CN115009357B

CN115009357B - Vehicle steering detection control system, method, electronic device and storage medium

Info

Publication number: CN115009357B
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: 2023-11-07
Anticipated expiration: 2042-06-30
Also published as: CN115009357A

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, ports and mines and the like. The vehicle steering detection control system comprises a domain controller module, a steering hydraulic oil measuring module, a sensing module and an engine braking module, wherein: the steering hydraulic oil measuring module is used for measuring steering hydraulic oil flow information in the steering module; the sensing module is used for monitoring the running environment information of the vehicle; the domain controller module is used for sending a lane changing 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 changing 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 first steering motor torque value information obtained by the steering module; and controlling the engine braking module according to the corresponding control strategy according to the lane change test result.

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 the hydraulic valve port of the steering motor, and the steering force born by the electric control part is equivalent to the steering force of the steering wheel held by a driver. The hydraulic part carries out high-low cavity pressure building through the hydraulic valve of the steering motor to enable the piston to move, so that the wheels are driven to move, the borne steering force is the friction force of the wheels, which overcomes the ground, and in the steering process of the vehicle, the hydraulic part bears more than 90% of steering force.

In the running process of an automatic driving system of a vehicle, the running state of an electric control part of the steering system can be detected in real time, if the hydraulic part is abnormal, the steering system can not provide enough steering force only when the vehicle runs to a curve to steer, so that the vehicle deviates from a lane, and if the driver takes over the steering system in time, the driving safety hidden danger exists.

Disclosure of Invention

In order to solve the problem that the steering detection mode of an automatic driving vehicle has potential driving safety hazards, the embodiment of the application provides a vehicle steering detection control system, a 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: the system comprises a domain controller module, a steering hydraulic oil measuring module, a sensing module and an engine braking module, wherein:

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

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

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 lane change test conditions are 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 first steering motor torque value information obtained by the steering module; controlling the engine braking module according to the lane change test result and the 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 first steering motor torque value information in the steering operation executing process;

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 steering hydraulic oil flow information in the steering module, the sensing module is used for monitoring vehicle running environment information, the steering module is used for monitoring vehicle running state information, if the steering hydraulic oil is determined to be abnormal according to the steering hydraulic oil flow information and the vehicle running environment information, the domain controller module is used for sending a lane change test command to the steering module, controlling the steering module to execute steering operation, the steering module is also used for executing steering operation according to the lane change test command sent by the domain controller module, acquiring first steering motor torque value information in the steering operation executing process, determining a lane change test result based on the first steering motor torque value information, controlling the engine brake module according to a corresponding control strategy according to the lane change test result, if the steering hydraulic oil measuring module is determined to meet lane change test condition, the steering hydraulic oil measuring module is used for measuring the steering hydraulic oil flow information in the steering system in real time, and the steering control module is used for judging whether the steering state information in the steering motor running environment information is abnormal according to the steering state information of the steering hydraulic oil measuring module, namely whether the steering state of the steering motor is detected to be in real time, if the steering state information is abnormal, and the steering state information is further monitored on the steering state of the steering state is met, and the steering state is monitored by the steering state monitoring part is real-time, and the steering state information is judged to be running condition is met, if the steering state is abnormal, and the steering state information is running condition is running on the steering condition is running on the part is running on the steering state is in real time, if the lane change test condition is met, the steering module is controlled to perform lane change test, the steering module monitors the torque value of the steering motor in real time when steering operation is executed in the lane change test process, the domain controller module obtains a lane change test result based on the torque value of the steering motor, controls the engine braking module according to a corresponding control strategy according to the lane change test result, can verify the actual performance and the bearing capacity of the steering motor in advance before the vehicle enters a curve through the lane change test, and is treated according to the corresponding control strategy according to the actual performance of the steering motor, so that the risk that the vehicle is out of control if the steering motor performance is problematic (such as insufficient steering force) after the vehicle enters the curve is avoided, and a driver takes measures untimely, thereby improving the driving safety.

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

the domain controller module is further configured to send a torque control command to the steering module and send a fault alarm for prompting a steering wheel take over to the alarm module 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;

the steering module is used for starting steering motor torque limiting operation 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 by a steering wheel in the torque up mode;

the domain controller module is used for 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 the above optional implementation manner, the vehicle steering detection system provided by the 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 steering test condition is not satisfied based on the current vehicle running state information and the vehicle running 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 an up-torsion mode, that is, to raise the steering motor torque value, the domain controller module and send a fault alarm to the alarm module, so as to prompt the driver to take over the steering wheel, thereby sending early warning to the driver in advance so that the driver can take over the vehicle in time, avoiding potential safety hazards, and after the driver takes over the steering wheel, the steering module monitors the steering force exerted by the steering wheel in the up-torsion mode (that is, the steering force exerted by the driver holds the steering wheel by the steering motor in the steering mode), so that the domain controller module can monitor the steering force exerted by the steering motor torque value and the steering wheel by the steering motor in the steering mode, and the actual performance of the vehicle is verified and the steering performance of the vehicle is further improved.

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

the domain controller module is specifically configured to, when a difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet flow is greater than a first threshold; 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 speed.

In the above-mentioned alternative embodiment, the domain controller module may primarily determine whether the steering hydraulic oil is abnormal by using the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet, which is because it may be determined whether the hydraulic oil leaks when the steering motor is in use by using the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet, and under normal operating conditions, after the hydraulic oil moves inside the steering motor, there may be a certain flow loss, if the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet is less than or equal to the first threshold value of the normal loss flow threshold value, it may be considered that the steering hydraulic oil is in normal operation, and if the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet is greater than the first threshold value, it may be considered that the steering hydraulic oil is in abnormal operation. The domain controller module can also judge whether the steering hydraulic oil is abnormal through the magnitude of the flow of the steering hydraulic oil inlet, because the magnitude of the flow of the steering hydraulic oil inlet can be used for knowing whether the steering motor provides enough hydraulic oil for the steering motor in a short time in the process of building the high-low pressure cavity through the hydraulic valve, if the flow of the steering hydraulic oil inlet is smaller than a second threshold value, the input of the steering hydraulic oil can be considered to be problematic, and because the second threshold value corresponding to the normal flow of the steering hydraulic oil inlet is positively correlated with the engine rotation speed, and the different engine rotation speeds correspond to different second threshold values, therefore, whether the flow of the current steering hydraulic oil inlet is abnormal can be measured according to the second threshold value corresponding to the current engine rotation speed.

In an alternative 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 abnormal in a flow sensor in the steering hydraulic oil measurement module or abnormal in signal transmission of the flow sensor when the first steering motor torque value is within a first set range and the steering module performs a lane change after performing a steering operation according to the steering angle reached by the first steering motor torque value;

under the condition that the torque value of the first steering motor exceeds the first set range and the steering angle cannot be reached by the steering module according to the torque value of the first steering motor, if the steering module is determined to be successful in lane changing after the steering operation is performed when the steering angle is reached by the steering module in a torque lifting mode, determining that a steering hydraulic fault exists in the steering module as a lane changing test result; if the steering module cannot reach the steering angle in the torque lifting mode and the lane change fails, determining that the lane change test result is that the steering hydraulic fault exists in the steering module.

In an optional implementation manner, the domain controller module 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 steering angle reached by the first steering motor torque value, control the vehicle to move forward according to an original cruising lane after the steering operation is performed, update a destination to a specified position, and send a fault alarm for prompting maintenance of the steering module and the steering hydraulic oil measurement module to the alarm module;

When the steering module achieves the steering angle under the ascending torsion mode and the lane change is successful after the steering operation, controlling the vehicle to move forward according to the original cruising lane after the lane change, updating the destination to a designated position, and sending a fault alarm for prompting maintenance of the steering module to the alarm module;

under the condition that the steering module cannot reach the steering angle in a torque-up mode and the 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 adapter to the alarm module;

and the engine braking module is used for responding to the parking instruction and stopping the vehicle to the current lane in a deceleration way according to the parking instruction.

In the above alternative embodiment, the lane change test instruction sent by the domain controller module to the steering module includes a steering angle that indicates the steering module needs to reach, if the torque value of the first steering motor used by the steering module is within the first setting range, the steering angle can be successfully used for steering the lane, which indicates that the possibility of abnormality occurs in the signal transmission of the flow sensor or the flow sensor in the steering hydraulic oil measurement module, but the failure occurs in the steering module, and at this time, the control strategy of the domain controller module for the vehicle is: and controlling the vehicle to move forward according to the original cruising lane after lane change, updating the destination to a designated position, sending out a fault alarm, prompting the driver to travel to the designated position and overhauling the steering module and the steering hydraulic oil measuring module so as to position a real fault point. If the first steering motor torque value used by the steering module exceeds a first set range, but the required steering angle cannot be achieved, the steering module can enter an up-torsion mode through autonomous judgment, in the up-torsion mode, the steering module can improve the steering motor torque value, if the steering motor torque value can be improved to achieve the required steering angle and successfully change the road, the problem of the steering motor hydraulic pressure is solved, the steering motor hydraulic pressure is insufficient for supporting normal lane change operation, but the steering motor torque value can be partly compensated by the steering motor to complete lane change, at the moment, the domain controller module controls the vehicle to advance according to the original cruising lane after the lane change, and meanwhile, the destination is replaced to a designated position, a fault alarm is sent to the alarm module, the driver is reminded to overhaul the steering module, if the steering module still cannot achieve the required steering angle in the up-torsion mode, the lane change fails, at the moment, if the vehicle continues to advance and the road change is required, an accident can happen when the situation is avoided, the domain controller module sends an instruction to the engine brake module to complete the lane change, and gives a fault alarm, and the driver is reminded of stopping the vehicle to take over the current steering wheel for stopping the vehicle. Through the control modes, the real fault point can be positioned, and the driving safety of the vehicle can be ensured.

In an alternative 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 when the second steering motor torque value is within a first setting range, the steering force applied by the steering wheel is within a second setting range, and the steering module turns successfully after performing steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode;

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 and the steering force applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode;

and under the condition 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 applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, determining that a steering hydraulic fault exists in the steering module.

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

under the condition that the torque value of the second steering motor exceeds the first setting range and the steering force applied by the steering wheel exceeds the second setting range, and under the condition that 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 by the steering wheel in a torque lifting mode, sending a fault alarm for prompting maintenance of the steering module to the alarm module;

and sending a warning for prompting a parking maintenance fault to the steering module under the condition 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 applied 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 applied by the steering wheel.

In the above-mentioned alternative 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, and controls the steering module to enter the torque up 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 sent by the steering module in the torque up mode and the steering force (i.e. the steering force applied by the driver) information applied by the steering wheel, if the second steering motor torque value is within the first setting range, the steering force applied by the steering wheel is within the second setting range, and the steering module turns successfully after performing the steering operation according to the second steering motor torque value in the torque up mode, then the situation that the signal transmission of the flow sensor or the flow sensor in the steering hydraulic oil measurement module is abnormal is more likely, but the fault is not generated inside the steering module is illustrated, 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 setting range, the torque value of the second steering motor reaches the maximum value, and the steering force applied by the steering wheel exceeds the second setting range, if the steering module turns successfully under the combined action of the torque value of the second steering motor reaches the maximum value and the steering force applied by the current steering wheel, the problem that the steering motor hydraulic pressure is possibly solved is solved, the steering motor hydraulic pressure is insufficient for supporting normal lane changing (namely turning) operation, but the steering motor torque value can be partially compensated through the lifting of the steering motor, and the steering force applied by the steering wheel also completes turning jointly in the controllable range, at the moment, the domain controller module sends out 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 positioned. And under the condition that the torque value of the second steering motor exceeds the first setting range, the torque value of the second steering motor reaches the maximum value, and the steering force applied by the steering wheel exceeds the second setting 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 applied by the driver is increased, the problem of the hydraulic pressure of the steering motor is indicated to be insufficient for supporting normal turning operation, but the steering motor is lifted to partially compensate the torque value and the steering force applied by the steering wheel is further increased to finish turning, and at the moment, the accident can occur if the vehicle continues to move forwards, the domain controller module gives out a fault alarm to prompt the driver to turn the fault and prompt the driver to immediately park and overhaul the steering module.

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

acquiring steering hydraulic oil flow information, vehicle running state information and vehicle running environment information, wherein the steering hydraulic oil flow information is obtained based on measurement of a flow sensor and used in a steering module of the vehicle;

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;

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

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

In an alternative 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 not met according to the vehicle running state information and the vehicle running environment information, starting the torque limiting operation of the steering motor to enter a torque up mode, and triggering a fault alarm to prompt a steering wheel to take over;

Acquiring torque value information of a second steering motor in a lifting torsion mode and steering force information applied by the steering wheel;

and determining an 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 embodiment, determining the steering hydraulic oil abnormality 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 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 speed.

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

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

Under the condition that the torque value of the first steering motor exceeds the first set range and the vehicle cannot reach the steering angle according to the torque value of the first steering motor, if the lane change is successful after the steering operation is carried out after the steering angle is reached in a torque-up mode, determining that a steering hydraulic fault exists in a steering module of the vehicle as a lane change test result; if the lane change failure is determined that the steering angle cannot be reached in the torque-up mode, determining that the lane change test result is that the steering hydraulic fault exists in the steering module.

In an alternative embodiment, the vehicle is controlled according to the lane change test result and the corresponding control strategy, which specifically includes:

when the torque value of the first steering motor is in a first set range and the steering module successfully changes lanes after steering operation is performed according to the steering angle reached by the torque value of the first steering motor, controlling the vehicle to move forward according to an original cruising lane after changing lanes, updating a destination to a designated position, and triggering a fault alarm to prompt overhaul of the steering module and the flow sensor;

Under the condition that the steering module successfully changes lanes after reaching the steering angle for steering operation in a lifting and twisting mode, controlling the vehicle to move forward according to the original cruising lane after changing lanes, updating a destination to a designated position, and triggering a fault alarm to prompt the maintenance of the steering module;

and triggering a parking instruction and a fault alarm to prompt steering faults and steering wheel takeover under the condition that the steering module cannot reach the steering angle in a torque-up mode and the lane change fails, and stopping the vehicle to the current lane in a speed-down mode.

In an alternative embodiment, 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 specifically includes:

determining that the flow sensor is abnormal or the signal transmission of the flow sensor is abnormal under the condition that the second steering motor torque value is in a first set range, the steering force applied by the steering wheel is in a second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a rising torsion mode;

When the second steering motor torque value exceeds the first setting range, the steering force applied by the steering wheel exceeds the second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode, determining that a steering hydraulic fault exists in the steering module;

In an alternative embodiment, the vehicle is controlled, specifically including:

when the second steering motor torque value is within a first setting range, the steering force applied by the steering wheel is within a second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a rising torsion mode, triggering a fault alarm to prompt maintenance of the steering module and the flow sensor;

When the second steering motor torque value exceeds the first setting range, the steering force applied by the steering wheel exceeds the second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque lifting mode, triggering a fault alarm to prompt maintenance of the steering module;

and under the condition 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 applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, triggering a fault alarm to prompt the parking maintenance of the steering module.

Technical effects of the vehicle steering detection control method provided by the present application may be referred to the technical effects of the first aspect or each implementation manner of the first aspect, and will not be described herein.

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

The system 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 obtained based on measurement of a flow sensor in a steering module of the vehicle;

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 configured to acquire 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 torque value information of the first steering motor and controlling the vehicle according to a corresponding control strategy according to the lane change test result.

In an alternative embodiment, the apparatus further comprises:

the warning unit is used for starting the torque limiting operation of the steering motor to enter a torque up mode and triggering a 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 change 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 torque-up mode and steering force information to which the steering wheel is applied;

and the second control unit is used for 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 alternative 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 speed.

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

In an optional implementation manner, the first control unit is specifically configured to, when the first steering motor torque value is within a first set range and the steering module performs steering operation according to the steering angle reached by the first steering motor torque value, control the vehicle to move forward according to an original cruising lane after the lane is changed, update a destination to a specified position, trigger a fault alarm, and prompt maintenance of the steering module and the flow sensor; under the condition that the steering module successfully changes lanes after reaching the steering angle for steering operation in a lifting and twisting mode, controlling the vehicle to move forward according to the original cruising lane after changing lanes, updating a destination to a designated position, and triggering a fault alarm to prompt the maintenance of the steering module; and triggering a parking instruction and a fault alarm to prompt steering faults and steering wheel takeover under the condition that the steering module cannot reach the steering angle in a torque-up mode and the lane change fails, and stopping the vehicle to the current lane in a speed-down mode.

In an alternative 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 when the second steering motor torque value is within a first setting range, the steering force applied by the steering wheel is within a second setting range, and the steering module performs the steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode and then turns successfully; when the second steering motor torque value exceeds the first setting range, the steering force applied by the steering wheel exceeds the second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode, determining that a steering hydraulic fault exists in the steering module; and under the condition 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 applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, determining that a steering hydraulic fault exists in the steering module.

In an optional implementation manner, the second control unit is specifically configured to trigger a fault alarm to prompt maintenance of the steering module and the flow sensor when the second steering motor torque value is within a first setting range, the steering force applied by the steering wheel is within a second setting range, and the steering module turns successfully after performing steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode; when the second steering motor torque value exceeds the first setting range, the steering force applied by the steering wheel exceeds the second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque lifting mode, triggering a fault alarm to prompt maintenance of the steering module; and under the condition 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 applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, triggering a fault alarm to prompt the parking maintenance of the steering module.

Technical effects of the vehicle steering detection control device provided by the present application may be referred to the technical effects of the first aspect or each implementation manner of the first aspect, and will not be described herein.

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

In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the vehicle steering detection control method of the present application.

In a sixth aspect, embodiments of the present application 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 performs the steps in the above-described vehicle steering detection control method.

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 practice of the application. The objectives and other advantages of the application will be realized and attained by the structure particularly pointed out in the written description and claims thereof as well as the appended drawings.

Drawings

Fig. 1 is a schematic diagram of a vehicle steering detection control system according to 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 the steering detection mode of an automatic driving vehicle has potential driving safety hazards, the embodiment of the application provides a vehicle steering detection control system, a method, electronic equipment and a storage medium. The system, method and device are based on the same technical conception, and because the system, method and device have similar principles for solving the problems, the implementation of the system, method and device can be mutually referred to, and the repetition is not repeated.

It should be noted that "and/or" referred to in the present application is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone.

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

Reference to "at least one" in this disclosure means any one of a plurality or any combination of at least two of a plurality, e.g., including at least one of A, B, C, 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 being understood that the preferred embodiments described herein are for illustration and explanation only, and not for limitation of the present application, and embodiments of the present application and features of the embodiments may be combined with each other without conflict.

Fig. 1 is a schematic diagram of a vehicle steering detection control system according to an embodiment of the present application, where the present application may be applied to steering detection and control of an autonomous vehicle in a high-speed, trunk logistics, port and mine, etc., and the autonomous vehicle may include an autonomous truck. The vehicle steering detection system 100 (i.e., an automatic driving system of a vehicle) provided by an embodiment of the present application may include: the domain controller module 101, the steering module 102, the steering hydraulic oil measurement module 103, the sensing module 104, the engine braking module 105, and the domain controller module further comprises an alarm module 106, wherein:

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

In specific implementation, the steering hydraulic oil measurement module 103 may employ a flow sensor, where the steering module 102 includes an electric control portion and a steering motor hydraulic portion, the steering module 102 is used for adjusting the direction of the vehicle body, the flow sensor may be installed at an oil inlet and an oil outlet of the steering motor hydraulic portion of the steering module 102 and used for measuring the flow of a steering hydraulic oil inlet and the flow of a steering hydraulic oil outlet, and reporting the flow information of the steering hydraulic oil inlet and the flow information of the steering hydraulic oil outlet 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.

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

In particular embodiments, the sensing module 104 may include cameras (e.g., short-focus camera, mid-focus camera, and long-focus camera), lidar, millimeter-wave radar, etc. for sensing and positioning the environment.

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

The steering module 102 may monitor the vehicle driving status information in real time and report the vehicle driving status information to the domain controller module 101, wherein the vehicle driving status may include, but is not limited to, the following information: the vehicle driving state may be obtained by the steering module 102 collecting the steering angle, such as a straight driving state, a turning state, etc., and the larger the steering angle value is, the larger the angle of the current turning is. It may also be obtained by the steering module 102 collecting the curvature of the lane at the current position of the lane in which the vehicle is traveling, the greater the curvature of the lane, the greater the degree of curvature of the lane.

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 the lane change test condition is satisfied according to the vehicle running state information and the vehicle running environment information obtained based on the steering module 102; and 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 running state information, perform a steering operation according to a 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 steering hydraulic oil inlet flow information and the steering hydraulic oil outlet flow information sent by the steering hydraulic oil measurement module 103, whether the steering hydraulic oil is abnormal or not can be primarily judged, and the steering hydraulic oil is abnormal can be determined by the following modes:

the domain controller module 101 is specifically configured to, when a difference between a steering hydraulic oil inlet flow and a steering hydraulic oil outlet flow is greater than a first threshold; 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 speed.

In the specific implementation, if either or both of the above two conditions are satisfied, it is possible to determine that the steering hydraulic oil is abnormal.

Specifically, the domain controller module 101 may primarily determine whether the steering hydraulic oil is abnormal by the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet, because it may be determined whether the hydraulic oil leaks when the steering motor is internally operated by the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet, under normal operating conditions, after the hydraulic oil moves in the steering motor, there may be a certain flow loss, if the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet is less than or equal to the first threshold value of the normal loss flow, it may be considered that the steering hydraulic oil is normal, and if the difference between the steering hydraulic oil inlet flow and the steering hydraulic oil outlet is greater than the first threshold value, it may be considered that the steering hydraulic oil is abnormal. The first threshold value of the normal loss flow rate threshold value can be obtained by testing the level of the steering motor in the steering module 102, the actual measurement working state of the steering motor is simulated through an experiment bench, the difference value of the flow rate of a strategy steering hydraulic oil inlet and the flow rate of an oil outlet is obtained under the normal working condition, the flow rate difference value can also be obtained by continuously collecting the difference value of the flow rate of the steering hydraulic oil inlet and the flow rate of the oil outlet of a real vehicle under different working states through the real vehicle test, the flow rate difference value under the normal working condition is obtained, and a certain margin is added to the flow rate difference value under the normal working condition, so that the normal loss flow rate threshold value is obtained: a first threshold.

The domain controller module 101 can also judge whether the steering hydraulic oil is abnormal through the magnitude of the flow of the steering hydraulic oil inlet, because the magnitude of the flow of the steering hydraulic oil inlet can be used for knowing whether enough hydraulic oil is provided for the steering motor in a short time in the process of building up the high-low pressure cavity by the steering motor through the hydraulic valve, if the flow of the steering hydraulic oil inlet is smaller than the threshold value of the normal oil inlet flow: the second threshold value may be considered to be problematic for the input of steering hydraulic oil. The second threshold value of the normal oil inlet flow rate can be obtained through theoretical calculation, the theoretical calculation value is related to the engine speed, the transmission ratio of the oil pump and the engine, the oil pump displacement and the transmission efficiency, and in the normal working process, the oil pump is related to the transmission ratio of the engine, the oil pump displacement and the transmission efficiency can be considered to be constant, therefore, the theoretical calculation value of the second threshold value is positively related to the engine speed, that is, the second threshold value is different under different engine speeds, the actual vehicle can be used for testing, the oil inlet flow rate of the actual vehicle under different engine speeds can be continuously collected, the normal input flow rate value (namely the normal steering hydraulic oil inlet flow rate value) under different engine speeds is obtained, a certain allowance is subtracted on the basis of the normal input flow rate value, and the normal oil inlet flow rate threshold value under different engine speeds can be obtained: a second threshold, as shown in table 1:

The domain controller module 101 may measure whether the current steering hydraulic oil inlet flow 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 lane change test condition is currently 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 judge the performance and the bearing capacity of the steering motor in advance before the vehicle turns, so as to judge whether the current steering motor performance and the bearing capacity are sufficient to support the vehicle to turn successfully when the vehicle turns (such as steering from the current lane to the adjacent lane or still running in the current lane, and turning is performed in front of the current lane), so that the lane change test condition is determined to be satisfied and the lane change test is triggered under the condition that the running state of the vehicle is in a straight running state and the distance between the current running position of the vehicle and the next lane to be turned is greater than a third threshold (the distance is sufficient to complete the lane change test). And determining that the lane change test condition is not satisfied when the vehicle running state is in a straight running state, the distance between the current running position of the vehicle and the next curve to be turned is smaller than or equal to a third threshold value (the distance is insufficient to complete the lane change test, i.e. the lane is about to be turned into the curve), or the vehicle running state is in a turning state (i.e. the vehicle is currently running on the curve). The third threshold may be set by itself, which is not limited in the embodiment of the present application.

If the domain controller module 101 determines that the lane change test condition is met, a lane change test instruction is sent 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, perform a steering operation according to a steering angle, monitor a steering motor torque value during the steering operation, 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 the lane change test result is abnormal in the flow sensor or abnormal in signal transmission of the flow sensor in the steering hydraulic oil measurement module 103 when the first steering motor torque value is within the first set range and the steering module 102 performs the lane change after performing the steering operation according to the steering angle reached by the first steering motor torque value.

Under the condition that the torque value of the first steering motor exceeds the first set range and the steering module 102 cannot reach the steering angle according to the torque value of the first steering motor, if the steering module 102 is determined to be successful in lane change after reaching the steering angle for steering operation in a torque lifting mode, a lane change test result is determined to be that a steering hydraulic fault exists in the steering module 102; if it is determined that the steering module 102 cannot reach the steering angle in the torque-up mode and the lane change fails, it is determined that the lane change test result is that the steering hydraulic fault exists in the steering module 102.

The domain controller module 101 is specifically configured to, when the first steering motor torque value is within the first set range and the steering module 102 performs a lane change after performing a steering operation according to the steering angle reached by the first steering motor torque value, control the vehicle to move forward according to the original cruising lane after the lane change, update the destination to a specified position, and send a fault alarm for prompting maintenance of 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 achieves the steering angle under the ascending torsion mode to perform steering operation and then the lane change is successful, controlling the vehicle to move forward according to the original cruising lane after the lane change, updating the destination to a designated position, and sending a fault alarm for prompting maintenance of the steering module 102 to the alarm module 106.

In case the steering module fails to reach the steering angle in the torque up mode and the lane change fails, a parking instruction is sent to the engine braking module 105 and a fault warning for prompting a steering fault and steering wheel takeover is sent to the warning module 106.

The engine braking module 105 is used for responding to the parking instruction and stopping the vehicle to the current lane in a speed-reducing way according to the parking instruction.

In particular implementations, the alert module 105 may be implemented, but is not limited to, using an HMI (Human Machine Interface, human-machine interface) that is used as an interface for a driver to communicate, and receive information with the vehicle's autopilot system. The alert module 105 may include a dashboard, an alert light, a voice module, etc. And the engine braking module is used for adjusting the vehicle speed based on the braking control instruction 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 needs to be reached by the steering module 102, if the first steering motor torque value used by the steering module 102 is within a first set range, the lane change can be successfully performed by the steering angle, where the first set range is a range of the steering motor torque value when the steering motor works normally, which indicates that the possibility of abnormality occurs in the signal transmission of the flow sensor or the flow sensor in the steering hydraulic oil measurement module 103, and the possibility of failure inside the steering module 102 is less, at this time, the control strategy of the domain controller module 101 for the vehicle is that: the lane after lane change is controlled to advance according to the original cruising lane, the destination is updated to the appointed position, and when the vehicle runs to the appointed position, a fault alarm is sent to the alarm module 106 (the fault alarm can be sent in advance, the embodiment of the application is not limited to the fault alarm), the alarm module 106 can prompt a driver to overhaul the steering module 102 and the steering hydraulic oil measuring module 103 in a voice broadcasting mode so as to locate a real fault point, and in the embodiment of the application, the appointed position can be a service area nearest to the current position of the vehicle.

If the first steering motor torque value used by the steering module 102 exceeds the first set range, that is, exceeds the range of the steering motor torque value when the steering motor is operating normally, but the steering angle required by the domain controller module 101 cannot be reached, the steering module automatically determines that the steering motor torque limiting operation is started to enter the up-torque mode, in the up-torque mode, the steering module 102 can increase the steering motor torque value, if the required steering angle can be reached after the steering motor torque value is increased to successfully turn the lane, the steering motor hydraulic pressure may be insufficient to support the normal lane change operation, but the lifting of the steering motor torque value by the steering motor can be partially compensated to complete the lane change, and at this time, the control strategy of the domain controller module 101 for the vehicle is as follows: after the vehicle is changed, the vehicle is controlled to move forward according to the original cruising lane, and the destination is changed to the designated position at the same time, a fault alarm is sent to the alarm module 106, and the driver is prompted to drive the vehicle to the designated 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 and the lane change fails in the ascending torsion mode, at this time, if the vehicle continues to move forward and needs lane change in front, the domain controller module 101 sends a parking instruction to the engine braking module 105 and sends a fault alarm to the alarm module 106 to prompt the driver to turn on the steering fault and prompt the driver to take over the steering wheel, the dangerous alarm lamp is lightened, the sensing module 104 detects whether the vehicle comes to the rear for safe parking, and the engine braking module 105 slowly slows down the vehicle until the vehicle stops to the current lane. In the safe parking process, a driver can also control the parking by stepping on an accelerator pedal and a brake pedal. Through the control strategies, the real fault point can be positioned, and the driving safety of the vehicle can be ensured.

In an alternative embodiment, in the case that the lane change test condition is not currently met, the domain controller module 101 is further configured to, 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 met according to the vehicle running state information and the vehicle running environment information, send a torque control command to the steering module 102 and send a fault alarm message for prompting the steering wheel to take over to the alarm module 106.

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

The steering module 102 is used for starting the steering motor torque limiting operation according to the torque control command to enter the torque up mode, and obtaining the second steering motor torque value information and the steering force information applied by the steering wheel in the torque up mode.

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 steering force information applied to the steering wheel, and control the vehicle.

The domain controller module 101 is specifically configured to determine that the flow sensor in the steering hydraulic oil measurement module 103 is abnormal or that the signal transmission of the flow sensor is abnormal when the second steering motor torque value is within the first setting range, the steering force applied by the steering wheel is within the second setting range, and the steering module 102 performs the steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in the ascending torsion mode and then turns successfully.

In the case 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 performing the steering operation according to the second steering motor torque value and the steering force applied to the steering wheel in the torque-up mode, it is determined that there is a steering hydraulic fault in the steering module 102.

In the case where the second steering motor torque value exceeds the first set range and the second steering motor torque value reaches the maximum value, the steering force applied to the steering wheel exceeds the second set range, and the steering module 102 performs the steering operation according to the second steering motor torque value and the steering force applied to the steering wheel and then turns successfully, it is determined that the steering hydraulic pressure failure exists in the steering module 102.

The domain controller module 101 is specifically configured to send, to the alarm module 106, a fault alarm for prompting maintenance of the steering module 102 and the steering hydraulic oil measurement module 103 when the second steering motor torque value is within the first setting range, the steering force applied by the steering wheel is within the second setting range, and the steering module 102 turns successfully after performing steering operation according to the second steering motor torque value in the torque-up mode.

In the case that the second steering motor torque value exceeds the first setting range, the steering force applied to the steering wheel exceeds the second setting range, and the steering module 102 turns successfully after performing the steering operation according to the second steering motor torque value and the steering force applied to the steering wheel in the torque-up mode, a fault alarm for prompting maintenance of the steering module 102 is sent to the alarm module 106.

And when the second steering motor torque value exceeds the first set range, the second steering motor torque value reaches the maximum value, the steering force applied by the steering wheel exceeds the second set range, and the steering module 102 turns successfully after performing steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, a fault alarm for prompting the parking maintenance of the steering module 102 is sent to the alarm module 106.

In specific implementation, when 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, a torque control command is sent to the steering module 102 to control the steering module 102 to enter a torque up mode and send a fault alarm to the alarm module 106, the alarm module 106 can prompt a driver to perform a steering wheel result in a voice broadcasting manner, after receiving the torque control command sent by the domain controller module 101, the steering module 102 starts a steering motor torque limiting operation to enter the torque up mode, and after entering the torque up mode and the driver takes over the steering wheel, the steering module 102 monitors a steering motor torque value (which can 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 driver (namely: steering force applied by the driver to the steering wheel), the second steering motor torque value information and the steering force information applied by the steering wheel to the driver are reported to the domain controller module 101, the domain controller module 101 further determines a fault point and controls the vehicle according to the second steering motor torque value information and the steering force information applied by the steering wheel to the driver in the ascending torsion mode reported by the steering module, if the second steering motor torque value is within the first setting range and the steering force applied by the steering wheel to the driver is within the second setting range, wherein the second setting range is a normal working range corresponding to the steering force applied by the driver to the steering wheel, and the steering module 102 successfully turns after performing steering operation according to the second steering motor torque value in the ascending torsion mode, then it is explained that there is a greater possibility that abnormality occurs in the flow sensor or the signal transmission of the flow sensor in the steering hydraulic oil measurement module 103, rather than the failure occurring inside the steering module 102, and the control strategy of the domain controller module 101 for the vehicle is: the fault alarm is sent to the alarm module 106 to prompt the driver to overhaul the steering module 102 and the steering hydraulic oil measuring module 103 so as to locate a real fault point, and the driver can be prompted to restore an automatic driving function after the steering module 102 is out of the curve because the fault point is not abnormal. If the steering module 102 successfully turns under the combined action of the second steering motor torque value reaching the maximum value and the steering force applied by the driver, the steering module is indicated to have a problem in steering motor hydraulic pressure, and the problem is insufficient for supporting normal lane changing (i.e. turning) operation, but the steering motor torque value can be partially compensated by lifting the steering motor, and the steering force applied by the driver is also in a controllable range to jointly complete turning, 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 that the steering system is overhauled in advance, and the real fault point of the vehicle is positioned. And in the case that the second steering motor torque value exceeds the first setting range and the second steering motor torque value reaches the maximum value and the steering force applied by the driver exceeds the second setting range, if the steering module 102 can turn successfully when the second steering motor torque value reaches the maximum value and the steering force applied by the driver is increased, this indicates that the steering motor hydraulic pressure may be problematic, and the steering module is insufficient to support normal turning operation, but the steering motor torque value is lifted by the steering motor to make up for part and the steering force applied by the driver is further increased, and turning can be completed, at this time, an accident may occur if the vehicle continues to move forward, in order to avoid the occurrence of such a situation, the domain controller module 101 sends a fault alarm to the alarm module 106, prompts the driver to turn the fault, prompts the driver to immediately park the steering module 102, and lights the hazard alarm lamp. In the safe parking process, a driver can control the parking by stepping on an accelerator pedal and a brake pedal. Through the control strategies, the real fault point can be positioned, and the driving safety of the vehicle can be ensured.

Based on the same inventive concept, the embodiment of the application also provides a vehicle steering detection control method, and because the principle of solving the problem of the vehicle steering detection control method is similar to that of a vehicle steering detection control system, the implementation of the method can refer to the implementation of the system, and the repetition is omitted.

As shown in fig. 2, which is a schematic diagram of an implementation flow of a vehicle steering detection control method according to 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:

s21, acquiring steering hydraulic oil flow information, vehicle running state information and vehicle running environment information.

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

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, the lane change test instruction is triggered to instruct the vehicle to execute steering operation.

S23, acquiring first steering motor torque value information of the vehicle in the steering operation process.

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

In an alternative embodiment, the method further comprises:

Based on the same inventive concept, the embodiment of the application also provides a vehicle steering detection control device, and because the principle of solving the problem 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 the repetition is omitted.

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

the first obtaining unit 31 is configured to obtain steering hydraulic oil flow information, vehicle running state information, and vehicle running 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 of a flow sensor;

a lane change instruction unit 32, configured to trigger a lane change test instruction to instruct the vehicle to perform a steering operation 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 satisfied according to the vehicle running state information and the vehicle running environment information;

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

The first control unit 34 is configured to determine a lane change test result based on the first steering motor torque value information, and control the vehicle according to a corresponding control policy according to the lane change test result.

In an alternative embodiment, the apparatus further comprises:

the first control unit 34 is specifically configured to determine that the lane change test result is abnormal in the flow sensor or abnormal in signal transmission of the flow sensor when the first steering motor torque value is within a first set range and the lane change is successful after the vehicle performs the steering operation according to the steering angle reached by the first steering motor torque value; under the condition that the torque value of the first steering motor exceeds the first set range and the vehicle cannot reach the steering angle according to the torque value of the first steering motor, if the lane change is successful after the steering operation is carried out after the steering angle is reached in a torque-up mode, determining that a steering hydraulic fault exists in a steering module of the vehicle as a lane change test result; if the lane change failure is determined that the steering angle cannot be reached in the torque-up mode, determining that the lane change test result is that the 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, control the vehicle to move forward according to an original cruising lane after the steering operation is successful, update a destination to a specified position, and trigger a fault alarm to prompt maintenance of the steering module and the flow sensor; under the condition that the steering module successfully changes lanes after reaching the steering angle for steering operation in a lifting and twisting mode, controlling the vehicle to move forward according to the original cruising lane after changing lanes, updating a destination to a designated position, and triggering a fault alarm to prompt the maintenance of the steering module; and triggering a parking instruction and a fault alarm to prompt steering faults and steering wheel takeover under the condition that the steering module cannot reach the steering angle in a torque-up mode and the lane change fails, and stopping the vehicle to the current lane in a speed-down mode.

In the various embodiments of the application, where no special description or logic conflict exists, the terms and/or descriptions between the various embodiments are consistent and may reference each other, and features of the various embodiments may be combined to form new embodiments based on their inherent logic relationships.

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

The specific connection medium between the memory 401 and the processor 402 is not limited in the embodiment of the present application. In the embodiment of the present application, the memory 401 and the processor 402 are connected through the bus 403 in fig. 4, the bus 403 is shown by a thick line in fig. 4, and the connection manner between other components is only schematically illustrated, but not limited to. The bus 403 may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.

The memory 401 may be a volatile memory (RAM) such as a random-access memory (RAM); the memory 401 may also be a nonvolatile memory (non-volatile memory), such as a read-only memory, a flash memory (flash memory), a Hard Disk Drive (HDD) or a Solid State Drive (SSD), or 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, but is not limited thereto. Memory 401 may be a combination of the above.

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

the processor 402 is configured to call the computer program stored in the memory 401 to execute steps S21 to S24 shown in fig. 2.

The embodiment of the application also provides a computer readable storage medium which stores computer executable instructions required to be executed by the processor and contains a program for executing 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 performs the steps in the vehicle steering detection control method of various exemplary embodiments of the present application.

It will be apparent to those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims

1. A vehicle steering detection control system, characterized by comprising: the system comprises a domain controller module, a steering hydraulic oil measuring module, a sensing module and an engine braking module, wherein:

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 first steering motor torque value information obtained by the steering module; controlling the engine braking module according to the lane change test result and the corresponding control strategy;

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

the lane change test instruction comprises a steering angle;

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

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

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

the domain controller module is specifically configured to control the vehicle to move forward according to an original cruising lane after lane change and update a destination to a specified position 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 the steering operation according to the steering angle reached by the torque value of the first steering motor, and send a fault alarm for prompting maintenance of the steering module and the steering hydraulic oil measurement module to the alarm module;

5. The system of claim 2, wherein,

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 second steering motor torque value is within a first setting range, the steering force applied by the steering wheel is within a second setting range, and the steering module performs steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque-up mode and then turns successfully;

6. The system of claim 5, wherein,

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

when the second steering motor torque value exceeds the first setting range, the steering force applied by the steering wheel exceeds the second setting range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel in a torque lifting mode, a fault alarm for prompting maintenance of the steering module is sent to the alarm module;

and under the condition 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 applied by the steering wheel exceeds the second set range, and the steering module turns successfully after steering operation according to the second steering motor torque value and the steering force applied by the steering wheel, sending a fault alarm for prompting the parking maintenance of the steering module to the alarm module.

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

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

the lane change test instruction comprises a steering angle;

8. 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 7 when executing the program.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps in the vehicle steering detection control method according to claim 7.