CN116729479A - Control method and device for electric power steering system, vehicle and storage medium - Google Patents
Control method and device for electric power steering system, vehicle and storage medium Download PDFInfo
- Publication number
- CN116729479A CN116729479A CN202310884668.6A CN202310884668A CN116729479A CN 116729479 A CN116729479 A CN 116729479A CN 202310884668 A CN202310884668 A CN 202310884668A CN 116729479 A CN116729479 A CN 116729479A
- Authority
- CN
- China
- Prior art keywords
- jump
- condition
- electric power
- power steering
- jump condition
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 37
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000006870 function Effects 0.000 claims description 62
- 230000005764 inhibitory process Effects 0.000 claims description 15
- 230000004913 activation Effects 0.000 claims description 9
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000004891 communication Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000001629 suppression Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000007488 abnormal function Effects 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/001—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits the torque NOT being among the input parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The application relates to the technical field of vehicles, in particular to a control method and device of an electric power steering system, a vehicle and a storage medium, wherein the method comprises the following steps: detecting and monitoring the actual state of the electric power steering system; determining at least one jump condition and corresponding priority of the electric power steering system according to the monitoring actual state, and detecting whether the electric power steering system meets the at least one jump condition according to the corresponding priority; and matching a jump strategy according to at least one jump condition, and controlling the electric power steering assistance system to jump according to the jump strategy. Therefore, the problem that reasonable jump logic is not set in the related technology, the generation of Bug during the operation of the product function cannot be avoided is solved, and the reliable operation of the LKA system function is realized by setting the reasonable jump logic and the jump priority.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a control method and apparatus for an electric power steering system, a vehicle, and a storage medium.
Background
Relevant survey data indicate that over 39% of unexpected traffic accidents are due to lane departure in europe, the united states, and china. The high probability of traffic accident transmission is an important reason for the occurrence of the system of the acceleration LKA (Lane Keeping Assist system).
As an actuator of LKA, the EPS (Electronic Power Steering, electric power steering system) needs to develop a corresponding state machine to cooperate with the FCM (Front Camera Module, front high-definition camera) of the LKA advanced function, so as to implement handshake, command execution, jump and function exit.
However, in the related art, no reasonable jump logic is set, and the generation of Bug during the operation of the product function cannot be avoided.
Disclosure of Invention
The application provides a control method, a control device, a control vehicle and a control storage medium of an electric power steering system, which are used for solving the problems that in the related art, reasonable jump logic is not set, the generation of Bug during the running of a product function cannot be avoided, and the reliable running of the LKA system function is realized by setting the reasonable jump logic and setting the jump priority.
An embodiment of a first aspect of the present application provides a control method of an electric power steering assist system, including the steps of: detecting and monitoring the actual state of the electric power steering system; determining at least one jump condition and corresponding priority of an electric power steering assistance system according to the monitoring actual state, and detecting whether the electric power steering assistance system meets the at least one jump condition according to the corresponding priority; and matching a jump strategy according to the at least one jump condition, and controlling the electric power steering assistance system to jump according to the jump strategy.
Optionally, in some embodiments, the actual state is a system function on state, a system inhibited state, a system complete initialized state, a system unsolicited state, or a system activated state.
Optionally, in some embodiments, the determining at least one jump condition and corresponding priority of the electric power steering assist system according to the actual state includes: in the case that the actual state is the system function on state, the at least one jump condition includes: a first jump condition and a second jump condition, wherein the corresponding priority is that the first jump condition is better than the second jump condition, and the first jump condition is that an unrecoverable fault or condition affecting an LKA system exists in the electric power steering assistance system; the second jump condition is that the electric power steering assistance system has a recoverable fault or condition or message fault affecting the LKA system.
Optionally, in some embodiments, the determining at least one jump condition and corresponding priority of the electric power steering assist system according to monitoring the actual state includes: in the case that the actual state is the system inhibited state, the at least one jump condition includes: the first jump condition and the third jump condition, and the corresponding priority is that the first jump condition is better than the third jump condition, wherein the third jump condition is that the message has no fault and the electric power steering assistance system has no fault or condition affecting the LKA system function.
Optionally, in some embodiments, the determining at least one jump condition and corresponding priority of the electric power steering assist system according to the actual state includes: when the actual state is the system unsolicited state, the at least one jump condition comprises: the first jump condition, a fourth jump condition and a fifth jump condition, and the corresponding priorities are that the first jump condition is better than the fourth jump condition, the fourth jump condition is better than the fifth jump condition, wherein the fourth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system or the message fault or the LKA request fault condition, the fifth jump condition is that the LKA system request entry condition and the electric power steering assist system satisfies a condition for executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system
Optionally, in some embodiments, the determining at least one jump condition and corresponding priority of the electric power steering assist system according to monitoring the actual state includes: the at least one jump condition when the actual state is the system active state includes: the first jump condition, a sixth jump condition and a seventh jump condition, and the corresponding priority is that the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition, wherein the sixth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system function or the electric power steering assist system does not meet the condition of the LKA system torque request or the message fault, the seventh jump condition is that the LKA system requests an exit condition and the electric power steering assist system meets the condition of executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system function.
Optionally, in some embodiments, the at least one jump condition matches a jump strategy, and controls the electric power steering assist system to jump according to the jump strategy, and further includes: when the at least one jump condition is a first jump condition, controlling the electric power steering assistance system to jump to a system completion initialization state; when the at least one jump condition is a second jump condition, controlling the electric power steering assistance system to jump to the system inhibition state; when the at least one jump condition is a third jump condition, controlling the electric power steering assistance system to jump to the system unsolicited state; when the at least one jump condition is a fourth jump condition, controlling the electric power steering assistance system to jump to the system inhibition state; when the at least one jump condition is a fifth jump condition, controlling the electric power steering assistance system to jump to the system activation state; when the at least one jump condition is a sixth jump condition, controlling the electric power steering assistance system to jump to the system inhibition state; and when the at least one jump condition is a seventh jump condition, controlling the electric power steering assistance system to jump to the system unsolicited state.
An embodiment of a second aspect of the present application provides a control device of an electric power steering system, including: the detection monitoring module is used for detecting and monitoring the actual state of the electric power steering assistance system; the determining module is used for determining at least one jump condition and corresponding priority of the electric steering power assisting system according to the actual state, and detecting whether the electric steering power assisting system meets the at least one jump condition according to the corresponding priority; and the control module is used for matching a jump strategy according to the at least one jump condition and controlling the electric power steering assistance system to jump according to the jump strategy.
Optionally, in some embodiments, the actual state is a system function on state, a system inhibited state, a system complete initialized state, a system unsolicited state, or a system activated state.
Optionally, in some embodiments, the determining module is further configured to, in a case where the actual state is the system function on state, the at least one jump condition includes: a first jump condition and a second jump condition, wherein the corresponding priority is that the first jump condition is better than the second jump condition, and the first jump condition is that an unrecoverable fault or condition affecting an LKA system exists in the electric power steering assistance system; the second jump condition is that the electric power steering assistance system has a recoverable fault or condition or message fault affecting the LKA system.
Optionally, in some embodiments, the determining module is further configured to, in a case where the actual state is the system inhibited state, the at least one jump condition includes: the first jump condition and the third jump condition, and the corresponding priority is that the first jump condition is better than the third jump condition, wherein the third jump condition is that the message has no fault and the electric power steering assistance system has no fault or condition affecting the LKA system function. .
Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system unsolicited state, the at least one jump condition includes: the first jump condition, a fourth jump condition and a fifth jump condition, and the corresponding priority is that the first jump condition is better than the fourth jump condition, the fourth jump condition is better than the fifth jump condition, wherein the fourth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system or the message fault or the LKA request fault condition, the fifth jump condition is that the LKA system requests an entry condition and the electric power steering assist system satisfies a condition for executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system.
Optionally, in some embodiments, the determining module is further configured to, when the actual state is the system active state, the at least one jump condition includes: the first jump condition, a sixth jump condition and a seventh jump condition, and the corresponding priority is that the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition, wherein the sixth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system function or the electric power steering assist system does not meet the condition of the LKA system torque request or the message fault, the seventh jump condition is that the LKA system requests an exit condition and the electric power steering assist system meets the condition of executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system function.
Optionally, in some embodiments, the control module further includes: the first jump state is used for controlling the electric power steering assistance system to jump to the system completion initialization state when the at least one jump condition is the first jump condition; a second jump state for controlling the electric power steering assist system to jump to the system suppression state when the at least one jump condition is a second jump condition; a third jump state for controlling the electric power steering assist system to jump to the system unsolicited state when the at least one jump condition is a third jump condition; a fourth jump state for controlling the electric power steering assist system to jump to the system suppression state when the at least one jump condition is a fourth jump condition; a fifth jump state for controlling the electric power steering assist system to jump to the system activation state when the at least one jump condition is a fifth jump condition; a sixth jump state for controlling the electric power steering assist system to jump to the system suppression state when the at least one jump condition is a sixth jump condition; and a seventh jump state for controlling the electric power steering assist system to jump to the system unsolicited state when the at least one jump condition is a seventh jump condition.
An embodiment of a third aspect of the present application provides a vehicle including: the control system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the program to realize the control method of the electric power steering assistance system according to the embodiment.
An embodiment of a fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program that is executed by a processor for realizing the control method of the electric power steering assist system as described in the above embodiment.
Therefore, the actual state of the electric power steering system is detected and monitored, at least one jump condition and the corresponding priority of the electric power steering system are determined according to the monitored actual state, whether the electric power steering system meets the at least one jump condition or not is detected according to the corresponding priority, a jump strategy is matched according to the at least one jump condition, and the electric power steering system is controlled to jump according to the jump strategy. Therefore, the problem that reasonable jump logic is not set in the related technology, the generation of Bug during the operation of the product function cannot be avoided is solved, and the reliable operation of the LKA system function is realized by setting the reasonable jump logic and the jump priority.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
The foregoing and/or additional aspects and advantages of the application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a control method of an electric power steering assist system according to an embodiment of the present application;
fig. 2 is a schematic diagram of a control method of an electric power steering system according to an embodiment of the present application;
fig. 3 is a block schematic diagram of a control device of an electric power steering system according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Before describing a control method of an electric power steering system according to an embodiment of the present application, an LKA system will be described.
The LKA system can be divided into a perception layer, a decision layer and an execution layer, wherein the perception layer is used for acquiring lane line information, surrounding vehicle information and the like, is also called a sensing layer, and is used for acquiring data of the environment through a radar sensor and a visual sensor, so that the LKA system is a foundation for realizing various auxiliary driving functions; the decision layer is used for judging whether transverse control is needed and calculating output moment or rotation angle to the execution layer; the execution layer is an EPS (electric power steering) system, and the EPS system uses a virtual driver steering torque to replace the driver steering torque monitored by the torque sensor so as to finish lane keeping auxiliary driving.
In the currently mainstream technical solutions, the sensing layer is mostly a visual sensor FCM (front high-definition camera) and a radar sensor FRM (front radar), the decision layer is usually integrated in an ECU (electronic controller) of the FCM (front high-definition camera), according to this mainstream technical route, the FCM is usually called an upper computer, and the EPS is called an actuator.
In order to solve the problem that reasonable jump logic is not set in the related art and generation of Bug during product function operation cannot be avoided, the application provides a control method of an electric power steering system. Therefore, the problem that reasonable jump logic is not set in the related technology, the generation of Bug during the operation of the product function cannot be avoided is solved, and the reliable operation of the LKA system function is realized by setting the reasonable jump logic and the jump priority.
Specifically, fig. 1 is a schematic flow chart of a control method of an electric power steering system according to an embodiment of the present application.
As shown in fig. 1, the control method of the electric power steering assistance system includes the steps of:
in step S101, the actual state of the electric power steering assist system is detected and monitored.
Optionally, in some embodiments, the actual state is a system function on state, a system inhibited state, a system complete initialization state, a system unsolicited state, or a system activated state.
Specifically, as shown in fig. 2, in the LKA system, 5 working states are interacted between the EPS system and the upper computer FCM, and the embodiment of the application needs to detect and monitor the actual state of the electric power steering assistance system, so as to design and develop corresponding jump conditions according to the 5 working states.
In step S102, at least one jump condition and a corresponding priority of the electric power steering system are determined according to the monitored actual state, and whether the electric power steering system satisfies the at least one jump condition is detected according to the corresponding priority.
It can be understood that the embodiment of the application needs to determine the jump condition of the electric power steering assistance system and define the priority according to the monitored actual state to finish the self-checking of the system, handshake with an upper computer, system standby, command execution, function inhibition, function exit and the like.
Specifically, the embodiment of the application can develop 7 jump conditions through 5 actual states and complete priority definition.
Optionally, in some embodiments, determining at least one jump condition and corresponding priority of the electric power steering assist system based on monitoring the actual state includes: in the case that the actual state is the system function on state, the at least one jump condition includes: the first jump condition and the second jump condition, and the corresponding priority is that the first jump condition is better than the second jump condition, wherein the first jump condition is that an unrecoverable fault or condition affecting the LKA system exists in the electric power steering assistance system; the second jump condition is that the electric power steering assist system has a recoverable fault or condition or message fault that affects the LKA system.
The unrecoverable fault or condition affecting the LKA system in the electric power steering system may be at least one of a torque sensor fault, a hardware fault, an electrical fault, a software protection fault, and an angle sensor unrecoverable fault; the recoverable fault or condition or message fault affecting the LKA system of the electric power steering assistance system CAN be at least one of over-temperature, over-voltage, under-voltage fault, angle sensor recoverable fault, angle non-calibration, CAN BUS Off and continuous receiving of three-frame torque request overrun.
Specifically, as shown in fig. 2, in the embodiment of the present application, when the actual state is the Power up Init function on state, the first jump condition T1 and the second jump condition T2 are determined, and the priority of the first jump condition T1 is higher than that of the second jump condition T2, and when T1 and T2 need to be satisfied simultaneously, T1 > T2 > Init, where the first jump condition T1 is an unrecoverable fault or condition affecting LKA function; the second jump condition T2 is that there is a recoverable fault or condition or message fault of the EPS that affects LKA function.
Optionally, in some embodiments, the determining module is further configured to, in a case where the actual state is a system inhibited state, at least one jump condition includes: the first jump condition and the third jump condition, and the corresponding priority is that the first jump condition is better than the third jump condition, wherein the third jump condition is that the message has no fault and the electric power steering assistance system has no fault or condition affecting the function of the LKA system.
Specifically, as shown in fig. 2, when the actual state is the tmporarily system inhibited state, the jump condition is determined to be a first jump condition T1 and a third jump condition T3, and the priority of T1 is higher than T3, that is, when the actual state is the system inhibited state, it is determined that the jump condition is the first jump condition T1, that is, the EPS has an unrecoverable fault or condition affecting the LKA function; the third jump condition T3 is that the message has no fault and the EPS has no fault or condition affecting the LKA function, and the first jump condition T1 is better than the third jump condition T3.
For example, when the actual state is the system inhibited state, T1 is set as the skip condition if T1 and T3 are satisfied at the same time, and when only T3 is satisfied, T3 is set as the skip condition.
Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system unsolicited state, at least one jump condition includes: the system comprises a first jump condition, a fourth jump condition and a fifth jump condition, wherein the corresponding priority is that the first jump condition is superior to the fourth jump condition, the fourth jump condition is superior to the fifth jump condition, the fourth jump condition is that the electric power steering assistance system has a recoverable fault or condition or message fault or LKA request fault condition which affects the LKA system, the fifth jump condition is that the LKA system requests an entry condition and the electric power steering assistance system meets the condition of executing the torque request of the LKA system, the message has no fault and the electric power steering assistance system has no fault or condition which affects the LKA system.
Wherein the electric power steering assist system satisfying the condition (and) for executing the LKA system torque request may include: one or more of vehicle speed not exceeded, driver not intervening in the driver not getting out of hand, torque request for this frame after request to enter LKA function not exceeded.
Specifically, as shown in fig. 2, when the actual state is the no request system unsolicited state, determining that the jump condition is a first jump condition T1, a fourth jump condition T4 and a fifth jump condition T5, where T1 is better than T4, and T4 is better than T5, that is, when the actual state is the system unsolicited state, determining that the jump condition is the first jump condition T1, that is, that the EPS has an unrecoverable fault or condition affecting LKA function; the fourth skip condition T4 is that the EPS has a recoverable fault or a condition or a message fault or an LKA request fault condition that affects the LKA function, the fifth skip condition T5 is that the LKA request entry condition and the EPS satisfy a condition and a message no-fault condition that executes the LKA torque request and the EPS has no fault or a condition that affects the LKA function, and the first skip condition is better than the fourth skip condition, and the fourth skip condition is better than the fifth skip condition.
For example, when the actual state is the system unsolicited state, if T1, T4 and T5 are satisfied at the same time, T1 is taken as the jump condition according to the priority; if T4 and T5 are satisfied at the same time, taking T4 as a jump condition; if T5 is satisfied, T5 is used as the jump condition.
Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system active state, at least one jump condition includes: the first jump condition, the sixth jump condition and the seventh jump condition, and the corresponding priorities are that the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition, wherein the sixth jump condition is that the electric power steering assistance system has a recoverable fault or condition affecting the function of the LKA system or the electric power steering assistance system does not meet the condition or message fault of the LKA system, the seventh jump condition is that the LKA system requests to exit from the condition and the electric power steering assistance system meets the condition of executing the torque request of the LKA system and the message has no fault and the electric power steering assistance system has no fault or condition affecting the function of the LKA system.
Wherein the condition (or) that the electric power steering assist system does not satisfy the LKA system torque request may include: the vehicle speed overrun, the driver intervention, the driver's hands off, and the torque request overrun for this frame after the request to enter the LKA function.
Specifically, as shown in fig. 2, when the actual state is the request method system activation state, determining that the jump condition is a first jump condition T1, a sixth jump condition T6 and a seventh jump condition T7, and the corresponding priority is that T1 is better than T6, and T6 is better than T7, that is, when the actual state is the system activation state, determining that the jump condition is the first jump condition T1, that is, that there is an unrecoverable fault or condition affecting LKA function in the EPS; the sixth jump condition T6 is that the EPS has no recoverable fault affecting the LKA function or the condition or EPS satisfies the condition or message fault for executing the LKA torque request; the seventh jump condition T7 is that the LKA request exit condition and EPS satisfies the condition and the message no fault and the EPS no fault or condition affecting the LKA function of executing the LKA torque request, and the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition.
For example, when the actual state is the system active state, if T1, T6 and T7 are satisfied at the same time, T1 is taken as the jump condition according to the priority order; if T6 and T7 are satisfied at the same time, T6 is taken as a jump condition according to the priority order, and if T7 is satisfied only, T7 is taken as a jump condition.
In step S103, the electric power steering assist system is controlled to jump according to the jump strategy and matching the jump strategy according to at least one jump condition.
Specifically, as shown in fig. 2, the embodiment of the application needs to execute a corresponding jump motion according to a jump condition, and needs to match a jump strategy according to the jump condition, so as to control the electric power steering system to jump according to the jump strategy.
Optionally, in some embodiments, the step of matching a skip strategy according to at least one skip condition, and controlling the electric power steering assist system to skip according to the skip strategy further includes: when at least one jump condition is a first jump condition, controlling the electric power steering assistance system to jump to a system completion initialization state; when at least one jump condition is a second jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; when at least one jump condition is a third jump condition, controlling the electric power steering assistance system to jump to a system unsolicited state; when at least one jump condition is a fourth jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; when at least one jump condition is a fifth jump condition, controlling the electric power steering assistance system to jump to a system activation state; when at least one jump condition is a sixth jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; and when the at least one jump condition is a seventh jump condition, controlling the electric power steering assistance system to jump to a system unsolicited state.
Specifically, as shown in fig. 2, when the determination condition is the first skip condition, the electric power steering assist system is controlled to skip to the system completion initialization state; when the jump condition is determined to be a second jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; when the jump condition is determined to be a third jump condition, controlling the electric power steering assistance system to jump to a system unsolicited state; when the jump condition is determined to be a fourth jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; when the jump condition is determined to be a fifth jump condition, controlling the electric power steering assistance system to jump to a system activation state; when the jump condition is determined to be a sixth jump condition, controlling the electric power steering assistance system to jump to a system inhibition state; when the skip condition is determined to be the seventh skip condition, the electric power steering assist system is controlled to skip to the system unsolicited state.
Therefore, the EPS realizes synchronization with the upper computer through processing and judging of 7 condition logics, realizes normal LKA functions under various working conditions, avoids the software Bug problems such as invalid function jump, abnormal function exit and the like, and can effectively ensure the functional operation safety of the LKA through priority setting.
In the actual execution process, under the condition that the jump condition and the priority of the corresponding jump condition are met, after the LKA system function is started (Power up init), the EPS has no fault or condition affecting the Power assistance, and the EPS is set to be in a no request state.
When the vehicle speed is more than or equal to 60km/h and the vehicle deviates from one side lane line, the lane keeping LKA is activated, and when the EPS state machine jumps to be in an active activation state, the EPS is set to be in a request hot state.
When the vehicle speed is reduced from above 60km/h to below 58km/h, the lane keeping LKA enters a limiting state, and when the EPS state machine jumps to a no request state, the EPS is set to the no request state.
When the EPS detects that the self or upper computer has a recoverable fault, the lane keeping LKA enters a limiting state, and when the EPS state machine jumps to be in a temporarily state, the EPS is set to be in the temporarily state.
When the EPS detects that the fault exists in the EPS or the host computer, the lane keeping LKA is temporarily exited, and when the EPS state machine jumps to be in a performance state, the EPS is set to be in the performance state.
According to the control method of the electric power steering system, provided by the embodiment of the application, the actual state of the electric power steering system is detected, at least one jump condition and the corresponding priority of the electric power steering system are determined according to the actual state, whether the electric power steering system meets the at least one jump condition or not is detected according to the corresponding priority, the jump strategy is matched according to the at least one jump condition, and the electric power steering system is controlled to jump according to the jump strategy. Therefore, the problem that reasonable jump logic is not set in the related technology, the generation of Bug during the operation of the product function cannot be avoided is solved, and the reliable operation of the LKA system function is realized by setting the reasonable jump logic and the jump priority.
Next, a control device of an electric power steering system according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 3 is a block schematic diagram of a control device of an electric power steering system according to an embodiment of the application.
As shown in fig. 3, the control device 10 of the electric power steering system includes: the device comprises a detection module 100, a determination module 200 and a control module 300.
The detection module 100 is used for detecting the actual state of the electric power steering system.
The determining module 200 is configured to determine at least one jump condition and a corresponding priority of the electric power steering system according to the actual state, and detect whether the electric power steering system meets the at least one jump condition according to the corresponding priority.
The control module 300 is configured to match a skip strategy according to at least one skip condition, and control the electric power steering assist system to skip according to the skip strategy.
Optionally, in some embodiments, the actual state is a system function on state, a system inhibited state, a system complete initialization state, a system unsolicited state, or a system activated state.
Optionally, in some embodiments, the determining module is further configured to, in a case where the actual state is a system function on state, at least one jump condition includes: the first jump condition and the second jump condition, and the corresponding priority is that the first jump condition is better than the second jump condition, wherein the first jump condition is that an unrecoverable fault or condition affecting the LKA system exists in the electric power steering assistance system; the second jump condition is that the electric power steering assist system has a recoverable fault or condition or message fault that affects the LKA system.
Optionally, in some embodiments, the determining module is further configured to, in a case where the actual state is a system inhibited state, at least one jump condition includes: the first jump condition and the third jump condition, and the corresponding priority is that the first jump condition is better than the third jump condition, wherein the third jump condition is that the message has no fault and the electric power steering assistance system has no fault or condition affecting the function of the LKA system. .
Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system unsolicited state, at least one jump condition includes: the system comprises a first jump condition, a fourth jump condition and a fifth jump condition, wherein the corresponding priority is that the first jump condition is superior to the fourth jump condition, the fourth jump condition is superior to the fifth jump condition, the fourth jump condition is that the electric power steering assistance system has a recoverable fault or condition or message fault or LKA request fault condition which affects the LKA system, the fifth jump condition is that the LKA system requests an entry condition and the electric power steering assistance system meets the condition of executing the torque request of the LKA system, the message has no fault and the electric power steering assistance system has no fault or condition which affects the LKA system.
Optionally, in some embodiments, the determining module is further configured to, when the actual state is a system active state, at least one jump condition includes: the first jump condition, the sixth jump condition and the seventh jump condition, and the corresponding priorities are that the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition, wherein the sixth jump condition is that the electric power steering assistance system has a recoverable fault or condition affecting the function of the LKA system or the electric power steering assistance system does not meet the condition or message fault of the LKA system, the seventh jump condition is that the LKA system requests to exit from the condition and the electric power steering assistance system meets the condition of executing the torque request of the LKA system and the message has no fault and the electric power steering assistance system has no fault or condition affecting the function of the LKA system.
Optionally, in some embodiments, the control module further comprises: a first jump state, a second jump state, a third jump state, a fourth jump state, a fifth jump state, a sixth jump state and a seventh jump state.
And the first jump state is used for controlling the electric power steering assistance system to jump to a system completion initialization state when at least one jump condition is the first jump condition.
And the second jump state is used for controlling the electric power steering assistance system to jump to the system inhibition state when at least one jump condition is the second jump condition.
And the third jump state is used for controlling the electric power steering assistance system to jump to the system unsolicited state when at least one jump condition is the third jump condition.
And the fourth jump state is used for controlling the electric power steering assistance system to jump to the system inhibition state when at least one jump condition is the fourth jump condition.
And a fifth jump state for controlling the electric power steering assist system to jump to the system activation state when the at least one jump condition is the fifth jump condition.
And a sixth jump state for controlling the electric power steering assist system to jump to the system suppression state when the at least one jump condition is the sixth jump condition.
And a seventh jump state for controlling the electric power steering assist system to jump to the system unsolicited state when the at least one jump condition is the seventh jump condition.
It should be noted that the foregoing explanation of the embodiment of the control method of the electric power steering system is also applicable to the control device of the electric power steering system of this embodiment, and will not be repeated here.
According to the control device of the electric power steering system, provided by the embodiment of the application, the actual state of the electric power steering system is detected, at least one jump condition and the corresponding priority of the electric power steering system are determined according to the actual state, whether the electric power steering system meets the at least one jump condition or not is detected according to the corresponding priority, the jump strategy is matched according to the at least one jump condition, and the electric power steering system is controlled to jump according to the jump strategy. Therefore, the problem that reasonable jump logic is not set in the related technology, the generation of Bug during the operation of the product function cannot be avoided is solved, and the reliable operation of the LKA system function is realized by setting the reasonable jump logic and the jump priority.
Fig. 4 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
memory 401, processor 402, and a computer program stored on memory 401 and executable on processor 402.
The processor 402 executes a program to realize the control method of the electric power steering assist system provided in the above-described embodiment.
Further, the vehicle further includes:
a communication interface 403 for communication between the memory 401 and the processor 402.
A memory 401 for storing a computer program executable on the processor 402.
The memory 401 may include high speed RAM (Random Access Memory ) memory, and may also include non-volatile memory, such as at least one disk memory.
If the memory 401, the processor 402, and the communication interface 403 are implemented independently, the communication interface 403, the memory 401, and the processor 402 may be connected to each other by a bus and perform communication with each other. The bus may be an ISA (Industry Standard Architecture ) bus, a PCI (Peripheral Component, external device interconnect) bus, or EISA (Extended Industry Standard Architecture ) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, only one thick line is shown in fig. 4, but not only one bus or one type of bus.
Alternatively, in a specific implementation, if the memory 401, the processor 402, and the communication interface 403 are integrated on a chip, the memory 401, the processor 402, and the communication interface 403 may perform communication with each other through internal interfaces.
The processor 402 may be a CPU (Central Processing Unit ) or ASIC (Application Specific Integrated Circuit, application specific integrated circuit) or one or more integrated circuits configured to implement embodiments of the present application.
Embodiments of the present application also provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the control method of the electric power steering assist system as above.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. As with the other embodiments, if implemented in hardware, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable gate arrays, field programmable gate arrays, and the like.
Those of ordinary skill in the art will appreciate that all or a portion of the steps carried out in the method of the above-described embodiments may be implemented by a program to instruct related hardware, where the program may be stored in a computer readable storage medium, and where the program, when executed, includes one or a combination of the steps of the method embodiments.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A control method of an electric power steering system, characterized by comprising the steps of:
detecting and monitoring the actual state of the electric power steering system;
determining at least one jump condition and a corresponding priority of an electric power steering assistance system according to the monitoring actual state, and detecting whether the electric power steering assistance system meets the at least one jump condition according to the corresponding priority; and
and matching a jump strategy according to the at least one jump condition, and controlling the electric power steering assistance system to jump according to the jump strategy.
2. The method of claim 1, wherein the actual state is a system function on state, a system inhibited state, a system complete initialization state, a system unsolicited state, or a system activated state.
3. The method according to claim 2, wherein said determining at least one jump condition and corresponding priority of the electric power steering assist system based on monitoring the actual state comprises:
in the case that the actual state is the system function on state, the at least one jump condition includes: a first jump condition and a second jump condition, wherein the corresponding priority is that the first jump condition is better than the second jump condition, and the first jump condition is that an unrecoverable fault or condition affecting an LKA system exists in the electric power steering assistance system; the second jump condition is that the electric power steering assistance system has a recoverable fault or condition or message fault affecting the LKA system.
4. A method according to claim 3, wherein said determining at least one jump condition and corresponding priority of the electric power steering assist system based on monitoring the actual state comprises:
In the case that the actual state is the system inhibited state, the at least one jump condition includes: the first jump condition and the third jump condition, and the corresponding priority is that the first jump condition is better than the third jump condition, wherein the third jump condition is that the message has no fault and the electric power steering assistance system has no fault or condition affecting the LKA system function.
5. The method of claim 4, wherein said determining at least one jump condition and corresponding priority of the electric power steering assist system based on monitoring the actual state comprises:
when the actual state is the system unsolicited state, the at least one jump condition comprises: the first jump condition, a fourth jump condition and a fifth jump condition, and the corresponding priority is that the first jump condition is better than the fourth jump condition, the fourth jump condition is better than the fifth jump condition, wherein the fourth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system or the message fault or the LKA request fault condition, the fifth jump condition is that the LKA system requests an entry condition and the electric power steering assist system satisfies a condition for executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system.
6. The method of claim 5, wherein said determining at least one jump condition and corresponding priority of the electric power steering assist system based on monitoring the actual state comprises:
the at least one jump condition when the actual state is the system active state includes: the first jump condition, a sixth jump condition and a seventh jump condition, and the corresponding priority is that the first jump condition is better than the sixth jump condition, and the sixth jump condition is better than the seventh jump condition, wherein the sixth jump condition is that the electric power steering assist system has a recoverable fault or condition affecting the LKA system function or the electric power steering assist system does not meet the condition of the LKA system torque request or the message fault, the seventh jump condition is that the LKA system requests an exit condition and the electric power steering assist system meets the condition of executing the LKA system torque request and the message has no fault and the electric power steering assist system has no fault or condition affecting the LKA system function.
7. The method of claim 1, wherein the at least one jump condition matches a jump strategy and controls the electric power steering assist system to jump in accordance with the jump strategy, further comprising:
When the at least one jump condition is a first jump condition, controlling the electric power steering assistance system to jump to a system completion initialization state;
when the at least one jump condition is a second jump condition, controlling the electric power steering assistance system to jump to the system inhibition state;
when the at least one jump condition is a third jump condition, controlling the electric power steering assistance system to jump to the system unsolicited state;
when the at least one jump condition is a fourth jump condition, controlling the electric power steering assistance system to jump to the system inhibition state;
when the at least one jump condition is a fifth jump condition, controlling the electric power steering assistance system to jump to the system activation state;
when the at least one jump condition is a sixth jump condition, controlling the electric power steering assistance system to jump to the system inhibition state;
and when the at least one jump condition is a seventh jump condition, controlling the electric power steering assistance system to jump to the system unsolicited state.
8. A control device of an electric power steering system, comprising:
the detection monitoring module is used for detecting and monitoring the actual state of the electric power steering assistance system;
The determining module is used for determining at least one jump condition and corresponding priority of the electric steering power assisting system according to the monitoring actual state, and detecting whether the electric steering power assisting system meets the at least one jump condition according to the corresponding priority; and
and the control module is used for matching a jump strategy according to the at least one jump condition and controlling the electric power steering assistance system to jump according to the jump strategy.
9. A vehicle, characterized by comprising: a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the control method of the electric power steering assist system according to any one of claims 1 to 7.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the control method of the electric power steering assist system according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310884668.6A CN116729479A (en) | 2023-07-18 | 2023-07-18 | Control method and device for electric power steering system, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310884668.6A CN116729479A (en) | 2023-07-18 | 2023-07-18 | Control method and device for electric power steering system, vehicle and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116729479A true CN116729479A (en) | 2023-09-12 |
Family
ID=87906108
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310884668.6A Pending CN116729479A (en) | 2023-07-18 | 2023-07-18 | Control method and device for electric power steering system, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116729479A (en) |
-
2023
- 2023-07-18 CN CN202310884668.6A patent/CN116729479A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6709326B2 (en) | Vehicle control device | |
| US11492009B2 (en) | Vehicle control device | |
| US11492011B2 (en) | Autonomous driving control device and method for autonomous driving control of vehicles | |
| JP6675487B2 (en) | Vehicle control device | |
| JP6981357B2 (en) | Vehicle control device | |
| JP2010285001A (en) | Electronic control system and functional agency method | |
| CN102265261B (en) | Electronic control system, electronic control units and method of synchronization control, for vehicles | |
| CN109808682B (en) | Unmanned vehicle parking method and device and terminal | |
| EP4257453A1 (en) | Control method, monitoring method, electronic control units, controller and control system | |
| CN107436596B (en) | Main and auxiliary MCU redundancy monitoring method of electric power steering system | |
| JPH11250029A (en) | Monitoring method and device for computer device consisting of at least two processors | |
| JP2011022934A (en) | Electronic control unit and method for detecting failure | |
| WO2019049731A1 (en) | Control device for power steering device | |
| JP2008172896A (en) | Controller of vehicular motor | |
| CN116729479A (en) | Control method and device for electric power steering system, vehicle and storage medium | |
| US8726099B2 (en) | Data processing system | |
| CN111240340A (en) | Inspection robot, safe operation system, safe operation method and storage medium | |
| CN116279473A (en) | Vehicle following time interval verification method and device, vehicle and storage medium | |
| CN113859190B (en) | Early warning braking method and device for automatic driving vehicle, vehicle and storage medium | |
| CN113602250A (en) | Automatic parking method and device for electric automobile, vehicle and storage medium | |
| WO2024122023A1 (en) | Control system for vehicle | |
| CN111169531B (en) | Electric power steering system redundancy control method and device, vehicle and storage medium | |
| JP7500749B2 (en) | Electronic control system for vehicle and program update method used therein | |
| JPH07281912A (en) | Stack abnormality detecting device | |
| CN118068678A (en) | Remote control parking control method and device, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |