CN104590363A - Systematic abnormality detection in control commands for controlling power steering system - Google Patents
Systematic abnormality detection in control commands for controlling power steering system Download PDFInfo
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- CN104590363A CN104590363A CN201410811051.2A CN201410811051A CN104590363A CN 104590363 A CN104590363 A CN 104590363A CN 201410811051 A CN201410811051 A CN 201410811051A CN 104590363 A CN104590363 A CN 104590363A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0493—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting processor errors, e.g. plausibility of steering direction
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
A method of mitigating abnormalities in a first control command for controlling a power steering system is provided. The method generates a range signal indicative of a range of command values based on a plurality of input signals. The method determines whether the first control command is out of the range for longer than a predetermined duration of time. The method limits the first control command to the range and sends the limited first control command to the power steering system in response to determining that the first control command is out of the range for shorter than or equal to the duration of time.
Description
the cross reference of related application
The the 61/893rd, the submit in No. 441 U.S. Provisional Patent Application and on October 21st, 2013 the 61/893rd of patent application claims submission on October 21st, 2013, the preceence of No. 455 U.S. Provisional Patent Application.61/893rd, No. 441 U.S. Provisional Patent Application and the 61/893rd, No. 455 U.S. Provisional Patent Application are herein incorporated by reference to its entirety.
Background technology
The functional safety rate of International Standardization Organization (ISO) 26262 provides functional safety management, so that detect and and reduce the software system mistake that may cause the abnormal behaviour of self-propelled vehicle electric power and electric system.The self-propelled vehicle electric power of example and electric system are electric power steering system (EPS).For EPS, software system mistake can cause abnormal assist torque to export.Existing Software for Design uses software firewall (usually, saturated killer) to reduce the exception that abnormal assist torque can be caused to export.But these the saturated killers in assist torque calculating path also can deteriorated steering swivel system performance and interference assist torque output calculating.Also employed other Software for Design measure, such as redundant memory stores and compares security critical software variable.But these design measures apply to reduce the hardware anomalies source affecting software and calculate usually best.Therefore, need to be provided in not many impact when steering swivel system performance and assist torque calculate and can reduce abnormal method and system.
Summary of the invention
In an embodiment of the invention, the method for the exception in the first control command of the power steering system reduced for controlling vehicle is provided.The method produces the range signal of indicator value scope based on multiple incoming signal.The method determines whether the first control command exceeds this scope and reach and be longer than pre-determining time length.In response to determining that the first control command exceeds this scope and is shorter than or equals time length, the first control command is restricted to this scope and restricted first control command is sent to power steering system by the method.
In another embodiment of the present invention, the system of vehicle is provided.This system comprises the power steering system that control module and controlled instruction carry out command operating.This control module is configured to the range signal producing indicator value scope based on multiple incoming signal.Control module is configured to produce the second control command based on the subset of multiple incoming signal.This control module is configured to determine whether the first control command exceeds this scope and reach and be longer than pre-determining time length.This control module is configured in response to determining that the first control command exceeds this scope and reaches and be longer than pre-determining time length the second control command is sent to power steering system.
In the another embodiment of the present invention, provide the method for the exception in the expectation assist torque control command of the power steering system reduced for controlling vehicle.The method produces the range signal of instruction assist torque value scope based on steering wheel torque signal and vehicle velocity signal.The method is determined to expect whether assist torque instruction exceeds this scope and be longer than pre-determining time length.Expect that assist torque instruction exceeds this scope and is shorter than or equals pre-determining time length in response to determining, the instruction of expectation assist torque is restricted to this scope and the instruction of restricted expectation assist torque is sent to power steering system by the method.
These and other advantage and feature are by below in conjunction with becoming more clear in the description of accompanying drawing.
Accompanying drawing explanation
Be considered to subject matter of an invention particularly point out in the claim at the conclusion place of this specification sheets and clearly advocate.Aforementioned and further feature of the present invention and advantage below in conjunction with obvious in the detailed description of accompanying drawing, in the accompanying drawings:
Fig. 1 is the functional block diagram comprising the steering swivel system of the control system for controlling steering swivel system according to exemplary embodiment;
Fig. 2 is the block diagram of the control module of control steering swivel system according to exemplary embodiment of the present invention;
Fig. 2 A is the block diagram of a part for the control module of control steering swivel system according to exemplary embodiment of the present invention;
Fig. 3 is the diagram of circuit of the control method for controlling steering swivel system illustrated according to exemplary embodiment;
Fig. 4 is the block diagram of the control module of control steering swivel system according to exemplary embodiment of the present invention; And
Fig. 5 is the diagram of circuit of the control method for controlling steering swivel system illustrated according to exemplary embodiment.
Detailed description of the invention
Description is below in fact only exemplary, and is not intended to limit the invention, its application, or uses.It should be understood that and run through accompanying drawing, the similar or corresponding component of corresponding Reference numeral instruction and feature.
With reference now to Fig. 1, wherein describe the present invention with reference to detailed description of the invention, this detailed description of the invention does not limit the present invention, and the exemplary embodiment of the vehicle 10 comprising steering swivel system 12 is shown.In multiple embodiment, steering swivel system 12 comprises the bearing circle 14 being connected to steering shaft 16.In an exemplary embodiment in which, steering swivel system 12 also comprises electric power steering (EPS) system turning to auxiliary unit 18, turns to auxiliary unit 18 be connected to the steering shaft 16 of steering swivel system 12 and be connected to the intermediate rod 20,22 of vehicle 10.Such as, turn to auxiliary unit 18 to comprise steering by rack and pinion mechanism (not shown), it can be passed through steering shaft 16 and is connected to steering actuator motor and wheel word (at hereinafter referred to as steering actuator).During operation, when bearing circle 14 is rotated by vehicle operators (chaufeur), turn to the motor of auxiliary unit 18 to provide auxiliary with mobile intermediate rod 20,22, it moves the steering knuckle 24,26 being connected to the road wheel 28,30 of vehicle 10 respectively then respectively.Although shown in Fig. 1 and there is described herein EPS, it will be appreciated that steering swivel system 12 of the present invention can comprise multiple controlled steering swivel system, include but not limited to that there is the steering swivel system of hydraulic structure, and by the manipulation of line structure.
As shown in Figure 1, vehicle 10 comprises multiple sensor 31-33 further, and it detects and measures the observable condition of steering swivel system 12 and/or vehicle 10.Sensor 31-33 produces sensor signal based on observable condition.In multiple embodiment, sensor 31-33 comprises such as steering wheel position sensor, steering wheel torque sensor, vehicle speed sensor, motor position sensor and other sensor.In one embodiment, some of these sensors have unnecessary or backup sensors to guarantee or supplementary sensor signal.Sensor 31-33 sends a signal to control module 40 or to other module (not shown), one or more before its signal after transmission processing to control module 40 in processing signals.
In multiple embodiment, based on one or more in the sensor signal of enable (enabled) and also based on assist torque computing system of the present invention and method, control module 40 controls the operation of steering swivel system 12 and/or vehicle 10.Generally speaking, method in multiple embodiment of the present invention produces control command signal (such as, assist torque instruction, damping instruction, etc.), and then detected before control command is issued to steering swivel system 12 and reduce any exception be included in control command.Especially, in embodiments, control module 40 produces the efficient range of command value and limits control command to this scope.If control command is a predetermined threshold duration outside this scope, then the control module 40 of embodiment sends acquiescence control command to steering swivel system 12, and whole moment that steering swivel system 12 is in operation at vehicle all operate.In embodiments, if control command does not exceed this scope one time length, then control module 40 switching postbacks out control command.
Fig. 2 illustrates the block diagram of the control module 40 for the steering swivel system 12 of control chart 1 and/or Fig. 1 of vehicle 10 according to some embodiments of the present invention.In multiple embodiment, control module 40 can comprise one or more submodule and data memory.As used herein, term module and submodule represent special IC (ASIC), electronic circuit, treater (shared, special or in groups) and perform memory device, the combinational logic circuit of one or more software or firmware program, and/or provide other suitable parts of described function.As recognized, the submodule shown in Fig. 2 can be combined and/or split further.As what can recognize, the submodule shown in Fig. 2 can be implemented as single control module 40 (as shown) or multiple control module (not shown).Input to control module 40 can produce from the sensor of vehicle 10 (Fig. 1), it is interior (to be such as modeled to control module 40, by other submodule (not shown)), can receive from other control module (not shown), and/or can be pre-qualified.In one example in which, control module 40 comprises border determination module 205, phase adjusting module 210, limiter block 215, default instruction generation module 220, crosses bounds checking module 225, Timer module 230, damping yardstick generation module 235, temporarily damping command generation module 240 and final control command generation module 245.
Border determination module 205 will be derived from multiple incoming signals of the sensor (Fig. 1) of vehicle 10 as input.In embodiments, multiple incoming signal comprises vehicle velocity signal 250 and other incoming signal 252.Depend on the kind of input control order 264, other incoming signal 252 comprises one or more different sensor signal.Such as, when input control order 264 is that when specifying the assist torque instruction by the amount of assist torque that produced by steering swivel system 12, incoming signal 252 comprises steering wheel torque signal.When input control order 264 is the damping control commands for bearing circle damping, incoming signal 252 comprises motor speed signal, and its instruction turns to the rotative speed of the motor of auxiliary unit 18 (Fig. 1).
Based on signal 250 and 252, border determination module 205 produces the range signal limited by coboundary signal 254 and lower boundary signal 256.In embodiments, border determination module 205 uses one or more look-up tables of stored boundary value, and described boundary value carrys out index by the different value of vehicle velocity signal 250 and incoming signal 252.As will be hereafter discussed further, at specified time place whether effectively (such as, not comprising exception) scope of the command value between coboundary 254 and lower boundary 256 be used for determining input control order 264.
In embodiments, the phase place of phase adjusting module 210 synchronous coboundary signal 254 and lower boundary signal 256 is alternatively to the phase place of input control order 264.This synchronously guarantees that input control order 264 compares with the command value of the correct scope limited by upper boundary values and lower border value.Phase adjusting module 210 exports the coboundary signal 258 of adjustment and the lower boundary signal 260 of adjustment.In embodiments, phase adjusting module 210 uses two low-pass filters to adjust the phase place of coboundary signal 254 and lower boundary signal 257 respectively.
The coboundary signal 258 of limiter block 215 Use Adjustment and the lower boundary signal 260 of adjustment are to be limited to the scope limited by the coboundary 258 adjusted and the lower boundary 260 adjusted by input control order 264.If input control order 264 exceeds this scope, then the output of limiter block 215 is the restricted input control orders 262 produced by restriction input control order 264.If input control order 264 does not exceed this scope, then limiter block 215 is not revised or is limited input control order 264, and thus restricted input control order 262 is input control orders 264.
In embodiments, control module 40 receives input control order 264 from another module (not shown) of vehicle 10, and this module produces input control order 264 based on the signal of the sensor from vehicle 10.In another embodiment, other submodule (not shown) of control module 40 produces input control order 264.
Fig. 2 A illustrates, in one embodiment, when input control order is assist torque instruction, input control order is divided into low-frequency content 280 and high-frequency content 282 by filter 278 (such as, high-pass filter or low-pass filter).In this embodiment, only comparatively low-frequency content is provided to limiter block 215.From limiting the restricted input control order 264 of this low-frequency content 280 generation subsequently by mixer 286 and high-frequency content 282 recombinant.The control command 262 of this recombinant is provided to final control command generation module 245 just.Input control order 264 is divided into low-frequency content and high-frequency content, the low-frequency content only processing low-frequency content and combined treatment and high-frequency content on May 18th, 2008 authorize the 6th, 738, describe in No. 700 US Patent, the full content of this patent is herein incorporated.In embodiments, input control order 264 can be synthetic instruction---the combination of two or more control command.
Referring back to Fig. 2, acquiescence control command generation module 220 produces acquiescence control command 266 based on incoming signal 252, and it is for input control order 264 " for subsequent use " control command.As will be described further below, when control module 40 does not send input control order 264, acquiescence control command 266 sends to steering swivel system 12.Thus acquiescence control command 266 allows the steering swivel system 12 when vehicle 10 is in operation operating and do not needing to be cut off all the time.
Cross bounds checking module 225 using the coboundary signal 258 of input control order 264, adjustment and the lower boundary signal 260 of adjustment as input, and produce boundary condition signal 268 as output signal.Cross bounds checking module 225 and determine whether input control order 264 exceedes the scope limited by the coboundary signal 258 adjusted and the lower boundary signal 260 adjusted.In embodiments, if input control order 264 exceeds this scope, then mistake boundary condition signal 268 is set to the value (such as) that indicative input control command 264 exceeds this scope by mistake bounds checking module 225.If input control order 264 does not exceed this scope, then mistake boundary condition signal 268 is set to the value (such as, zero) that indicative input control command 264 does not exceed this scope by mistake bounds checking module 225.
In embodiments, Timer module 230 keeps counting machine (such as, PN counting machine).Timer module 230 by boundary condition signal 268 as input.Counter equal is not initially also exceeded the initial value (such as, zero) of this scope by Timer module 230 to indicative input control command 264.Then the Timer module 230 of embodiment makes counter-increments when crossing sideband signal 268 indicative input control command 264 and exceeding this scope, and makes counting machine decrement when crossing sideband signal 268 indicative input control command and not exceeding this scope.Timer module 230 also compares counting machine and threshold counter value.If counting machine is larger than threshold counter value, then Timer module 230 arranges mistake or failure condition state 270 to value (such as), its indicative input control command 264 mistake and should not be used.If counting machine is less than or equal to threshold counter value, then Timer module 230 arranges error condition status signal 270 to value (such as, zero), and its indicative input control command 264 is available.As recognized, counting machine can be initially set to a number, when input control order exceeds this scope by decrement, and is incremented when input control order does not exceed this scope.Whether in this case, based on counting machine lower than threshold counter value, Timer module 230 arranges error condition status signal 270.
Damping yardstick generation module 235 produces scaled factor signal 272 based on crossing boundary condition signal 268.More specifically, in embodiments, scaled factor signal 272 is initially set to initial value (such as, zero) by damping yardstick generation module 235, and its instruction does not have temporary transient dumping force should be increased to input control order 264.Serve as boundary condition signal and change to indicative input control command 264 when exceeding the value of this scope, damping yardstick generation module 235 just starts by scaled factor signal 272 from initial value oblique ascension towards another value (such as, one), it indicates temporary transient dumping force should be increased to input control order 264 with full size.
Temporary transient damping command generation module 240 using scaled factor signal 272 and vehicle velocity signal 250 as input.Temporary transient damping command generation module 240 produces temporary transient damping instruction 274 based on scaled factor signal 272 and vehicle velocity signal 250.Particularly, in embodiments, temporary transient damping command generation module 240 by use such as by the look-up table of the friction speed value index of vehicle velocity signal 250 based on the amount of vehicle velocity signal 250 damping instruction to be increased to input control order 264.Temporary transient damping command generation module 240 uses the dumping force of scaled factor signal 272 convergent-divergent (scale) determined amounts.Such as, temporary transient damping command generation module 240 doubles the dumping force of determined amounts to produce temporary transient damping instruction 274 by scaled factor signal 272.If the input control order of mistake 264 (that is, exceeding the input control order 264 of described scope) is sent to steering swivel system 12, then the temporarily damping instruction erroneous energy or power that can be produced by steering swivel system 12 for dissipating.Because acquiescence control command 266 is assumed to be it is not wrong, so given tacit consent to before control command 266 replaces at the input control order of mistake, temporary transient damping instruction is increased to input control order 264.
Restricted input control order 262, acquiescence control command 266, error condition status signal 270 and temporarily damping instruction 274 as input, and produce and will be sent to the final control command 276 (Fig. 1) of steering swivel system 12 by final control command generation module 245.The final control command 276 produced by final control command generation module 245 depends on error condition status signal 270.If error condition status signal 270 indicative input control command 264 be not available (namely, the counting machine kept by Timer module 230 is greater than threshold counter value), then final control command generation module 245 sends acquiescence control command 266 as final control command 276.If error condition status signal 270 indicative input control command 264 be available (namely, the counting machine kept by Timer module 230 is not more than threshold counter value), then the final control command generation module 245 of embodiment sends the summation of restricted input control order 262 and temporary transient damping instruction 274 as final control command 276.Should note, if input control order 264 does not exceed the scope limited by the coboundary signal 258 adjusted and the lower boundary signal 260 adjusted, then this summation is input control order 264, because restricted input control order 262 is input control order 264 and temporarily damping instruction 274 will be scaled to nothing.If input control order 264 exceeds this scope, then restricted input control order 262 is the input control orders 264 being restricted to this scope, and temporarily damping instruction 274 will be scaled the damping instruction of the tittle being increased to restricted input control order 262.
The exemplary operations of control module 40 is described referring now to Fig. 1-3.Fig. 3 is the diagram of circuit of control method for performing by control module 40 according to some embodiments of the present invention.As recognized under the teachings of the present invention, the order of operation in the method is not restricted to the order shown in Fig. 3 and performs, but performs when applicable and according to the order that the present invention can change with one or more.
At frame 310, control module 40 receives input control order 264.In embodiments, control module 40 receives this input control order 264 from another module (not shown among Fig. 1 or 2) of vehicle 10.In another embodiment, control module 40 produces input control order 264 based on multiple incoming signal (such as, vehicle velocity signal 250 and incoming signal 252).Be similar to input control order 264, incoming signal is supplied to control module 40 from another module or is produced by control module 40.
At frame 315, control module 40 produces acquiescence control command 226 based on multiple incoming signal 252.If input control order specifies the assist torque instruction by the amount of the assist torque power produced by steering swivel system 12, then multiple incoming signal 252 comprises steering wheel torque signal.If input control order 264 is damping instructions, then multiple incoming signal 252 comprises motor speed signal.
At frame 320, control module 40 produces the range signal limited by coboundary signal 254 and lower boundary signal 256.In embodiments, control module 40 uses the one or more look-up tables storing and carried out the boundary value of index by the different value of vehicle velocity signal 250 and incoming signal 252.In embodiments, control module 40 at frame 320 also by the phase synchronization of coboundary signal and lower boundary signal to the phase place of input control order 264.
At frame 325, control module 40 determines input control order 264 whether in the scope limited by coboundary signal 254 and lower boundary signal 256.The value (such as, the amount of assist torque) of control command and coboundary signal value and lower boundary signal value compare by control module 40.If control command value is less than or equal to coboundary signal value and be more than or equal to lower boundary signal value, then control module 40 determines that input control order 264 is within the scope of this.If control command value is greater than coboundary signal value or is less than lower boundary signal value, then control module 40 determines that input control order 264 is outside this scope.
When at frame 325, control module 40 determines that input control order 264 is in the scope limited by upper boundary values and lower border value, if counting machine is greater than minimum value (such as, zero), then control module 40 adjusts counting machine at frame 330 by making counting machine decrement.Control module 40 sends input control order 264 to steering swivel system 12 as final control command 276 at frame 335.Namely, control module 40 did not revise input control order 264 before input control order 264 is issued to steering swivel system 12.
When at frame 325, control module 40 determines that input control order 264 is when this scope is outer, input control order 264 is limited to this scope at frame 340 by control module 40.Namely, if input control order value is higher than the upper boundary values of this scope, then input control order value is reduced to upper boundary values by control module 40.Equally, if input control order value is lower than the lower border value of this scope, then input control order value is increased to lower border value by control module 40.
At frame 345, control module 40 produces temporary transient damping instruction based on vehicle velocity signal 250 and damping scaled factor signal 272.In embodiments, control module 40 uses low-pass filter to produce damping scaled factor signal 272, to make the value of scaled factor when input control order starts to exceed this scope just from indicating the initial value (such as, zero) not having dumping force to be increased to input control order 264 to rise gradually.Control module 40 also produces the damping command signal being increased to input control order 264.
At frame 350, control module 40 adjusts counting machine by making counter-increments.At frame 355, control module 40 determines whether counting machine is greater than threshold counter value.Counting machine is greater than threshold counter value and means, input control order 264 has exceeded this scope and reached pre-determining time length, and its long enough is to conclude that input control order 264 should be lost efficacy or mistake.Can be incremented or the counting machine of decrement by using, in determining that input control order 264 is available or unavailable, control module 40 introduces sluggishness.Namely, the use of counting machine prevents input control order 264 from switching too frequently between error condition and non-erroneous condition.
When at frame 355, control module 40 determines that counting machine is greater than threshold counter value, control module 40 frame 360 be emitted in frame 315 produce acquiescence control command to steering swivel system 12 as final control command 276.When at frame 355, control module 40 determines that counting machine is less than or equal to threshold counter value, control module 40 produces the summation of temporary transient damping instruction and the input control order 264 received at frame 305 produced at frame 345 at frame 365.Control module 40 sends this summation as final control command 276.In embodiments, control module 40 produces and sends DTC (DTC) alternatively at frame 360 and 365, and its indicative input control command 264 exceeds this scope.
Fig. 4 describes the block diagram according to the control module 40 of Fig. 1 of some embodiments of the present invention.Especially, the embodiment of the control module 40 shown in Fig. 4 is identical with the embodiment of control module 40 shown in figure 2, except Fig. 4 illustrates that control module 40 comprises comparison module 405 extraly and recovers decision module 410.The not shown in Figure 4 so that signal of the input and output signal of the border determination module 205 of control module 40, phase adjusting module 210, limiter block 215, default instruction generation module 220, damping yardstick generation module 235 and temporarily damping command generation module 240 and these modules and describe easy.
As described above, when error condition status signal 270 indicative input control command 264 be not available (namely, the counting machine kept by Timer module 230 is greater than threshold counter value) time, final control command generation module 245 sends acquiescence control command 266 to steering swivel system 12 (Fig. 1) as final control command 276.
In embodiments, after final control command generation module 245 starts to send acquiescence control command 266 to steering swivel system 12, cross bounds checking module 225 and continue to determine whether input control order 264 exceeds the scope limited by the coboundary signal 258 adjusted and the lower boundary signal 260 adjusted.After final control command generation module 245 starts to send acquiescence control command 266, Timer module 230 continues to keep counting machine.Namely, cross boundary condition signal 268 based on what produced by mistake bounds checking module 225, Timer module 230 continues to make counter-increments or decrement.But in embodiments, Timer module 230 covers the Counter Value at threshold counter value place.Particularly, once counting machine becomes be greater than threshold counter value, Timer module 230 just arranges counting machine to threshold counter value, and does not make counter-increments higher than threshold counter value subsequently, rests on outside this scope even if cross boundary condition signal 268 indicative input control execution 264.In embodiments, this threshold counter value can be different from for determining the threshold counter value of switches default control command 266.
When counting machine by decrement to initial value (such as, zero) time, it is available values (such as, zero) that error condition status signal 270 is set to indicative input control command 264 by Timer module 230.Timer module 230 sends error condition status signal 270 to recovery decision module 410.
Comparison module 405 monitors input control order 264 and final control command 276.In embodiments, comparison module 405 compares input control order 264 and final control command to produce difference status signal 415, and its instruction is issued to the final control command 276 of steering swivel system 12 and input control order 264 whether in threshold difference.When final control command 276 is acquiescence control commands 266, comparison module 405 compares input control order 264 and acquiescence control command 266.
Recover decision module 410 to determine whether to switch from acquiescence control command 266 to get back to input control order 410 based on error condition status signal 270 and difference status signal 415.Particularly, in embodiments, recover decision module 410 to determine: when two conditions meet below, input control order 264 should be resumed as final control command 276.First of these two conditions is, error condition status signal is not that to switch to indicative input control command 264 are available another values (such as, zero) to available value (such as) from indicative input control command 264.Second of these two conditions is, difference status signal 415 indicates acquiescence control command 266 and input control order 264 within threshold difference.This second condition is examined to guarantee that the transition from acquiescence control command 266 to input control order 264 is smooth-going.Such as, when input control order 264 is assist torque instructions, recovers decision module 410 and be sure of that the transition from the instruction of acquiescence assist torque to assist torque instruction is smooth-going, and do not cause any discontinuous sensation on bearing circle.More specifically, such as, the time-based mixing giving tacit consent to control command and input control order can be used to guarantee smooth-going transition.
Recover decision module 410 and produce the signal 420 that returns to form, whether its reflection switches from acquiescence control command 266 decision getting back to input control order 264.When signal 420 instruction that returns to form should switch, acquiescence control command 266 is replaced by input control order 264 by final control command generation module 245, as the final control command 276 being sent to steering swivel system 12.
The exemplary operations of the embodiment of the control module 40 shown in Fig. 4 is described referring now to Fig. 1-5.Fig. 5 is the diagram of circuit of control method for performing by control module 40 according to some embodiments of the present invention.As recognized under the teachings of the present invention, the order of operation in the method is not restricted to the order shown in Fig. 5 and performs, but performs when applicable and according to the order that the present invention can change with one or more.
At frame 505, control module 40 determines whether acquiescence control command 266 is just being sent to steering swivel system 12 as final control command 276.If acquiescence control command 266 is not sent out, then control module 40 proceeds to frame 525 to continue to send the summation of input control order 264 or input control order 264 and temporary transient damping instruction 274.
When at frame 505, control module 40 determines that acquiescence control command 266 is just issued, at frame 510, control module 40 is determined whether input control order 264 has rested on and is reached sufficiently long time length in the scope that limited by upper boundary values signal 258 and lower border value signal 260 and wait to be resumed.In embodiments, control module 40 uses counting machine to determine whether input control order 264 reaches threshold duration within the scope of this.Particularly, such as, control module 40 makes counting machine decrement and makes counter-increments when input control order 264 exceeds this scope when input control order 264 stops in this range.When counting machine has been stopped by decrement to indicative input control command 264 value (such as, zero) that reach threshold duration in this range, control module 40 has determined that input control order 264 can be resumed.
When control module 40 frame 510 determine input control order 264 do not rest within the scope of this reach threshold duration time, control module 40 proceeds to frame 530 to continue to send acquiescence control command 266.When control module 40 frame 510 determine input control order 264 rested within the scope of this reach threshold duration time, control module 40 proceeds to frame 515 to determine input control order 264 and acquiescence control command 266 whether in threshold difference.In embodiments, control module 40 deducts input control order 264 to calculate the difference signal of the difference between indicator 264 and 266 from acquiescence control command 266.If be reduced to threshold difference under difference signal, then control module 40 determines that this difference is in threshold difference.
When at frame 515, control module determines that input control order 264 and acquiescence input control order 266 be not in threshold difference, control module 40 continues to send acquiescence control command 266 at frame 530.When at frame 515, control module determines that input control order 264 and acquiescence control command 266 are in threshold difference, acquiescence control command 266 uses input control order 264 to replace at frame 520 by control module 40, is sent to steering swivel system 12 as final control command 276.
Although the embodiment having combined only limited amount describes the present invention in detail, should be easily understood that, the present invention is not limited to embodiment disclosed in these.On the contrary, but the present invention can be modified to merge any amount of before this undocumented mate with the spirit and scope of the present invention distortion, change, substitute or equivalent arrangements.In addition, although described numerous embodiments of the present invention, it should be understood that, aspect of the present invention only can comprise some in described embodiment.Therefore, the present invention should not be seen as and openly limited by aforementioned.
Claims (15)
1. reduce a method for the exception in the first control command of the power steering system for controlling vehicle, described method comprises:
The range signal of indicator value scope is produced based on multiple incoming signal;
Determine whether described first control command exceeds described scope and reach and be longer than pre-determining time length; And
In response to determining that described first control command exceeds described scope and reaches and be shorter than or equal described pre-determining time length, described first control command being restricted to described scope and restricted first control command is sent to described power steering system.
2. the method for claim 1, is characterized in that, also comprises:
Subset based on described multiple incoming signal produces the second control command; And
In response to determining that described first control command exceeds described scope and reaches and be longer than described pre-determining time length, described second control command is sent to power steering system.
3. method as claimed in claim 2, it is characterized in that, the described subset of described multiple incoming signal comprises at least one in steering wheel torque signal, bearing circle angle position signal and bearing circle speed signal, wherein, described multiple incoming signal comprises vehicle velocity signal, and the described subset of described incoming signal does not comprise vehicle velocity signal.
4. the method for claim 1, is characterized in that, produces described range signal comprise and change the upper boundary values of described scope and the lower border value of described scope based on described multiple incoming signal.
5. the method for claim 1, is characterized in that, also comprises the phase place of synchronous described range signal and the phase place of described first control command.
6. the method for claim 1, is characterized in that, determines whether described first control command exceeds described scope and reach and be longer than described pre-determining time length and comprise use counting machine.
7. the method for claim 1, is characterized in that, determines whether described first control command exceeds described scope and reach and be longer than described pre-determining time length and comprise:
In response to determining that described first control command exceeds described scope and makes counter-increments;
In response to determining that described first control command does not exceed described scope and makes counting machine decrement;
More described counting machine and threshold counter value;
If described counting machine is greater than described threshold counter value, then determine that described first control command exceeds described scope and reaches and be longer than described pre-determining time length; With
If described counting machine is less than or equal to described threshold counter value, then determine that described first control command exceeds described scope and reaches and be shorter than or equal described pre-determining time length.
8. the method for claim 1, is characterized in that, also comprises:
While sending described second control command, determine whether described first control command has rested in described scope to reach and be longer than another pre-determining time length;
Determine described first control command and the second control command whether in threshold difference; And
Other pre-determining time length and described first control command and the second control command is longer than in described threshold difference in response to determining that described first control command has rested in described scope to reach, replace described second control command, described first control command is sent to steering order.
9. the method for claim 1, is characterized in that, also comprises:
Once described first control command exceeds described scope, just produce scaled factor signal by starting to increase scaled factor from initial value;
Damping instruction is produced based on vehicle velocity signal and described scaled factor signal; And
With described damping instruction, first control command of described restriction is mixed that the instruction of mixing is sent to described power steering system.
10. the method for claim 1, is characterized in that, described first control command produces based at least one in bearing circle speed signal and steering wheel torque signal.
11. 1 kinds of Vehicular systems, comprising:
Controlled instruction carrys out the power steering system of command operating;
Control module, it is configured to:
The range signal of indicator value scope is produced based on multiple incoming signal;
Subset based on described multiple incoming signal produces the second control command;
Determine whether described first control command exceeds described scope and reach and be longer than pre-determining time length; And
In response to determining that described first control command exceeds described scope and reaches and be longer than described pre-determining time length, send described second control command to described power steering system.
12. systems as claimed in claim 13, it is characterized in that, control module is also configured to: in response to determining that described first control command exceeds described scope and reaches and be shorter than or equal described pre-determining time length, described first control command being restricted to described scope and restricted first control command is sent to described power steering system.
13. systems as claimed in claim 13, it is characterized in that, control module is configured to, and produces described range signal based on described multiple incoming signal by the lower border value of the upper boundary values and described scope that change described scope.
14. systems as claimed in claim 13, is characterized in that, control module is also configured to the phase place of synchronous described range signal and the phase place of the first control command.
15. systems as claimed in claim 13, it is characterized in that, control module is also configured to:
While sending the second control command, determine whether the first control command has rested in described scope to reach and be longer than another pre-determining time length;
Determine the first control command and the second control command whether in threshold difference; And
And if if described first control command has rested in described scope to reach be longer than described first control command of other pre-determining time length and the second control command in described threshold difference, replace described second control command, described first control command is sent to steering order.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361893455P | 2013-10-21 | 2013-10-21 | |
| US201361893441P | 2013-10-21 | 2013-10-21 | |
| US61/893455 | 2013-10-21 | ||
| US61/893441 | 2013-10-21 | ||
| US14/518,370 US9598102B2 (en) | 2013-10-21 | 2014-10-20 | Systematic abnormality detection in control commands for controlling power steering system |
| US14/518370 | 2014-10-20 |
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| CN104590363A true CN104590363A (en) | 2015-05-06 |
| CN104590363B CN104590363B (en) | 2017-11-21 |
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| CN201410811051.2A Active CN104590363B (en) | 2013-10-21 | 2014-10-21 | The system anomaly detection in control instruction for controlling power steering system |
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