CN104590363B - The system anomaly detection in control instruction for controlling power steering system - Google Patents
The system anomaly detection in control instruction for controlling power steering system Download PDFInfo
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- CN104590363B CN104590363B CN201410811051.2A CN201410811051A CN104590363B CN 104590363 B CN104590363 B CN 104590363B CN 201410811051 A CN201410811051 A CN 201410811051A CN 104590363 B CN104590363 B CN 104590363B
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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
-
- 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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- 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 present invention relates to the system anomaly detection in the control instruction for controlling power steering system.The abnormal method for reducing and being used to control in the first control instruction of power steering system is provided.This method produces the range signal of indicator value scope based on multiple input signals.This method determines whether the first control instruction beyond the scope reaches the pre-determining duration.It is shorter than or equal to the duration in response to determining that the first control instruction reaches beyond the scope, the first control instruction is restricted to the scope and sends restricted first control instruction to power steering system by this method.
Description
The cross reference of related application
No. 61/893,441 U.S. Provisional Patent Application that patent application claims are submitted on October 21st, 2013 and
The priority for No. 61/893,455 U.S. Provisional Patent Application that on October 21st, 2013 submits.No. 61/893,441 U.S.
Temporary patent application and No. 61/893,455 U.S. Provisional Patent Application are herein incorporated by reference to its entirety.
Background technology
The feature safety standard of International Organization for standardization (ISO) 26262 provides feature safety management, in order to detect
With with reduce may cause motor vehicle electric power and electrical system abnormal behaviour software systems mistake.The motor vehicle electric power of example
It is electric power steering system (EPS) with electrical system.For EPS, software systems mistake can cause abnormal assist torque defeated
Go out.Existing Software for Design can cause abnormal assist torque to export using software firewall (generally, saturation limiter) to reduce
Exception.However, these saturation limiters in assist torque calculates path can also degrade steering performance and interference
Assist torque output calculates.Other Software for Design measures have also been used, such as redundant memory stores and compared security pass
Key software variable.However, these design measures are generally most preferably applied to reduce the hardware anomalies source for influenceing software and calculating.Cause
This, it is desirable to provide it can reduce abnormal method in the case where not many influence steering performance and assist torque calculate and be
System.
The content of the invention
In an embodiment of the invention, there is provided reduce the first control of the power steering system for controlling vehicle
Abnormal method in instruction.This method produces the range signal of indicator value scope based on multiple input signals.This method
Determine whether the first control instruction reaches beyond the scope and be longer than the pre-determining duration.In response to determining that the first control instruction exceeds
The scope was shorter than or equal to the duration, and the first control instruction is restricted to the scope and controlled restricted first by this method
System instruction is sent to power steering system.
In another embodiment of the present invention, there is provided the system of vehicle.The system includes control module and controlled finger
Order carrys out the power steering system of command operating.The control module is configured to produce indicator value scope based on multiple input signals
Range signal.Control module is configured to the subset based on multiple input signals and produces the second control instruction.The control module structure
Make and be longer than the pre-determining duration to determine whether the first control instruction reaches beyond the scope.The control module be configured in response to
Determine that the first control instruction sends the second control instruction to power steering system up to being longer than the pre-determining duration beyond the scope
System.
In a further embodiment of this invention, there is provided the expectation auxiliary for reducing the power steering system for controlling vehicle turns
Abnormal method in square control instruction.This method is based on steering wheel torque signal and vehicle velocity signal produces instruction auxiliary and turned
The range signal of square value scope.This method determine it is expected assist torque instruction whether beyond the scope be longer than pre-determining persistently when
Between.In response to determining that it is expected that assist torque instructs is shorter than beyond the scope or will it is expected equal to pre-determining duration, this method
Assist torque instruction is restricted to the scope and sends restricted expectation assist torque instruction to power steering system.
These and other advantages and features will become relatively sharp from description below in conjunction with the accompanying drawings.
Brief description of the drawings
It is considered as particularly pointing out and being distinctly claimed in the claim of the theme of invention at the conclusion of the specification.This
The foregoing and further feature and advantage of invention are obvious from detailed description below in conjunction with the accompanying drawings, in the accompanying drawings：
Fig. 1 is the function of the steering for including the control system for controlling steering according to exemplary embodiment
Block diagram；
Fig. 2 is the block diagram according to the control module of the control steering of the exemplary embodiment of the present invention；
Fig. 2A is the block diagram according to a part for the control module of the control steering of the exemplary embodiment of the present invention；
Fig. 3 is to show the flow chart for being used to control the control method of steering according to exemplary embodiment；
Fig. 4 is the block diagram according to the control module of the control steering of the exemplary embodiment of the present invention；And
Fig. 5 is to show the flow chart for being used to control the control method of steering according to exemplary embodiment.
Embodiment
Following description is only substantially exemplary, and is not intended to limit the invention, its application, or uses.It should be understood that
, through accompanying drawing, corresponding reference indicates similar or corresponding component and feature.
Referring now to Figure 1, will wherein refer to the embodiment description present invention, the embodiment does not limit this hair
It is bright, the exemplary embodiment of vehicle 10 for including steering 12 is shown.In multiple embodiments, steering 12 includes connecting
It is connected to the steering wheel 14 of steering spindle 16.In an exemplary embodiment, steering 12 is also to include steering assistance unit 18
Electric power steering (EPS) system, steering assistance unit 18 is connected to the steering spindle 16 of steering 12 and is connected to vehicle
10 drag link 20,22.For example, steering assistance unit 18 includes steering by rack and pinion mechanism (not shown), it can pass through
Steering spindle 16 is connected to steering actuator motor and geared system (hereinafter referred to as steering actuator).During operation, exist
When steering wheel 14 is rotated by vehicle operators (driver), the motor of steering assistance unit 18 provides auxiliary to move drag link
20th, 22, it then moves the steering connections 24,26 for the road wheel 28,30 for being respectively connecting to vehicle 10 respectively.Although in Fig. 1
EPS is shown and there is described herein, but it should be appreciated that the steering 12 of the present invention may include a variety of controlled steering systems
System, include but is not limited to, there is the steering of hydraulic structure, and the manipulation for passing through cable architecture.
As shown in figure 1, vehicle 10 further comprises multiple sensor 31-33, its detect and measurement steering 12 and/or
The observable condition of vehicle 10.Sensor 31-33 is based on observable condition and produces sensor signal.In multiple embodiments,
Sensor 31-33 includes such as steering wheel position sensor, steering wheel torque sensor, vehicle speed sensor, motor position
Sensor and other sensors.In one embodiment, some of these sensors have unnecessary or backup sensors with
Ensure or supplementary sensor signal.Sensor 31-33 sends a signal to control module 40 or to other module (not shown), its
One or more of process signal before signal to control module 40 after transmission processing.
In multiple embodiments, it is based on based on one or more of sensor signal for enabling (enabled) and also
The assist torque computing system and method for the present invention, control module 40 control the operation of steering 12 and/or vehicle 10.Total
For, the method in multiple embodiments of the present invention produces control instruction signal (for example, assist torque instruction, damping refer to
Order, etc.), and then detect and reduce including in control instruction before control instruction is sent to steering 12
Any exception.Especially, in embodiments, control module 40 produces the effective range of command value and limitation control instruction extremely should
Scope.If a predetermined threshold duration, the control module 40 of embodiment are sent control instruction outside this range
Control instruction is given tacit consent to steering 12 so that steering 12 all operates at whole moment that vehicle is in operation.In reality
Apply in mode, if control instruction, without departing from the duration of scope one, control module 40, which switches back into, sends control instruction.
Fig. 2 shows the steering 12 and/or vehicle 10 for control figure 1 according to some embodiments of the present invention
The block diagram of Fig. 1 control module 40.In multiple embodiments, control module 40 may include one or more submodules and data
Memory.As used herein, term module and submodule represent application specific integrated circuit (ASIC), electronic circuit, processor (altogether
It is enjoying, special or groups of) and memory, the combinational logic circuit of the one or more softwares of execution or firmware program, and/
Or provide other appropriate parts of the function.As it can be appreciated that, the submodule that is shown in Fig. 2 can be combined and/or enter one
Step segmentation.As can be appreciated that, the submodule shown in Fig. 2 can be implemented as single control module 40 (as shown) or multiple
Control module (not shown).It can produce, can be modeled to control from the sensor (Fig. 1) of vehicle 10 to inputting for control module 40
(for example, by other submodule (not shown)) in module 40, it can be received from other control module (not shown), and/or can quilt
It is pre-qualified.In one example, control module 40 includes border determining module 205, phase adjusting module 210, limiter block
215th, default instruction generation module 220, cross bounds checking module 225, Timer module 230, damping yardstick generation module 235,
Temporarily damping command generation module 240 and final control instruction generation module 245.
Border determining module 205 is using multiple input signals of the sensor (Fig. 1) from vehicle 10 as input.Implementing
In mode, multiple input signals include vehicle velocity signal 250 and other input signals 252.Depending on inputting control instruction 264
Species, other input signals 252 include one or more different sensor signals.For example, when input control instruction 264 is
Specify during the assist torque instruction of the amount of assist torque, input signal 252 includes steering wheel and turned as caused by steering 12
Square signal.When it is the damping control instruction for steering wheel damping to input control instruction 264, input signal 252 includes motor
Rate signal, it indicates the rotary speed of the motor of steering assistance unit 18 (Fig. 1).
Based on signal 250 and 252, border determining module 205 produces to be limited by top sector signal 254 and following sector signal 256
Fixed range signal.In embodiments, border determining module 205 uses one or more look-up tables of stored boundary value, institute
Boundary value is stated by vehicle velocity signal 250 and the different value of input signal 252 to index.As will be further discussed,
The scope of command value between coboundary 254 and lower boundary 256 be used for determine input control instruction 264 at special time whether
Effectively (for example, not including abnormal).
In embodiments, phase adjusting module 210 alternatively synchronous top sector signal 254 and following sector signal 256
Phase extremely inputs the phase of control instruction 264.This synchronously ensures to input control instruction 264 with being limited by upper boundary values and lower border value
The command value of fixed correct scope compares.The top sector signal 258 of the output adjustment of phase adjusting module 210 and the lower boundary of adjustment
Signal 260.In embodiments, phase adjusting module 210 using two low pass filters to adjust top sector signal respectively
254 and the phase of following sector signal 257.
Limiter block 215 is controlled using the top sector signal 258 of adjustment and the following sector signal 260 of adjustment with that will input
The scope that the limitation of instruction 264 limits to the lower boundary 260 of the coboundary 258 by adjusting and adjustment.If input control instruction 264
Beyond the scope, then the output of limiter block 215 is to be restricted input control caused by input control instruction 264 by limiting
Instruction 262.If inputting control instruction 264 without departing from the scope, limiter block 215 is not corrected or limited input control and refers to
Make 264, and thus to be restricted input control instruction 262 be input control instruction 264.
In embodiments, control module 40 receives input control instruction 264 from another module (not shown) of vehicle 10,
Signal of the module based on the sensor from vehicle 10 produces input control instruction 264.In another embodiment, mould is controlled
Other submodule (not shown) of block 40 produce input control instruction 264.
Fig. 2A shows, in one embodiment, when it is assist torque instruction to input control instruction, (the example of wave filter 278
Such as, high-pass filter or low pass filter) will input control instruction be divided into low-frequency content 280 and high-frequency content 282.In this reality
Apply in mode, be only provided to limiter block 215 compared with low-frequency content.From limit be restricted caused by the low-frequency content 280 it is defeated
Enter control instruction 264 then by blender 286 and the recombinant of high-frequency content 282.The exactly quilt of control instruction 262 of the recombinant
There is provided to final control instruction generation module 245.Input control instruction 264 is divided into low-frequency content and high-frequency content, only handled
No. 6,738,700 U.S. that the low-frequency content and high-frequency content of low-frequency content and combined treatment were authorized on May 18th, 2008
Described in state's patent, the full content of the patent is herein incorporated.In embodiments, input control instruction 264 can be synthesis
Instruction --- the combination of two or more control instructions.
Referring back to Fig. 2, acquiescence control instruction generation module 220 produces acquiescence control instruction based on input signal 252
266, it is " standby " control instruction for inputting control instruction 264.As will be described further below, when control module 40
When not sending input control instruction 264, acquiescence control instruction 266 is sent to steering 12.Give tacit consent to control instruction 266 thus
The steering 12 in the case where vehicle 10 is in operation is allowed to operate and need not be cut off all the time.
Cross the lower boundary that bounds checking module 225 will input control instruction 264, the top sector signal 258 of adjustment and adjustment
Signal 260 produced boundary condition signal 268 and is used as output signal as input.Cross bounds checking module 225 and determine input
Whether control instruction 264 exceedes the scope that the following sector signal 260 of top sector signal 258 and adjustment by adjusting limits.In reality
Apply in mode, if input control instruction 264 exceeds the scope, cross bounds checking module 225 by boundary condition signal 268
Setting exceeds the value (for example, one) of the scope to instruction input control instruction 264.If control instruction 264 is inputted without departing from this
Scope, then cross bounds checking module 225 and set boundary condition signal 268 to instruction input control instruction 264 without departing from this
The value (for example, zero) of scope.
In embodiments, Timer module 230 keeps counter (for example, PN counters).Timer module 230 was incited somebody to action
Boundary condition signal 268 is as input.Counter is initially set to instruction input control instruction 264 by Timer module 230
Also without departing from the initial value (for example, zero) of the scope.Then the Timer module 230 of embodiment refers in sideband signal 268 excessively
Showing makes counter-increments when input control instruction 264 exceeds the scope, and is crossing the instruction input control instruction of sideband signal 268
Counter is reduced during without departing from the scope.Timer module 230 also compares counter and threshold counter value.If counter
Bigger than threshold counter value, then Timer module 230 sets mistake or the value of failure condition state 270 to one (for example, one), and it refers to
Show that input control instruction 264 is wrong and should not be used.If counter is less than or equal to threshold counter value, timing
Device module 230 sets error condition status signal 270 to one to be worth (for example, zero), and it indicates that input control instruction 264 is available
's.As can be appreciated that, counter can be initially set to a number, be decremented when inputting control instruction and exceeding the scope,
And it is incremented when inputting control instruction without departing from the scope.In this case, whether threshold value meter is less than based on counter
Number device value, Timer module 230 set error condition status signal 270.
Damping yardstick generation module 235 was based on boundary condition signal 268 and produces scale factor signal 272.More specifically,
In embodiments, yardstick generation module 235 is damped initially to set scale factor signal 272 to initial value (for example, zero),
It indicates that no temporary transient damping force should increase to input control instruction 264.Boundary condition signal has been served as to change to instruction input control
When system instruction 264 exceeds the value of the scope, damping yardstick generation module 235 is begun to scale factor signal 272 from initial value
For oblique ascension towards another value (for example, one), it indicates that temporary transient damping force should increase to input control instruction 264 with full size.
Temporarily damping command generation module 240 is using scale factor signal 272 and vehicle velocity signal 250 as input.Temporarily
When damp command generation module 240 and be based on scale factor signal 272 and vehicle velocity signal 250 and produce temporarily damping instruction 274.
Specifically, in embodiments, temporarily damping command generation module 240 by using for example by vehicle velocity signal 250 not
With amount of the look-up table of velocity amplitude index based on the damping instruction of vehicle velocity signal 250 control instruction 264 is inputted to increase to.Temporarily
When damping command generation module 240 damping force of (scale) determination amount is scaled using scale factor signal 272.For example, temporarily resistance
Buddhist nun's command generation module 240 instructs 274 by the damping force of the multiplication determination amount of scale factor signal 272 to produce temporarily damping.
If the input control instruction 264 of mistake is sent to steering (that is, beyond the input control instruction 264 of the scope)
12, then temporarily damping instruction be used for dissipation can as caused by steering 12 erroneous energy or power.Due to giving tacit consent to control instruction 266
It is assumed to be it is not wrong, so before the input control instruction of mistake is replaced by acquiescence control instruction 266, temporarily damping refers to
Order is increased to input control instruction 264.
Final control instruction generation module 245 will be restricted input control instruction 262, acquiescence control instruction 266, mistake bar
Part status signal 270 and temporarily damping instruct 274 as input, and produce and will be sent to the final control of steering 12
Instruct 276 (Fig. 1).Final control instruction 276 depends on error condition state as caused by final control instruction generation module 245
Signal 270.If the instruction input control instruction 264 of error condition status signal 270 is not available (that is, by Timer module
230 counters kept are more than threshold counter value), then final control instruction generation module 245 sends acquiescence control instruction 266
As final control instruction 276.If error condition status signal 270 instruction input control instruction 264 be it is available (that is, by
The counter that Timer module 230 is kept is not more than threshold counter value), then the final control instruction generation module of embodiment
245 send the summation for being restricted input control instruction 262 and temporarily damping instruction 274 as final control instruction 276.It should note
Meaning, if what input control instruction 264 limited without departing from the following sector signal 260 of the top sector signal 258 by adjusting and adjustment
Scope, then the summation be input control instruction 264 because be restricted input control instruction 262 be input control instruction 264 and
Temporarily damping instruction 274 will be scaled to nothing.If input control instruction 264 exceeds the scope, it is restricted input control and refers to
It is the input control instruction 264 for being restricted to the scope to make 262, and temporarily damping instruction 274 will be scaled and be increased to
It is restricted the same amount of damping instruction of input control instruction 262.
The exemplary operations of control module 40 are described referring now to Fig. 1-3.Fig. 3 is according to some embodiments of the present invention
For the flow chart for the control method that can be performed by control module 40., should as being realized that under the teachings of the present invention
Order of operation in method is not constrained to order shown in Fig. 3 and performed, but when applicable and can be with according to the present invention
Performed with the order that one or more change.
In frame 310, control module 40 receives input control instruction 264.In embodiments, control module 40 is from vehicle 10
Another module the input control instruction 264 is received (not shown in Fig. 1 or 2).In another embodiment, control module
40 produce input control instruction 264 based on multiple input signals (for example, vehicle velocity signal 250 and input signal 252).It is similar
In input control instruction 264, input signal is supplied to control module 40 from another module or produced by control module 40.
In frame 315, control module 40 is based on multiple input signals 252 and produces acquiescence control instruction 226.If input control
Instruction is to specify to instruct the assist torque of the amount of assist torque power as caused by steering 12, then multiple input signals
252 include steering wheel torque signal.If input control instruction 264 is damping instruction, multiple input signals 252 include motor
Rate signal.
In frame 320, control module 40 produces the range signal limited by top sector signal 254 and following sector signal 256.
In embodiment, control module 40 is indexed using storage by vehicle velocity signal 250 and the different value of input signal 252
One or more look-up tables of boundary value.In embodiments, control module 40 in frame 320 also by top sector signal and lower boundary
The Phase synchronization of signal extremely inputs the phase of control instruction 264.
In frame 325, whether control module 40 determines input control instruction 264 by top sector signal 254 and lower boundary letter
In the range of numbers 256 limit.Control module 40 by the value (for example, amount of assist torque) of control instruction and coboundary signal value and
Lower boundary signal value is compared.If control instruction value is less than or equal to coboundary signal value and believed more than or equal to lower boundary
Number value, then control module 40 determine input control instruction 264 within the range.If control instruction value is more than coboundary signal value
Or input control instruction 264 outside this range less than lower boundary signal value, the then determination of control module 40.
When control module 40 determines input control instruction 264 in the model limited by upper boundary values and lower border value in frame 325
When enclosing interior, if counter is more than minimum value (for example, zero), control module 40 is in frame 330 by adjusting counter decrement
Whole counter.Control module 40 sends input control instruction 264 to steering 12 in frame 335 and is used as final control instruction 276.
It is, control module 40 does not correct input control instruction before input control instruction 264 is sent to steering 12
264。
When control module 40 determines that input control instruction 264 is outside the scope in frame 325, control module 40 is in frame 340
Input control instruction 264 is limited to the scope.If it is, input control instruction value be higher than the scope upper boundary values,
Then control module 40 is reduced control instruction value is inputted to upper boundary values.Equally, if input control instruction value is less than the scope
Lower border value, then control module 40 by input control instruction value increase to lower border value.
In frame 345, control module 40 is based on vehicle velocity signal 250 and damping scale factor signal 272 produces temporary transient resistance
Buddhist nun instructs.In embodiments, control module 40 produces damping scale factor signal 272 using low pass filter, to cause chi
The value of the degree factor is just increased to input control from the no damping force of instruction when inputting control instruction and starting to exceed the scope and referred to
264 initial value (for example, zero) is made to be gradually increasing.Control module 40 also produces the damping for being increased to input control instruction 264
Command signal.
In frame 350, control module 40 adjusts counter by making counter-increments.In frame 355, control module 40 determines
Whether counter is more than threshold counter value.Counter is more than threshold counter value it is meant that input control instruction 264 has surpassed
Go out the scope and reach the pre-determining duration, its long enough is to conclude that input control instruction 264 should be failure or wrong.Pass through
Using the counter that can be incremented or be reduced, in it is determined that input control instruction 264 is available or unavailable, control module 40 is drawn
Enter sluggishness.It is, the use of counter prevents from inputting control instruction 264 between error condition and non-erroneous condition excessively frequently
Numerous switching.
When control module 40 is more than threshold counter value in the determines counting device of frame 355, control module 40 is sent in frame 360
Final control instruction 276 is used as in acquiescence control instruction caused by frame 315 to steering 12.When control module 40 is in frame 355
When determines counting device is less than or equal to threshold counter value, control module 40 is produced in frame 365 and temporarily damped caused by frame 345
Instruction and the summation of the input control instruction 264 received in frame 305.Control module 40 sends the summation as final control instruction
276.In embodiments, control module 40 alternatively produces and sent DTC (DTC) in frame 360 and 365, and it refers to
Show that input control instruction 264 exceeds the scope.
Fig. 4 describes the block diagram of the control module 40 of Fig. 1 according to some embodiments of the present invention.Especially, show in Fig. 4
The embodiment of the control module 40 gone out is identical with the embodiment of control module 40 shown in figure 2, except Fig. 4 shows to control
Molding block 40 extraly includes comparison module 405 and recovers decision module 410.Border determining module 205, the phase of control module 40
Position adjusting module 210, limiter block 215, default instruction generation module 220, damping yardstick generation module 235 and temporarily damping
The input and output signal of command generation module 240 and these modules is not shown in FIG. 4 so as to the simplicity illustrated and described.
As described above, when error condition status signal 270 indicates that input control instruction 264 is not available (that is, by counting
When the counter that keeps of device module 230 be more than threshold counter value) when, final control instruction generation module 245 sends acquiescence and controlled
System instruction 266 to steering 12 (Fig. 1) is used as final control instruction 276.
In embodiments, acquiescence control instruction 266 is begun to send out to steering system in final control instruction generation module 245
After system 12, cross bounds checking module 225 and persistently determine whether input control instruction 264 exceeds the top sector signal 258 by adjusting
The scope limited with the following sector signal 260 of adjustment.Acquiescence control instruction is begun to send out in final control instruction generation module 245
After 266, Timer module 230 persistently keeps counter.It is, based on by crossing, bounds checking module 225 is caused to cross border
Status signal 268, Timer module 230 persistently make counter-increments or decrement.However, in embodiments, Timer module
230 are covered in the Counter Value at threshold counter value.Specifically, once counter becomes greater than threshold counter value, timing
Device module 230 just sets counter to threshold counter value, and counter-increments is higher than threshold counter value, i.e.,
Made the instruction input control of boundary condition signal 268 perform 264 to rest on outside the scope.In embodiments, the threshold count
Device value can be different from for determining the threshold counter value of switches default control instruction 266.
When counter is decremented to initial value (for example, zero), Timer module 230 is by error condition status signal 270
Setting to instruction input control instruction 264 is available value (for example, zero).Timer module 230 sends error condition state letter
Numbers 270 to recovering decision module 410.
The monitoring of comparison module 405 input control instruction 264 and final control instruction 276.In embodiments, comparison module
405 compare input control instruction 264 and final control instruction to produce difference status signal 415, and its instruction is sent to steering system
Whether the final control instruction 276 and input control instruction 264 of system 12 are in threshold difference.When final control instruction 276 is acquiescence
During control instruction 266, comparison module 405 compares input control instruction 264 and acquiescence control instruction 266.
Recover decision module 410 based on error condition status signal 270 and difference status signal 415 to determine whether from acquiescence
Control instruction 266 switches back to input control instruction 410.Specifically, in embodiments, recover decision module 410 to determine：When
When following two condition meets, input control instruction 264 should be recovered as final control instruction 276.The first of two conditions
Individual to be, error condition status signal is not that available value (for example, one) switches to instruction input from instruction input control instruction 264
Control instruction 264 is available another value (for example, zero).Second of two conditions is that the instruction of difference status signal 415 is silent
Control instruction 266 and input control instruction 264 are recognized within threshold difference.The second condition is examined to ensure to refer to from acquiescence control
The transition for making 266 to input control instruction 264 is smooth-going.For example, when it is assist torque instruction to input control instruction 264,
Recover decision module 410 and firmly believe that from the instruction of acquiescence assist torque be to smooth out to the transition of assist torque instruction, and the not side of causing
To any discontinuous sensation on disk.More specifically, for example, acquiescence control instruction and the time-based of input control instruction mix
Close the transition that can be used to ensure that smooth-going.
Recover decision module 410 and produce recovery status signal 420, it reflects whether to switch back into from acquiescence control instruction 266
To the decision of input control instruction 264.When the recovery instruction of status signal 420 should switch, final control instruction produces mould
Block 245 will give tacit consent to control instruction 266 and be replaced by input control instruction 264, as the final control for being sent to steering 12
Instruction 276.
The exemplary operations of the embodiment of the control module 40 shown in Fig. 4 are described referring now to Fig. 1-5.Fig. 5 be according to
According to some embodiments of the present invention for the flow chart for the control method that can be performed by control module 40.Such as in the present invention
Teaching under it is to be realized that, the order of operation in this method is not constrained to order shown in Fig. 5 and performed, but applicable
When and according to the present invention can with one or more change order perform.
In frame 505, control module 40 determines whether acquiescence control instruction 266 is just being sent to steering 12 as final
Control instruction 276.If acquiescence control instruction 266 is not sent, control module 40 is carried out to frame 525 to continue to send input
Control instruction 264 or input control instruction 264 instruct 274 summation with temporarily damping.
When control module 40 determines that acquiescence control instruction 266 is just issued in frame 505, control module 40 is true in frame 510
Surely in the range of whether input control instruction 264 has rested on and has been limited by upper boundary values signal 258 and lower border value signal 260
Wait to be resumed up to the sufficiently long duration.In embodiments, control module 40 is referred to using counter to determine to input control
Make whether 264 reach threshold duration within the range.Specifically, for example, control module 40 is in input control instruction
264 are reduced counter and make counter-increments when inputting control instruction 264 and exceeding the scope when stopping in this range.
When counter be decremented to instruction input control instruction 264 stopped in this range up to threshold duration value (for example,
Zero) when, control module 40 determines that input control instruction 264 can be resumed.
Threshold duration is reached within the range when control module 40 determines that input control instruction 264 does not stop in frame 510
When, control module 40 is carried out to frame 530 to continue to send acquiescence control instruction 266.When control module 40 determines to input in frame 510
Control instruction 264 has been stopped when reaching threshold duration within the range, and control module 40 is carried out to frame 515 to determine to input
Whether control instruction 264 and acquiescence control instruction 266 are in threshold difference.In embodiments, control module 40 controls from acquiescence
Instruction 266 subtracts input control instruction 264 to calculate the poor difference signal between indicator 264 and 266.If difference is believed
Number threshold difference is descend below, then control module 40 determines the difference in threshold difference.
When control module determines input control instruction 264 and acquiescence input control instruction 266 not in threshold difference in frame 515
When, control module 40 continues to send acquiescence control instruction 266 in frame 530.When control module determines input control instruction in frame 515
264 and acquiescence control instruction 266 in threshold difference when, control module 40 frame 520 will give tacit consent to control instruction 266 using input control
System instructs 264 to replace, and steering 12 is sent to as final control instruction 276.
Although the present invention is described in detail in the embodiment of combined only limit quantity, it should be easily understood that,
The present invention is not limited to these disclosed embodiments.On the contrary, the present invention can be modified to merge it is any amount of not public before this
The deformation, change, replacement or the equivalent arrangements that are still matched with the spirit and scope of the present invention opened.In addition, though have been described above
The numerous embodiments of the present invention, however, it is understood that the aspect of the present invention can only include one in described embodiment
A bit.Therefore, the present invention should not be seen as being limited by foregoing disclosure.
Claims (15)
1. a kind of abnormal method in the first control instruction for reducing the power steering system for controlling vehicle, methods described
Including：
The range signal of indicator value scope is produced based on multiple input signals；
Determine whether first control instruction beyond the scope is longer than the pre-determining duration；And
In response to determining that first control instruction was shorter than beyond the scope or equal to the pre-determining duration, by described in
First control instruction is restricted to the scope and sends restricted first control instruction to the power steering system.
2. the method as described in claim 1, it is characterised in that also include：
Subset based on the multiple input signal produces the second control instruction；And
In response to determining that first control instruction is longer than the pre-determining duration beyond the scope, described second is controlled
System instruction is sent to power steering system.
3. method as claimed in claim 2, it is characterised in that the subset of the multiple input signal turns including steering wheel
At least one of square signal, steering wheel angle position signal and steering wheel rate signal, wherein, the multiple input signal includes
Vehicle velocity signal, and the subset of the input signal does not include vehicle velocity signal.
4. the method as described in claim 1, it is characterised in that the range signal bag is produced based on the multiple input signal
Include the lower border value of the upper boundary values and the scope that change the scope.
5. the method as described in claim 1, it is characterised in that also include the phase and described first of the synchronous range signal
The phase of control instruction.
6. the method as described in claim 1, it is characterised in that determine whether first control instruction is grown beyond the scope
In the pre-determining duration including the use of counter.
7. the method as described in claim 1, it is characterised in that determine whether first control instruction is grown beyond the scope
Include in the pre-determining duration：
In response to determining that first control instruction makes counter-increments beyond the scope；
In response to determining that first control instruction is reduced counter without departing from the scope；
Compare the counter and threshold counter value；
If the counter is more than the threshold counter value, it is determined that first control instruction is longer than beyond the scope
The pre-determining duration；With
If the counter is less than or equal to the threshold counter value, it is determined that first control instruction exceeds the model
Enclose and be shorter than or equal to the pre-determining duration.
8. method as claimed in claim 2, it is characterised in that also include：
While second control instruction is sent, determine whether first control instruction has been rested in the scope
It is longer than another pre-determining duration；
Determine first control instruction and the second control instruction whether in threshold difference；And
It is longer than another pre-determining duration in response to determining that first control instruction has been rested in the scope
And first control instruction and the second control instruction be in the threshold difference, instead of second control instruction, will described in
First control instruction is sent to steering order.
9. the method as described in claim 1, it is characterised in that also include：
Once first control instruction exceeds the scope, just by starting to increase scale factor from initial value to produce yardstick
Factor signal；
Damping instruction is produced based on vehicle velocity signal and the scale factor signal；And
First control instruction of the limitation is mixed with the damping instruction and turned so that the instruction of mixing is sent to the power
To system.
10. the method as described in claim 1, it is characterised in that first control instruction be based on steering wheel rate signal and
At least one of steering wheel torque signal produces.
11. a kind of Vehicular system, including：
Carried out the power steering system of command operating by the first control instruction；
Control module, it is configured to：
The range signal of indicator value scope is produced based on multiple input signals；
Subset based on the multiple input signal produces the second control instruction；
Determine whether first control instruction beyond the scope is longer than the pre-determining duration；And
In response to determining that first control instruction is longer than the pre-determining duration beyond the scope, described second is sent
Control instruction is to the power steering system.
12. system as claimed in claim 11, it is characterised in that control module is also configured to：In response to determining described first
Control instruction is shorter than beyond the scope or equal to the pre-determining duration, first control instruction is restricted to described
Scope and restricted first control instruction is sent to the power steering system.
13. system as claimed in claim 11, it is characterised in that control module is configured to, based on the multiple input signal
The range signal is produced by changing the upper boundary values of the scope and the lower border value of the scope.
14. system as claimed in claim 13, it is characterised in that control module is also configured to the phase of the synchronous range signal
Position and the phase of the first control instruction.
15. system as claimed in claim 13, it is characterised in that control module is also configured to：
While the second control instruction is sent, determine the first control instruction whether rested in the scope be longer than it is another
The pre-determining duration；
Determine the first control instruction and the second control instruction whether in threshold difference；And
If first control instruction, which has been rested in the scope, is longer than another pre-determining duration and such as
First control instruction described in fruit and the second control instruction are in the threshold difference, instead of second control instruction, by described
One control instruction is sent to steering order.
Applications Claiming Priority (6)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201361893441P | 2013-10-21 | 2013-10-21 | |
| US201361893455P | 2013-10-21 | 2013-10-21 | |
| US61/893441 | 2013-10-21 | ||
| US61/893455 | 2013-10-21 | ||
| US14/518370 | 2014-10-20 | ||
| US14/518,370 US9598102B2 (en) | 2013-10-21 | 2014-10-20 | Systematic abnormality detection in control commands for controlling power steering system |
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| CN104590363A CN104590363A (en) | 2015-05-06 |
| CN104590363B true 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6467670B2 (en) * | 2015-11-04 | 2019-02-13 | 日立オートモティブシステムズ株式会社 | Power steering device and control device for power steering device |
| CN112731900B (en) * | 2019-10-14 | 2023-08-04 | 北京京东乾石科技有限公司 | Unmanned vehicle monitoring method and device |
| CN110979349B (en) * | 2019-12-10 | 2021-11-23 | 北京经纬恒润科技股份有限公司 | Control instruction distribution method and system for chassis domain of automatic driving automobile |
| CN111694368A (en) * | 2020-06-04 | 2020-09-22 | 哈尔滨工业大学 | Six-degree-of-freedom platform control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3063893B2 (en) * | 1997-01-07 | 2000-07-12 | 本田技研工業株式会社 | Electric power steering device |
| US7559405B2 (en) * | 2003-08-28 | 2009-07-14 | Nsk Ltd. | Controller for electric power steering device |
| JP2008068777A (en) * | 2006-09-15 | 2008-03-27 | Toyota Motor Corp | Electric power steering device |
| JP4631928B2 (en) * | 2008-05-12 | 2011-02-16 | トヨタ自動車株式会社 | Vehicle steering device |
| DE102009048092A1 (en) * | 2009-10-02 | 2011-04-07 | Thyssenkrupp Presta Ag | Safety device for electric power steering |
| WO2012042629A1 (en) * | 2010-09-30 | 2012-04-05 | 三菱電機株式会社 | Control system, and electric power steering control device |
| US9150243B2 (en) * | 2010-11-23 | 2015-10-06 | Steering Solutions Ip Holding Corporation | Harmonic pinion torque correction |
| WO2013061391A1 (en) * | 2011-10-24 | 2013-05-02 | 三菱電機株式会社 | Electric power steering apparatus |
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