking over the steering wheel by the driver, the steering module 102 monitors a steering motor torque value (which may be recorded as a second steering motor torque value) corresponding to the steering motor in the torque-up mode and a steering force applied by the steering wheel by the driver (i.e., the steering force applied by the driver to the steering wheel), reporting the second steering motor torque value information and the steering force information applied by the driver to a domain controller module 101, further determining a fault point and controlling the vehicle by the domain controller module 101 according to the second steering motor torque value information in the torque-up mode reported by the steering module and the steering force information applied by the driver to the steering wheel, if the second steering motor torque value is in a first set range and the steering force applied by the driver to the steering wheel is in a second set range, wherein the second set range is a normal working range corresponding to the steering force applied by the driver to the steering wheel, and the steering module 102 turns successfully after performing steering operation according to the second steering motor torque value in the torque-up mode, which indicates that the possibility that the signal transmission of a flow sensor or a flow sensor in the steering hydraulic oil measuring module 103 is abnormal is high, rather than a failure occurring inside the steering module 102, the control strategy of the domain controller module 101 for the vehicle is now: and sending a fault alarm to the alarm module 106 to prompt a driver to overhaul the steering module 102 and the steering hydraulic oil measuring module 103 so as to locate a real fault point, and prompting the driver to recover the automatic driving function after the driver turns out because the steering module 102 does not send an abnormality. Under the condition that the torque value of the second steering motor exceeds the first set range, the torque value of the second steering motor reaches the maximum value, and the steering force applied to the steering wheel by the driver exceeds the second set range, if the steering module 102 performs the steering operation to successfully turn under the combined action of the torque value of the second steering motor reaching the maximum value and the current steering force applied to the steering wheel by the driver, it indicates that the hydraulic pressure of the steering motor may have a problem, and is not enough to support the normal lane changing (i.e. turning) operation, but the torque value of the steering motor can be partially compensated by the lifting of the steering motor through the steering motor, and the steering force applied to the steering wheel by the driver also completes the turning together in the controllable range, at this time, the domain controller module 101 sends a fault alarm to the alarm module 106 to prompt the driver to overhaul the steering module 102, so as to overhaul the steering system in advance, and (5) positioning the real fault point of the vehicle. And under the condition that the torque value of the second steering motor exceeds the first set range, the torque value of the second steering motor reaches the maximum value, and the steering force exerted by the driver on the steering wheel exceeds the second set range, if the steering module 102 can turn successfully when the torque value of the second steering motor reaches the maximum value and the steering force exerted by the driver on the steering wheel is increased, at this time, it indicates that the hydraulic pressure of the steering motor is possibly in problem and is not enough to support normal turning operation, but the torque value of the steering motor is increased by the steering motor to partially compensate, and the steering force exerted by the driver on the steering wheel is further increased, so that turning can be completed, at this time, if the vehicle moves forward continuously, an accident may occur, in order to avoid the occurrence of the situation, the domain controller module 101 sends a fault alarm to the alarm module 106 to prompt the driver of the steering fault, and prompts the driver to immediately overhaul the steering module 102, and a danger warning lamp is lightened. During the safe parking process, the driver can control the parking by stepping on the accelerator and the brake pedal. Through the control strategies, the real fault point can be positioned, and the driving safety of the vehicle is ensured.

Based on the same inventive concept, the embodiment of the application also provides a vehicle steering detection control method, and as the principle of solving the problems of the vehicle steering detection control method is similar to that of a vehicle steering detection control system, the implementation of the method can be referred to the implementation of the system, and repeated parts are not repeated.

As shown in fig. 2, which is a schematic implementation flow diagram of a vehicle steering detection control method provided in an embodiment of the present application, the vehicle steering detection control method may be applied to the vehicle steering detection control system 100 described above, and may include the following steps:

and S21, obtaining the steering hydraulic oil flow information, the vehicle running state information and the vehicle running environment information.

Wherein the steering hydraulic oil flow information is steering hydraulic oil flow information in a steering module of the vehicle obtained based on a flow sensor measurement.

And S22, if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the lane change test condition is determined to be met according to the vehicle running state information and the vehicle running environment information, triggering a lane change test instruction to instruct the vehicle to execute steering operation.

And S23, acquiring the torque value information of the first steering motor of the vehicle during the steering operation.

And S24, determining a lane change test result based on the first steering motor torque value information, and controlling the vehicle according to the lane change test result and a corresponding control strategy.

In an optional embodiment, the method further comprises:

if the lane change is successful after the steering angle is reached in the torque-up mode and the steering operation is carried out on the vehicle according to the first steering motor torque value, determining that the lane change test result is that a steering hydraulic fault exists in a steering module of the vehicle; and if the steering angle cannot be reached in the torque-up mode and the lane change fails, determining that the lane change test result indicates that a steering hydraulic fault exists in the steering module.

under the condition that the steering module successfully switches lanes after achieving the steering angle in the lift-twist mode and performing steering operation, controlling the vehicle to move forwards according to the original cruising lane after the lane is switched, updating the destination to the specified position, and triggering a fault alarm to prompt the maintenance of the steering module;

In an optional implementation manner, the controlling the vehicle specifically includes:

Based on the same inventive concept, the embodiment of the application also provides a vehicle steering detection control device, and as the principle of solving the problems of the vehicle steering detection control device is similar to that of a vehicle steering detection control system, the implementation of the device can be referred to the implementation of the system, and repeated parts are not repeated.

As shown in fig. 3, which is a schematic structural diagram of a vehicle steering detection control device provided in an embodiment of the present application, the vehicle steering detection control device may include:

the first acquisition unit 31 is configured to acquire steering hydraulic oil flow information, vehicle driving state information, and vehicle driving environment information, where the steering hydraulic oil flow information is steering hydraulic oil flow information in a steering module of the vehicle obtained based on measurement by a flow sensor;

the lane change indicating unit 32 is configured to trigger a lane change test instruction to indicate the vehicle to perform a steering operation if it is determined that steering hydraulic oil is abnormal according to the steering hydraulic oil flow information and it is determined that a lane change test condition is met according to the vehicle driving state information and the vehicle driving environment information;

a second acquisition unit 33 for acquiring first steering motor torque value information of the vehicle during a steering operation;

and the first control unit 34 is used for determining a lane change test result based on the first steering motor torque value information, and controlling the vehicle according to a corresponding control strategy according to the lane change test result.

In an optional embodiment, the apparatus further comprises:

In an optional embodiment, the lane-change test instruction includes a steering angle;

the first control unit 34 is specifically configured to determine that the lane change test result is that the flow sensor is abnormal or that signal transmission of the flow sensor is abnormal, when the first steering motor torque value is within a first set range and the lane change of the vehicle is successful after the vehicle performs a steering operation according to the first steering motor torque value reaching the steering angle; if the lane change is successful after the steering angle is reached in the torque-up mode and the steering operation is carried out on the vehicle according to the first steering motor torque value under the condition that the first steering motor torque value exceeds the first set range and the vehicle cannot reach the steering angle according to the first steering motor torque value, determining that the lane change test result is that a steering hydraulic fault exists in a steering module of the vehicle; and if the steering angle cannot be reached in the torsion-up mode and the lane change fails, determining that the lane change test result is that a steering hydraulic fault exists in the steering module.

In an optional implementation manner, the first control unit 34 is specifically configured to, when the first steering motor torque value is within a first set range and the steering module performs a steering operation according to the first steering motor torque value reaching the steering angle and then successfully switches lanes, control the vehicle to move forward according to an original cruising lane after the lane switching, update a destination to a specified position, and trigger a fault alarm to prompt to overhaul the steering module and the flow sensor; under the condition that the steering module successfully switches lanes after achieving the steering angle in the lift-twist mode and performing steering operation, controlling the vehicle to move forwards according to the original cruising lane after the lane is switched, updating the destination to the specified position, and triggering a fault alarm to prompt the maintenance of the steering module; and under the condition that the steering module cannot reach the steering angle in the torsion-up mode and lane change fails, triggering a parking instruction and a fault alarm to prompt a steering fault and a steering wheel to take over, and decelerating the vehicle to the current lane.

In an optional embodiment, the second control unit is specifically configured to trigger a fault alarm to prompt to repair the steering module and the flow sensor when the steering module turns successfully after performing a steering operation according to the second steering motor torque value and the steering force applied to the steering wheel in the lift-and-twist mode, where the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range; when the torque value of the second steering motor exceeds the first set range, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the torque value of the second steering motor and the steering force exerted on the steering wheel in a torsion-increasing mode, a fault alarm is triggered to prompt the maintenance of the steering module; and triggering a fault alarm to prompt the steering module to stop for maintenance under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

In the embodiments of the present application, unless otherwise specified or conflicting with respect to logic, the terms and/or descriptions in different embodiments have consistency and may be mutually cited, and technical features in different embodiments may be combined to form a new embodiment according to their inherent logic relationship.

Based on the same technical concept, an embodiment of the present application further provides an electronic device 400, as shown in fig. 4, where the electronic device 400 is configured to implement the vehicle steering detection control method described in the foregoing method embodiment, and the electronic device 400 of this embodiment may include: a memory 401, a processor 402, and a computer program, such as a vehicle steering detection control program, stored in the memory and executable on the processor. The processor, when executing the computer program, implements the steps in each of the above-described vehicle steering detection control method embodiments, such as step S21 shown in fig. 2. Alternatively, the processor, when executing the computer program, implements the functions of the modules/units in the above-described device embodiments, for example, 31.

The embodiment of the present application does not limit the specific connection medium between the memory 401 and the processor 402. In the embodiment of the present application, the memory 401 and the processor 402 are connected by the bus 403 in fig. 4, the bus 403 is represented by a thick line in fig. 4, and the connection manner between other components is merely illustrative and is not limited thereto. The bus 403 may be divided into an address bus, a data bus, a control bus, and the like. For ease of illustration, only one thick line is shown in FIG. 4, but this does not indicate only one bus or one type of bus.

The memory 401 may be a volatile memory (volatile memory), such as a random-access memory (RAM); the memory 401 may also be a non-volatile memory (non-volatile memory) such as, but not limited to, a read-only memory (rom), a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD), or the memory 401 may be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 401 may be a combination of the above memories.

A processor 402 for implementing a vehicle steering detection control method as shown in fig. 2, comprising:

the processor 402 is used for calling the computer program stored in the memory 401 to execute the steps S21-S24 shown in fig. 2.

The embodiment of the present application further provides a computer-readable storage medium, which stores computer-executable instructions required to be executed by the processor, and includes a program required to be executed by the processor.

Embodiments of the present application also provide a computer program product comprising computer instructions stored in a computer-readable storage medium; when the processor of the electronic device reads the computer instructions from the computer-readable storage medium, the processor executes the computer instructions, so that the electronic device executes the steps in the vehicle steering detection control method according to various exemplary embodiments of the present application.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (devices), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

While the preferred embodiments of the present application have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A vehicle steering detection control system, characterized by comprising: domain controller module, turn to the module, turn to hydraulic oil measuring module, perception module and engine braking module, wherein:

2. The system of claim 1, wherein the system further comprises an alert module;

the steering module is used for starting torque limiting operation of a steering motor according to the torque control command to enter a torque-up mode and obtaining second steering motor torque value information and steering force information applied to a steering wheel in the torque-up mode;

3. The system of claim 1 or 2, wherein the steering hydraulic oil flow information comprises steering hydraulic oil inlet flow and steering hydraulic oil outlet flow;

4. The system of claim 1, wherein the lane-change test command includes a steering angle;

if the steering module is determined to achieve the steering angle in the lift-twist mode and the lane change is successful after the steering module performs the steering operation in the lift-twist mode under the condition that the torque value of the first steering motor exceeds the first set range and the steering module cannot achieve the steering angle according to the torque value of the first steering motor, determining that the lane change test result indicates that a steering hydraulic fault exists in the steering module; and if the steering module fails to reach the steering angle in the lift-torque mode and the lane change fails, determining that the lane change test result indicates that a steering hydraulic fault exists in the steering module.

5. The system of claim 4,

the domain controller module is specifically configured to, when the torque value of the first steering motor is within a first set range and the steering module performs steering operation according to the torque value of the first steering motor reaching the steering angle and then successfully switches lanes, control the vehicle to move forward according to an original cruising lane after the lane switching, update a destination to an assigned position, and send a fault alarm for prompting to overhaul the steering module and the steering hydraulic oil measurement module to an alarm module;

6. The system of claim 2,

the domain controller module is specifically configured to determine that a flow sensor in the steering hydraulic oil measurement module is abnormal or that signal transmission of the flow sensor is abnormal when the steering module performs a steering operation in a lift-and-twist mode according to the torque value of the second steering motor and the steering force applied to the steering wheel and then turns successfully when the second steering motor torque value is within a first set range and the steering force applied to the steering wheel is within a second set range;

and determining that a steering hydraulic fault exists in the steering module under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted by the steering wheel.

7. The system of claim 6,

the domain controller control module is specifically configured to send a fault alarm for prompting to overhaul the steering module and the steering hydraulic oil measurement module to the alarm module when the second steering motor torque value is within a first set range, the steering force applied to the steering wheel is within a second set range, and the steering module turns successfully after steering operation is performed according to the second steering motor torque value in a torque-up mode;

sending a fault alarm for prompting to overhaul the steering module to the alarm module when the second steering motor torque value exceeds the first set range, the steering force applied to the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is performed according to the second steering motor torque value and the steering force applied to the steering wheel in a torsion-up mode;

and sending fault alarm for prompting parking maintenance of the steering module to the alarm module under the conditions that the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force exerted on the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation is carried out according to the second steering motor torque value and the steering force exerted on the steering wheel.

8. A vehicle steering detection control method characterized by comprising:

9. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the vehicle steering detection control method according to claim 8 when executing the program.

10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements the steps in the vehicle steering detection control method according to claim 8.