CN106956717A - Detect the system and method for steering wheel angle sensor failure - Google Patents
Detect the system and method for steering wheel angle sensor failure Download PDFInfo
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- CN106956717A CN106956717A CN201610015481.2A CN201610015481A CN106956717A CN 106956717 A CN106956717 A CN 106956717A CN 201610015481 A CN201610015481 A CN 201610015481A CN 106956717 A CN106956717 A CN 106956717A
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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
- B62D5/049—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 sensor failures
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- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
The present invention provides a kind of system and method for detecting steering wheel angle sensor failure, mainly includes：Steering wheel angle sensor, motor rotation position resolver and central control unit, pass through the initial value of the steering wheel rotational angle signal of central control unit read direction disk rotary angle transmitter, and calculate steering wheel angle estimated value using motor rotation position resolver, whether the actual value and the error amount of steering wheel angle estimated value between the two for comparing steering wheel rotational angle signal are less than admissible error value, such as larger than then the failed steering wheel rotational angle signal of utilization orientation disk angle estimated value replacement is used the admissible error value as central control unit progress subsequent control, to maintain the operating handle of driver.
Description
Technical field
The present invention relates to vehicle electric servo steering system, more particularly to a kind of system for detecting steering wheel angle sensor failure
And its method.
Background technology
It can be used more than current automaker in vehicle steering installation direction disk rotary angle transmitter (steering angle sensor, SAS)
To measure the angle and angular speed of driver turns' steering wheel, direction disk rotary angle transmitter is except for obtaining driver turns side
To outside the information of disk angle, further information is provided to central control unit, as wheel steering system and to turn to start
Reference information.
The steering wheel angle sensor of automobile is typically mounted in the steering spindle of steering column tube, is turned when driver turn steering wheel drives
When being rotated to axle, steering wheel angle sensor senses the direction of steering axes and the angle of rotation, is used as electric boosted turn
The input letter of central control unit (Electronic Control Unit, ECU) into system (Electric Power Steering, EPS)
One of number, the size and Orientation of ECU power-assisteds according to needed for the torque of input and GES are obtained by rational arithmetic, and to electricity
Motivation sends control signal, and motor exports corresponding torque according to control signal, and is transmitted via reducing gear and rack-and-pinion
To track rod, power-assisted steering is completed.
EPS central control unit (ECU) is got after these information, by judge after calculating automobile can normal safe traveling and
Driver manipulate torque differences that motor turning is intended to away from, then, instruction is sent by ECU, the auxiliary force of adjustment motor so that
The light and heavy degree of force needed for motorist is turned to is corrected, the driving safety of automobile is lifted.
And EPS must be provided with steering wheel angle sensor, steering wheel angle sensor can for steering wheel angle to be converted into one
To represent the signal of the desired travel direction of driver, EPS is known by the size and corner rate of change of calculated direction disk corner
The operation of other driver is intended to, but when steering wheel angle sensor is damaged suddenly, ESP central control unit will be unable to
The steering direction of the operation automobile of driver is determined, and influences the feel of driver's operation steering wheel.
Refering to U.S. Patent number US8849498B2, US20080039996A1, CN100519301C, its major technique is to compare
Whether motor direction of rotation is consistent with wheel steering angle direction, if consistent then represent that steering wheel angle signal is normal, if not
Unanimously, then compare motor direction of rotation again whether consistent with steering wheel torque direction, walked again again if unanimously then returning to the superiors
Rapid flow, judges the failure of wheel steering angle signal, and fail message is shared to other control modules if inconsistent.
Foregoing publication technology, although can accomplish whether detection wheel steering angle signal is normal or fails, but detection
Whether mode whether compares motor direction of rotation consistent with wheel steering angle direction, or compares motor direction of rotation and direction
Whether disk torque direction is consistent, is all to use direction as judgement direction, but only rely on direction as determinating reference, dependent variable
It is excessive and be unable to reach accurate judgement, judgement error is easily caused, and foregoing public technology only discloses how to judge wheel steering
Angle signal fails, and having no can be with the technological means of alternative orientation disk steering angle signal, therefore works as steering wheel rotational angle signal
Control system can be caused during catastrophic failure can not use angle signal and lose other functions, and influence driver's operation steering wheel
Operating handle.
And Japan Patent JP2014054890, it mainly uses wheel steering corner, vehicle yaw rate, transverse acceleration
These three signals judge whether angular transducer is abnormal, if sensor display is abnormal, under different speeds, are turned round by steering wheel
Whether square is corresponding in set zone of reasonableness value with angle signal, and carries out the counting of errors number, when errors number reaches
Default counting setting value, then judge the failure of steering wheel angle signal.
Foregoing publication technology, is equally to disclose whether detection wheel steering angle signal normal or failure, but have the disadvantage must
Sensor (vehicle yaw rate, transverse acceleration) need to be increased, in addition to cost is improved, and in general vehicle electric power-assisted steering
In system, the information of the sensor such as Vehicular yaw and transverse acceleration is typically to be obtained by external signal, vehicle travel process this
Two kinds of signals can not actually be obtained, and lead to not reach testing goal, in addition foregoing public technology equally only disclose how
Judge the failure of wheel steering angle signal, having no can be with the technological means of alternative orientation disk steering angle signal, therefore works as direction
Control system can be caused during disk rotational angle signal catastrophic failure can not use angle signal and lose other functions, and influence is driven
The person of sailing operates the operating handle of steering wheel.
Therefore, how to improve when steering wheel rotational angle signal fails, related will not cause the control system can not use direction disk
Rotational angle signal and lose other functions, and the operating handle of influence driver's operation steering wheel is research and development of the invention primary
Problem.
The content of the invention
The present invention provides a kind of system and method for detecting steering wheel angle sensor failure, and its main purpose is when steering wheel turns
During dynamic angle signal failure, replacement signal is used as by steering wheel angle estimated value and delivers to central control unit, it is to avoid because of funeral suddenly
Lose direction disk rotational angle signal and influence the operating handle of steering wheel.
The present invention provides a kind of system and method for detection steering wheel angle sensor failure, and its secondary objective is read direction disk
The initial value of the steering wheel rotational angle signal of rotary angle transmitter, and calculate steering wheel angle using motor rotation position resolver and estimate
Measured value.
For up to object defined above, the system and method for the detection steering wheel angle sensor failure that the present invention is provided mainly include：
Steering wheel angle sensor, motor rotation position resolver and central control unit, the direction is read by the central control unit
The initial value of the steering wheel rotational angle signal of disk rotary angle transmitter, and calculate steering wheel angle using the motor rotation position resolver
Estimated value is spent, whether small compares error amount of the actual value of steering wheel rotational angle signal with direction disk angle estimated value between the two
In admissible error value, the such as larger than admissible error value then substitutes failed steering wheel angle of rotation using direction disk angle estimated value
Degree signal carries out subsequent control as the central control unit and used, to maintain the operating handle of driver.
Brief description of the drawings
Fig. 1 is vehicle electric servo steering system structural representation of the invention.
Fig. 2 is the system block diagrams for detecting steering wheel angle sensor failure of the invention.
Fig. 3 is the method flow diagram for detecting steering wheel angle sensor failure of the invention.
Fig. 4 is a kind of motor rotation position signal variation diagram of the invention.
Fig. 5 is another motor rotation position signal variation diagram of the invention.
Fig. 6 is steering wheel angle estimated value of the invention and the graph of relation of the actual value of steering wheel rotational angle signal.
Sign flag explanation in accompanying drawing：
1 is steering wheel；2 be tire；10 be steering wheel angle sensor；20 be central control unit；30 be torque sensor；
40 be vehicle speed sensor；50 be motor；60 be motor rotation position resolver.
Embodiment
Clear, complete description is carried out to technical scheme below in conjunction with accompanying drawing, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill people
The every other embodiment that member is obtained on the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the present invention discloses a kind of system for detecting steering wheel angle sensor failure, the system includes：
Steering wheel angle sensor 10, links with the steering wheel 1 of vehicle, to obtain steering wheel rotational angle signal and be sent to
Central control unit 20；
Torque sensor 30, links with steering wheel angle sensor 10, to detect input shaft and axle shaft that side steering wheel is rotated
Between relative displacement signal and be sent to central control unit 20；
Vehicle speed sensor 40, to receive speed signal and be sent to central control unit 20；
Motor 50, is connected by reducing gear 3, vehicle drag link 4 with tire 2, receives what central control unit 20 was exported
The auxiliary power that control electric current and offer are smoothly turned to gives drag link 4 and drives tire 2 to turn to；
Motor rotation position resolver 60, output motor rotation position signal is to central control unit 20 to control the motor 50；
And
Central control unit 20, the initial value of read direction disk rotational angle signal, and calculated using motor rotation position signal
Steering wheel angle estimated value.
In embodiments of the invention, central control unit 20 detects the steering wheel rotational angle signal of steering wheel angle sensor 10
Whether abnormal, such as steering wheel rotational angle signal is detected as normal person, and central control unit 20 just interrogate by read direction disk rotational angle
Number initial value, and motor rotation position resolver 60 motor rotation position signal, calculate steering wheel angle estimated value；
Therefore when steering wheel rotational angle signal fails, replacement signal can be used as by direction disk angle estimated value and delivers to center
Control unit 20, makes central control unit 20 as the calculating of auxiliary compensation logic, it is to avoid rotated because losing direction disk suddenly
Angle signal and the operating handle for influenceing steering wheel.
Wherein, steering wheel angle estimated value is learnt by following calculating formula：
The definition of above-mentioned each parameter of calculating formula：θ：The signal of motor rotation position resolver；θ_delay：Motor rotation position is solved
Angle device postpones the signal of sample time；θ_init：The initial value of motor rotation position resolver；θ_add：Motor rotation position Xie Jiao
The variable quantity of device；P：Position resolver turns around the numerical value (ex of (360 degree):Count=3*4095)；Sr：Line angle gearratio；L：
Screw rod helical pitch；Gr：Belt pulley speed reducing ratio；r：Total reduction ratio；angle_init：The initial value of steering wheel angle sensor；angle_est：
Steering wheel angle estimated value；
In first embodiment of the invention, as shown in figure 4, display motor rotation position signal θ _ init be changed to θ (incremental situation,
Steering wheel is represented to rotate forward), by overflow i=2 twice, substitution meets i>0 calculating formula, calculates motor rotation position resolver
Variable quantity θ _ add.
Separately, in second embodiment of the invention, as shown in figure 5, display motor rotation position signal θ _ init is changed to θ and (successively decreased
Situation, represents steering wheel to reverse), by overflow i=-2 twice, substitution meets i<0 calculating formula, you can calculate motor rotation
Variable quantity θ _ add of position resolver.
And, refering to shown in Fig. 6, the actual value of display direction disk angle estimated value and steering wheel rotational angle signal is through above-mentioned meter
Graph of relation obtained by formula.According to Fig. 6, it is 3112 to show steering wheel angle estimated value, steering wheel rotational angle news
Number actual value be 2997, be such as converted into angle value between the two only about 5 degree or so of difference (3112-2997=115,
115*180/4095=5.054), it can thus be appreciated that difference between the actual value of steering wheel angle estimated value and steering wheel rotational angle signal
It is different very small, therefore when direction disk rotational angle signal fails, can be used as really by direction disk angle estimated value for
The central control unit 20 is delivered to for signal, the central control unit 20 is made using the calculating as auxiliary compensation logic, it is to avoid because
Lose direction disk rotational angle signal suddenly and influence the operating handle of steering wheel.
Again as shown in Figure 2,3, the method for a kind of detection steering wheel angle sensor failure of the invention, its step is：
Whether S1, detection steering wheel rotational angle signal are abnormal, and such as testing result is directly entered S7 steps extremely, otherwise as detected
As a result it is normal then to enter S2 steps；
S2, the initial value for reading direction disk rotational angle signal, and calculate steering wheel angle using motor rotation position signal
Estimated value；
Whether S3, the error amount of the actual value for comparing steering wheel rotational angle signal and direction disk angle estimated value between the two are less than
Admissible error value (in the embodiment of the present invention, the admissible error value is default interior for optimum value with ± 10 degree), such as less than this allows to miss
Difference then enters S6 steps, the such as larger than admissible error value, then into S4 steps；
S4, angle failure mode, entry angle failure mode represent the steering wheel rotational angle news of the steering wheel angle sensor
Number failure, into S5 steps；And
S5, the replacement signal of direction disk rotational angle signal is used as by the use of direction disk angle estimated value, it is to avoid in driving procedure
The operating handle of steering wheel is influenceed because direction disk rotational angle signal loses signal；
S6, general modfel, are to represent to judge the actual value of direction disk rotational angle signal and direction disk into general modfel
The error amount of angle estimated value between the two is less than the admissible error value, is continuing with the actual value of direction disk rotational angle signal；
S7, steering wheel rotational angle signal are abnormal, are to represent that direction disk rotational angle signal occurs exception in home detection,
Therefore when entering this step, vehicle can not start, it is to avoid in driving procedure because of direction disk rotational angle signal anomalous effects row
Sail safety.
In other words, topmost technological means of the invention is the initial value for being rotationally movable thereby angle signal, and utilizes motor rotation
Turn position signal and calculate steering wheel angle estimated value, and compare the actual value of steering wheel rotational angle signal to estimate with steering wheel angle
Whether the error amount of measured value between the two is less than default admissible error value (in ± 10 degree), such as less than then represents steering wheel rotational angle
Signal is normal, otherwise if more than ± 10 degree, otherwise representing that steering wheel rotational angle is signal failure, next step is by steering wheel angle
Spend estimated value and substitute failed steering wheel rotational angle signal, with steering wheel angle estimated value angle_est in previous embodiment not
By (steering wheel rotating forward) or successively decreasing (steering wheel reverse) being incremented by, and reference table three calculates steering wheel angle estimated value and steering wheel
Difference between the actual value of rotational angle signal is very small, therefore is rotated using direction disk angle estimated value for direction disk
The replacement signal of angle signal give central control unit 20 really can as auxiliary compensation logic calculating, it is to avoid because suddenly funeral
Lose direction disk rotational angle signal and influence the operating handle of steering wheel.
Thus, the present invention, which compares known technology, has following advantages：
First, the present invention is belonged in general vehicle electric using the original motor rotation position resolver of steering wheel angle is monitored
The sensor that must be just used for control motor in servo steering system, the problem of having no extra increase sensor cost.
2nd, the steering wheel angle estimated value and the actual value difference of steering wheel rotational angle signal calculated is very small, display
The steering wheel angle estimated value of the present invention has certain accuracy really, thus when steering wheel rotational angle signal therefore when number failure when,
It can be used to alternative orientation disk rotational angle messenger use, it is to avoid the possibility of partial loss of function, and maintain the hand of driver as far as possible
Sense.
In summary, the various embodiments described above and accompanying drawing are only presently preferred embodiments of the present invention, not to limit the present invention's
Protection domain, within the spirit and principles of the invention, any modifications, equivalent substitutions and improvements done etc. should all be included
Within the scope of the present invention.
Claims (10)
1. a kind of system for detecting steering wheel angle sensor failure, in vehicle electric servo steering system, it is characterised in that
The system of the detection steering wheel angle sensor failure includes：
Steering wheel angle sensor, to obtain steering wheel rotational angle signal and be sent to central control unit；
Motor, horizontal drawing is given to receive control electric current that the central control unit exported and provide the power-assist power smoothly turned to
Bar drives Vehicular turn；And
Motor rotation position resolver, exports motor rotation position signal to the central control unit, and to control the horse
Reach；
Wherein, the central control unit reads the initial value of the steering wheel rotational angle signal, and utilizes motor rotation
Position signal calculates steering wheel angle estimated value, and compares the actual value and the steering wheel angle of steering wheel rotational angle signal
Whether the error amount of estimated value between the two is less than admissible error value, such as larger than, then it represents that the steering wheel rotational angle signal loses
Effect, then be used as replacement signal by the steering wheel angle estimated value and deliver to the central control unit.
2. the system of detection steering wheel angle sensor failure according to claim 1, it is characterised in that the steering wheel
Angle estimated value adds the variable quantity of motor rotation position resolver for the initial value of the steering wheel angle sensor.
3. the system of detection steering wheel angle sensor failure according to claim 2, it is characterised in that when motor rotation
Incremental situation is presented in position signal, and the variable quantity of motor rotation position resolver is learnt by following calculating formula：
θ _ add=[(4095- θ _ init)+(i-1) * 4095+ θ]/r/p；
θ_add：The variable quantity of motor rotation position resolver；
θ：Motor rotation position resolver signal；
θ_init：The initial value of motor rotation position resolver；
r：Total reduction ratio；
P：Resolver rotation in motor rotation position is turned around the numerical value of (360 degree).
4. the system of detection steering wheel angle sensor failure according to claim 2, it is characterised in that when motor rotation
Situation about successively decreasing is presented in position signal, and the variable quantity of motor rotation position resolver is learnt by following calculating formula：
θ _ add=[(0- θ _ init)+(i+1) * 4095+ (θ -4095)]/r/p；
θ_add：The variable quantity of motor rotation position resolver；
θ：Motor rotation position resolver signal；
θ_init：The initial value of motor rotation position resolver；
r：Total reduction ratio；
P：Resolver rotation in motor rotation position is turned around the numerical value of (360 degree).
5. the system of detection steering wheel angle sensor failure according to claim 1, it is characterised in that described to allow to miss
Difference is interior for optimum value with ± 10 degree.
6. the system of detection steering wheel angle sensor failure according to claim 1, it is characterised in that the detection side
Also include torque sensor and vehicle speed sensor to the system of disk rotary angle transmitter failure, the torque sensor is to detect direction
Disk rotate input shaft and axle shaft between relative displacement signal and be sent to the central control unit；The vehicle speed sensor is used
To receive speed signal and be sent to the central control unit.
7. a kind of method for detecting steering wheel angle sensor failure, it is characterised in that the detection steering wheel angle sensor event
The step of method of barrier is：
Whether S1, detection steering wheel rotational angle signal abnormal, as testing result normally if enter S2 steps；
S2, the initial value for reading the steering wheel rotational angle signal, and calculated using motor rotation position signal
Outgoing direction disk angle estimated value；
Error amount of the actual value of steering wheel rotational angle signal with the steering wheel angle estimated value between the two is described in S3, comparison
It is no to be less than admissible error value, such as larger than described admissible error value, then into S4 steps；
S4, angle failure mode, entry angle failure mode represent the steering wheel rotational angle news of the steering wheel angle sensor
Number failure, into S5 steps；And
S5, the replacement signal of the steering wheel rotational angle signal is used as by the use of the steering wheel angle estimated value.
8. the method for detection steering wheel angle sensor failure according to claim 7, it is characterised in that in S3 steps,
If the actual value and the error amount of the steering wheel angle estimated value between the two that judge the steering wheel rotational angle signal are less than described
During admissible error value, into S6 steps：General modfel, is the reality for judging the steering wheel rotational angle signal into general modfel
Actual value is less than the admissible error value with the error amount of the steering wheel angle estimated value between the two, is continuing with the steering wheel and turns
The actual value of dynamic angle signal.
9. the method for detection steering wheel angle sensor failure according to claim 7, in S1 steps, if detection is described
Steering wheel rotational angle signal is abnormal, into S7 steps：The steering wheel rotational angle signal is abnormal, represents the steering wheel
Rotational angle signal occurs exception in home detection, therefore is that display vehicle abnormality reminds driver when entering this step,
Avoid in driving procedure because of the steering wheel rotational angle signal anomalous effects driving safety.
10. the method for detection steering wheel angle sensor failure according to claim 7, it is characterised in that described to allow to miss
Difference is interior for optimum value with ± 10 degree.
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| CN201610015481.2A CN106956717A (en) | 2016-01-11 | 2016-01-11 | Detect the system and method for steering wheel angle sensor failure |
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| CN107544366A (en) * | 2017-10-24 | 2018-01-05 | 宝鸡石油机械有限责任公司 | Redundant sensor signal acquisition and processing method in a kind of automatic control system |
| CN108100030A (en) * | 2017-12-20 | 2018-06-01 | 东风汽车集团有限公司 | The method and system of steering wheel angle verification are realized based on EPS |
| CN109229202A (en) * | 2018-11-12 | 2019-01-18 | 合肥众建翔新能源有限公司 | A kind of new-energy automobile electric power steering apparatus |
| CN109533007A (en) * | 2017-09-21 | 2019-03-29 | 操纵技术Ip控股公司 | Wire-controlled steering system diagnosis |
| CN109664936A (en) * | 2017-10-17 | 2019-04-23 | 操纵技术Ip控股公司 | Driver's warning in electric boosting steering system |
| CN112441114A (en) * | 2019-09-03 | 2021-03-05 | 博世华域转向系统有限公司 | Method for calculating hand force of steering wheel when torque sensor fails |
| US10946894B2 (en) | 2017-10-17 | 2021-03-16 | Steering Solution Ip Holding Corporation | Driver warning in electric power steering systems |
| US20210245798A1 (en) * | 2020-02-11 | 2021-08-12 | Toyota Jidosha Kabushiki Kaisha | Steering device and steering system including steering devices |
| CN113753126A (en) * | 2020-06-04 | 2021-12-07 | 广州汽车集团股份有限公司 | Automobile steering system, absolute angle diagnosis method of steering wheel of automobile steering system, automobile and medium |
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| US20210245798A1 (en) * | 2020-02-11 | 2021-08-12 | Toyota Jidosha Kabushiki Kaisha | Steering device and steering system including steering devices |
| US11634172B2 (en) * | 2020-02-11 | 2023-04-25 | Toyota Jidosha Kabushiki Kaisha | Steering device and steering system including steering devices |
| CN113753126A (en) * | 2020-06-04 | 2021-12-07 | 广州汽车集团股份有限公司 | Automobile steering system, absolute angle diagnosis method of steering wheel of automobile steering system, automobile and medium |
| CN115593510A (en) * | 2022-11-30 | 2023-01-13 | 禾多科技（北京）有限公司（Cn） | Vehicle control method and device, storage medium, and electronic device |
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