CN109625079A - The control method and controller of automobile electric booster steering system (EPS) - Google Patents
The control method and controller of automobile electric booster steering system (EPS) Download PDFInfo
- Publication number
- CN109625079A CN109625079A CN201811247189.9A CN201811247189A CN109625079A CN 109625079 A CN109625079 A CN 109625079A CN 201811247189 A CN201811247189 A CN 201811247189A CN 109625079 A CN109625079 A CN 109625079A
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- Prior art keywords
- request
- eps
- priority
- steering system
- electric booster
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012512 characterization method Methods 0.000 claims description 2
- 238000003745 diagnosis Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005520 electrodynamics Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
Classifications
-
- 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
Abstract
This application discloses a kind of control methods for being used for automobile electric booster steering system (EPS) comprising the priority of customized all external requests of EPS by way of configuration code is written；When EPS receives two or more external requests at the same time, EPS obtains the precedence information of each external request according to the configuration code of write-in automatically；The validity of external request is successively judged according to priority orders；And effective external request is executed according to priority orders according to judging result.
Description
Technical field
The present invention relates to electric cars, more specifically, are related to the control method of electric car servo steering system.
Background technique
The electric boosting steering system that electrodynamic type electronic control steering system is widely used, referred to as EPS (Electric
Power Steering System) it is a kind of directly by the power steering system of motor offer auxiliary torque, it is to turn after machinery
To the third generation steering system after system, hydraulic power steering system, belong to electro-mechanical system.The system is helped by electronic
Power machine directly provides power steering, eliminate power steering oil pump, hose required for hydraulic power steering system, hydraulic axis,
Conveyer belt and loaded on the belt pulley on engine, not only saves energy, but also protection environment.In addition, also having, adjustment is simple, assembly is clever
The characteristics of living and power steering can be provided in several situations.
EPS system handles the signal from steering-wheel torque sensor and vehicle speed sensor, control motor into
Row power-assisted realizes assist function.As vehicle intellectualized degree is higher and higher, interaction is more and more between each system of automobile.EPS
As lateral movement control unit main on automobile, it will receive the control request that more other control units are sent, such as
Steering wheel from radar is shaken request, the torque request of intelligent driving module, the torque request of braking control system, is driven automatically
Sail the corner request etc. of module.EPS can only respond a kind of request a moment, it is necessary to provide technical solution to make
It obtains EPS and is able to respond multiple requests.
Summary of the invention
The present invention provides a kind of control method for being used for automobile electric booster steering system (EPS) comprising is receiving
When more than two external requests, that is, the priority of the external request is obtained, the priority is to ask in advance for the outside
Ask setting；The validity of the external request is successively judged according to priority orders, and in the effective feelings of the external request
The request is executed under condition.
Illustratively, control method for being used for automobile electric booster steering system (EPS), wherein the external request includes
Braking system torque request, radar vibrate request, intelligent driving torque request, intelligent driving angle request, angle request of parking.
Illustratively, control method for being used for automobile electric booster steering system (EPS), wherein obtain the external request
Priority include: obtain characterization priority there are the configuration codes of position；And the position acquisition indicated by the configuration code should
The priority of external request.
Illustratively, control method for being used for automobile electric booster steering system (EPS), wherein configuration code instruction should
The position of byte where priority.
Illustratively, control method for being used for automobile electric booster steering system (EPS), wherein for characterizing priority
Byte have 2, characterize a priority respectively with three positions in the byte.
Illustratively, control method for being used for automobile electric booster steering system (EPS), wherein the configuration code and preferential
Grade is settable in the diagnostic mode.
The controller for being used for automobile electric booster steering system (EPS), including storage unit and processor, storage are also provided
Unit for storing instruction, is performed, any one of the above method is performed in the processor.
Detailed description of the invention
It is explained with reference to the disclosure.It is to be appreciated that attached drawing is merely illustrative purpose, and not anticipate
It is construed as limiting to protection scope of the present invention.In the accompanying drawings, identical appended drawing reference is for referring to identical component.Wherein:
Fig. 1 is the flow chart of the exemplary control method for EPS system according to the present invention.
Specific embodiment
It is readily appreciated that, according to the technique and scheme of the present invention, in the case where not changing true spirit, the general skill of this field
Art personnel can propose the various structures mode and implementation being replaced mutually.Therefore, following specific embodiments and attached
Figure is only the exemplary illustration to technical solution of the present invention, and is not to be construed as whole of the invention or is considered as to the present invention
Technical solution defines or limits.
Fig. 1 is the flow chart of the exemplary control method for EPS system according to the present invention.According to this method, in step
S100 obtains the priority of the external request when receiving more than two external requests, wherein the priority is pre-
First for external request setting.More than two external requests referred to herein as two or more external requests.?
Step S102 successively judges the validity of the external request according to priority orders, and executes this in effective situation and ask
It asks.This method described herein is executed by EPS system.Illustratively, the external request that can be requested to EPS system transmission is set in advance
Priority is set, and by setting storage into EPS system.When EPS system for example receives more than two external requests, i.e.,
The priority of the external request is obtained, and successively judges the validity of the external request, Yi Ji according to the priority orders
The request is executed in effective situation.EPS is likely to be while receiving multiple priority, it is also possible to successively receive.First
After the case where receiving be, for example, to execute the EPS of other requests successively to have received external request A and external request B, then right
For it will execute the EPS of external request A and external request B, can judge execute which is first carried out below according to priority
A external request.No matter any, it is arranged priority-based, both contributes to EPS and judge to first carry out which request more
Rationally.The external request that EPS is received refers in each system of vehicle, in addition to EPS system, other systems and/or components
The request of transmission.As an example, these requests are, for example, braking system torque request, radar vibration request, intelligent driving torque
Request, intelligent driving angle request, angle request of parking.Each external request is possible to the request there are many type.
Example according to the invention, obtains the priority of the external request first and is to obtain and characterize the priority there are positions
Configuration code；Then the priority of the external request is obtained according to position indicated by the configuration code.At one of the application
In non-limiting example, which indicates the position of the byte where the priority.It is in advance each request setting in the example
Priority, provide priority by the way of the priority that three positions characterize a request, below in conjunction with table 1 and table 2 into
Row explanation.Table 1 is asked for braking system torque request, radar vibration request, intelligent driving torque request, intelligent driving angle
It asks, the example of angle request of parking setting priority.Table 2 is configuration code explanation.Configuration code characterizes priority there are position, as
Example indicates which byte is the priority of this request be placed in this application.
Table 1
Configuration code and request type are illustrated in conjunction with table 1 and table 2.Braking system torque request, radar vibration request, intelligence are driven
Two continuous positions for sailing torque request are bytes 0 in configuration code；The remaining bit of intelligent driving torque request, intelligent driving angle
It requests, angle request of parking is byte 1 in configuration code.Wherein, braking system torque request occupies position 0, position 1 and position 2, default
Value is 000；Radar vibration request occupies position 3, position 4 and position 5, default value 011；Intelligent driving torque request occupies byte 0
The low level 0 of two high positions 6 and 7 and byte 1, default value 001；Intelligent driving angle request occupy the position 1 of byte 1, position 2 with
Position 3, default value 010.Angle request of parking occupies the position 4 of byte 1, position 5 and position 6, default value 100.Here default value 000
Priority be 1,001 priority be 2,010 priority be 3,011 priority be 4,100 priority be 5.Configuration
Code be in the diagnostic mode it is settable, just for the setting of priority provide comparable flexibility ratio as a result,.It will be appreciated that examining
Disconnected mode is referred to being sent according to diagnosing protocol to EPS and be instructed, and EPS is parsed and stored after instruction is received.
Table 2
External request is received in EPS, i.e., obtains the data of diagnostic configuration code as shown in table 2 from EPS system, into
And the priority of each external request is parsed, thus complete the movement for obtaining these external request priority, i.e. step S100.So
Afterwards, EPS system judges that the validity of each request executes correspondence if the request of priority 1 is effective according to the priority obtained
Request；If invalid, judge whether the request of priority 2 is effective, and so on.If finally effectively asked without any
It asks, that is, returns to step S100, reacquire external request.
As an example, the judgement to external request validity, is to be judged in request according to the information for including.Request is usual
Signal including two aspects, one is the numerical value requested, and one is the signal for characterizing the data-valid states.Judgement is external to ask
Seeking validity is exactly to be judged according to the signal of the data-valid states.For example, automatic parking is requested, it includes request hair
Module requests EPS corner out numerical value and the request of this corner whether effective signal.EPS judge the corner request be
When no effective, i.e., according to the request of this corner, whether effective signal is judged.
It should be noted that configuration code, default value are all exemplary, it is not limited thereto.In addition, although in this column
5 external requests are lifted, but actually external request there can be more.
Example
After EPS system starting, radar vibration request and intelligent driving angle request are had received, i.e., from the storage unit of EPS
The diagnosis code of acquisition radar vibration request and intelligent driving angle request, respectively 0 and 1, accordingly, further obtained from byte 0
The priority default value 011 of radar vibration request, the priority default value 010 of intelligent driving angle request is obtained from byte 1.?
Judge that intelligent driving angle request is first carried out in the effective situation of default value 011 and 010, then executes radar vibration and ask
It asks.If one of them is effective and another is invalid, the corresponding request effectively requested is executed.If both invalid,
Do not execute.
The present invention also provides one kind to be used for EPS controller comprising storage unit and processing unit, storage unit is for storing journey
Sequence instruction, is performed in these instructions, one or more in the control method for EPS system of above-mentioned combination Fig. 1 description
It is a.In this illustration, which may be implemented in the original controller of EPS system, such as storage unit is using original
EPS system in storage unit, processing unit is also original processing unit.
The present invention also provides automobile electric booster steering systems, and be able to carry out above-mentioned example description is used for motorcar electric
The control method of servo steering system includes the controller for EPS such as instrument of appeal.
According to each example provided by the invention, customized all external requests of EPS by way of writing diagnostic configuration word
Priority EPS can be arranged according to demand different configuration words.It, can basis if configuration code be not arranged further
Default value is handled, and if there is being further arranged, then can be handled according to the priority after setting.In other words, according to this
Invention, can customized all external requests according to demand priority, without because having cured a kind of priority in EPS software
Sequentially, the variation for needing to realize priority orders by new software development in the future is resulted in, it only need to be by way of diagnosis
Configuration words are written.
Using method of the present invention or EPS controller provided by the invention is used, so that EPS system is receiving it
When the control request that its control unit is sent, EPS can judge to first carry out the function request of which controller accordingly.In other words
It says, arbitration function can be increased in existing EPS system, priority arbitration be carried out to the instruction received, if received simultaneously
When two or more request instructions, the high request of priority is first carried out.And the priority respectively instructed can be referred to by diagnosis
Order is custom-configured, after modifying the priority of each request, EPS adjust automatically internal priority arbitrated logic, and docking
The request received carries out priority judgement.
Technical scope of the invention is not limited solely to the content in above description, and those skilled in the art can not take off
Under the premise of from technical thought of the invention, many variations and modifications are carried out to above-described embodiment, and these deformations and modification should all
In belonging to the scope of protection of the present invention.
Claims (8)
1. the control method that one kind is used for automobile electric booster steering system (EPS) comprising:
When receiving more than two external requests, that is, the priority of the external request is obtained, the priority is preparatory needle
To external request setting；
The validity of the external request is successively judged according to priority orders, and is held in the effective situation of the external request
The row request.
2. being used for the control method of automobile electric booster steering system (EPS) as described in claim 1, wherein asked outside this
It asks including braking system torque request, radar vibration request, intelligent driving torque request, intelligent driving angle request, angle of parking
Degree request.
3. being used for the control method of automobile electric booster steering system (EPS) as claimed in claim 2, wherein it is outer to obtain this
Portion request priority include:
Obtaining characterization priority, there are the configuration codes of position；And
The priority of the position acquisition external request indicated by the configuration code.
4. being used for the control method of automobile electric booster steering system (EPS) as claimed in claim 3, wherein the configuration code
Indicate the position of the byte where the priority.
5. being used for the control method of automobile electric booster steering system (EPS) as claimed in claim 4, wherein for characterizing
The byte of priority has 2, characterizes a priority respectively with three positions in the byte.
6. the control method for automobile electric booster steering system (EPS) as described in any one of claim 3 to 5,
Wherein, which is settable in the diagnostic mode.
7. one kind is used for the controller of automobile electric booster steering system (EPS), including storage unit and processor, storage unit
For storing instruction, it is performed in the processor, the method as described in any one of claims 1 to 5 is performed.
8. a kind of automobile electric booster steering system comprising controller as claimed in claim 6, or execute such as claim
Method described in any one of 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247189.9A CN109625079B (en) | 2018-10-24 | 2018-10-24 | Control method and controller for Electric Power Steering (EPS) system of automobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811247189.9A CN109625079B (en) | 2018-10-24 | 2018-10-24 | Control method and controller for Electric Power Steering (EPS) system of automobile |
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| CN109625079A true CN109625079A (en) | 2019-04-16 |
| CN109625079B CN109625079B (en) | 2021-09-14 |
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| CN201811247189.9A Active CN109625079B (en) | 2018-10-24 | 2018-10-24 | Control method and controller for Electric Power Steering (EPS) system of automobile |
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| CN113753122A (en) * | 2020-06-05 | 2021-12-07 | 广州汽车集团股份有限公司 | Electric power steering control method, electric power steering system, and storage medium |
| CN114115178A (en) * | 2021-11-10 | 2022-03-01 | 沙龙智行科技有限公司 | Vehicle radar diagnosis method and system based on domain controller |
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| CN109625079B (en) | 2021-09-14 |
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Effective date of registration: 20200904 Address after: Susong Road West and Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Applicant after: Weilai (Anhui) Holding Co.,Ltd. Address before: 30 Floor of Yihe Building, No. 1 Kangle Plaza, Central, Hong Kong, China Applicant before: NIO NEXTEV Ltd. |
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Address after: 230601 Susong Road West, Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Patentee after: Weilai Holdings Ltd. Address before: 230011 Susong Road West, Shenzhen Road North, Hefei Economic and Technological Development Zone, Anhui Province Patentee before: Weilai (Anhui) Holding Co.,Ltd. |