CN110884563A - Electric power-assisted advanced driving assistance system - Google Patents
Electric power-assisted advanced driving assistance system Download PDFInfo
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- CN110884563A CN110884563A CN201911276545.4A CN201911276545A CN110884563A CN 110884563 A CN110884563 A CN 110884563A CN 201911276545 A CN201911276545 A CN 201911276545A CN 110884563 A CN110884563 A CN 110884563A
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- adas
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- eps
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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
Abstract
The invention relates to the technical field of automobile driving safety, and discloses an electric power-assisted advanced driving assistance system, wherein after an electric power-assisted steering system is initialized, fault detection is carried out, an EPS power-assisted mode is entered after no fault is confirmed, the EPS and ADAS are interacted, one mode is an angle control mode, the other mode is a torque control mode, the two modes can be mutually switched, in the angle control mode, the ADAS outputs a corner signal to the EPS, the EPS completes steering control to realize torque smooth transition, the ADAS provides a request of the angle control mode to the EPS, and fault diagnosis is carried out to guarantee the safety of the system. The electric power-assisted system and the advanced driving assistance system can enable EPS and ADAS to carry out interaction strategy by setting an angle control mode and a torque control mode, feed back steering wheel corners and motor current to the ADAS, complete vehicle attitude control by the ADAS, and increase system stability and robustness.
Description
Technical Field
The invention relates to the technical field of automobile driving assistance, in particular to an electric power-assisted advanced driving assistance system.
Background
An Electric Power System (EPS) is an essential important system of an electric automobile and mainly comprises an ECU, a torque sensor, a power motor, a speed reducing mechanism and a steering gear.
The existing EPS working mode is that data such as torque, vehicle speed and steering angle of a steering wheel measured by a sensor are mostly sent to an ECU, the ECU determines a working mode after processing and sends the corresponding torque and direction to a power-assisted motor to realize power assistance, however, the torque transition is not smooth, and the hand feeling of the steering wheel of a driver and the road feeling in the driving process are poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides an electric power-assisted advanced driving assistance system, which solves the problems that the existing EPS working mode mostly sends the data such as torque, vehicle speed, steering angle of a steering wheel and the like measured by a sensor to an ECU (electronic control unit), the ECU determines the working mode after processing and sends the corresponding torque magnitude and direction to a power-assisted motor to realize power assistance, but the hand feeling of the steering wheel of a driver and the road feeling in the driving process are poor due to unsmooth torque transition.
In order to achieve the purpose, the invention provides the following technical scheme:
an electric power-assisted advanced driving assistance system is provided, wherein after an electric power-assisted steering system is initialized, fault checking is carried out, and an EPS power-assisted mode is entered after no fault is confirmed, and the EPS and ADAS are interacted in two modes, namely an angle control mode and a torque control mode, wherein the two modes can be switched with each other.
In the angle control mode, the EPS outputs a corner signal to the ADAS, the ADAS completes calculation to realize torque smooth transition, the ADAS provides a request of the angle control mode to the EPS, then fault diagnosis is carried out to guarantee the safety of the system, if faults occur, no handshake signal is sent, the EPS still works in the power-assisted mode, if faults do not occur, scene judgment is carried out to ensure that the vehicle is in a low-speed stable working condition, if the vehicle is not in the low-speed stable working condition, no handshake signal is still sent, the EPS still works in the power-assisted mode, prompt information is sent to each system and a driver, if the vehicle is in the low-speed stable working condition, the ADAS sends the handshake signal, and then the EPS obtains an angle measured by a sensor and enters the angle control mode.
Preferably, after the angle measured by the EPS acquisition sensor enters the angle control mode, whether two hands of a driver are placed on a steering wheel is judged through the torque measured by the sensor, if the driver wants to be separated from the automatic driving mode is judged on the steering wheel, if the driver wants to be separated from the automatic driving mode, the EPS transition working condition enters the power-assisted mode, if the driver does not want to be separated from the automatic driving mode, prompt information is given to each module and the driver, fault detection is carried out in real time, and the fault detection result is divided into five categories, namely ABCDE:
1) class A
When a vehicle speed fault, a wheel speed fault, a yaw rate fault and an acceleration fault occur, an ADAS provides an exit request and gives a prompt signal when a type A fault occurs, then whether a driver wants to exit an automatic driving mode or whether the occurred fault affects the safety of the driver is judged, if the driver accords with one of the automatic driving mode and the automatic driving mode, a transition working condition enters a power-assisted mode, and if the driver does not accord with one of the automatic driving mode and the automatic driving mode, the ADAS returns to the previous step to execute the exit request and gives a prompt;
2) b type:
the faults are corner faults and EPS internal faults, and if B-type faults occur, the EPS directly enters a fault mode;
3) class C:
if the driver does not have the fault, waiting for an ADAS exit request, then judging whether the driver wants to exit the automatic driving mode, if so, entering the power-assisted mode under a transition working condition, if not, prompting information and then returning to the ADAS exit request waiting, and if the ADAS continuously sends exit instructions twice under a Hand off working condition, exiting the angle control mode by the EPS;
4) class D
Mode switching, namely firstly, judging a scene to ensure that the vehicle is in a stable working condition executed at a low speed so as to prevent a safety problem when the mode is switched, if the vehicle is in the stable working condition at the low speed, switching the mode, and if the vehicle is not in the stable working condition at the low speed, continuing to work in an angle control mode;
5) class E
ADAS urgent failure fault, the urgent failure fault can be divided into communication fault and ADAS fault, wherein the communication fault is divided into ADAS exceeding mode permission range, overtime and frame loss, when the ADAS exceeding mode permission fault occurs, the angle or angle change rate is limited, after continuous error, the ADAS control is exited, before exiting, the precise value of preamble is kept, the calibrated default slow release rate is used in the exiting process, the processing mode of the overtime fault is consistent with the processing mode of the ADAS exceeding mode permission, when the frame loss fault occurs, the new control quantity is adopted, and is recorded and stored in the EPS, when the ADAS fault occurs, the ADAS judges the fault level, when the ADAS system is slightly faulty, the ADAS system normally sends command, the EPS executes command, when the ADAS is seriously faulty, the ADAS directly sends exit request, and the EPS executes exit operation.
Preferably, the logic concepts of the torque control mode and the angle control mode are consistent.
The invention has the following beneficial effects:
according to the invention, through setting the angle control mode and the torque control mode, the EPS and the ADAS can carry out an interaction strategy, the steering wheel angle and the motor current are fed back to the ADAS system, the ADAS system completes vehicle attitude control, the stability and the robustness of the system are increased, the ADAS and the EPS cooperate, and the driving safety of advanced assistant driving is improved.
Drawings
Fig. 1 is a flow chart of the advanced assistant driving angle control interaction strategy judgment of the present invention.
FIG. 2 is a flow chart of an advanced driver assist torque control request determination module according to the present invention.
Fig. 3 is a flow chart of fault detection in the advanced driver assist angle control mode of the present invention.
Fig. 4 is a flowchart of determining a fault detection result in the advanced assist driving torque control mode according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
the electric power-assisted advanced driving assistance system diagram of the invention is divided into four blocks, as shown in fig. 1-4, which are respectively a flow chart diagram of the upper left part, the upper right part, the lower left part and the lower right part of the whole interactive strategy system. After an electric power steering system is initialized, fault detection is carried out, an EPS power-assisted mode is entered after no fault is confirmed, and the EPS and ADAS are interacted in two modes, namely an angle control mode and a torque control mode, which can be switched mutually.
In the angle control mode, the ADAS provides a request of the angle control mode to the EPS, then the EPS carries out fault diagnosis to ensure the safety of the system, if the fault occurs, no handshake signal is sent, the EPS still works in the power-assisted mode and sends prompt information to each system and a driver, if the fault does not occur and the vehicle is in a working condition with stable vehicle speed, the ADAS sends a handshake signal to enter the angle control mode, the ADAS outputs an expected corner signal to the EPS, the EPS finishes steering according to an input expected angle value, meanwhile, the EPS judges whether two hands of the driver are placed on a steering wheel through the torque measured by a sensor, if the driver is placed on the steering wheel, whether the driver wants to be separated from the automatic driving mode is judged, if the driver is placed on the steering wheel, the EPS is in the power-assisted mode in a transition working condition, and if the driver does; and if the driver does not put hands on the steering wheel, giving prompt information to each module and the driver, and carrying out fault detection:
a type fault:
and when a vehicle speed fault, a wheel speed fault, a yaw rate fault and an acceleration fault occur, the ADAS provides an exit request and gives a prompt signal when the A-type fault occurs, then whether the driver wants to exit the automatic driving mode or whether the occurred fault affects the safety of the driver is judged, if the driver accords with one of the automatic driving mode and the automatic driving mode, the working condition is transited to the manual driving assistance mode, and if the driver does not accord with the automatic driving mode, the driver returns to the previous step to execute the exit request and gives a prompt message.
And B type faults:
the faults are corner faults and EPS internal faults, and the EPS enters a fault mode when B-type faults occur.
Type C failures:
and if the driver does not have the fault, waiting for an ADAS exit request, judging whether the driver wants to exit the automatic driving mode, if so, entering a manual power-assisted mode under a transition working condition, otherwise, prompting information and returning to the ADAS exit request, and if the driver does not want to exit the automatic driving mode, continuously sending exit instructions twice by the ADAS under a Handoff working condition to exit the angle control mode by the EPS.
Class D fault
And mode switching, namely firstly, judging a scene to ensure that the vehicle is in a stable working condition executed at a low speed so as to prevent the safety problem when the mode is switched, if the vehicle is really in the stable working condition at the low speed, switching the mode, and if the vehicle is not in the stable working condition at the low speed, continuing to work in the angle control mode by the EPS.
Class E fault
ADAS urgent failure fault, the urgent failure fault can be divided into communication fault and ADAS fault, wherein the communication fault is divided into ADAS exceeding mode permission range, overtime and frame loss, when the ADAS exceeding mode permission fault occurs, the angle or angle change rate is limited, after continuous error, the ADAS control is exited, before exiting, the precise value of preamble is kept, the calibrated default slow release rate is used in the exiting process, the processing mode of the overtime fault is consistent with the processing mode of the ADAS exceeding mode permission, when the frame loss fault occurs, the new control quantity is adopted, and is recorded and stored in the EPS, when the ADAS fault occurs, the ADAS judges the fault level, when the ADAS system is slightly faulty, the ADAS system normally sends command, the EPS executes command, when the ADAS is seriously faulty, the ADAS directly sends exit request, and the EPS executes exit operation.
In conclusion, the invention can enable the EPS and the ADAS to carry out an interaction strategy by setting an angle control mode and a torque control mode, feed back the steering wheel angle and the motor current to the ADAS system, and complete vehicle attitude control by the ADAS system, thereby increasing the stability and the robustness of the system.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. An advanced driving assistance system with electric power assistance is characterized in that: the method comprises the steps that after an electric power steering system is initialized, fault detection is carried out, an EPS power-assisted mode is entered after no fault is confirmed, and the EPS and ADAS are interacted in two modes, namely an angle control mode and a torque control mode, wherein the two modes can be switched with each other;
in the angle control mode, the ADAS outputs an expected rotation angle signal to the EPS, the EPS finishes steering and feeds back a steering angle to the ADAS in real time, the ADAS makes a request of the angle control mode to the EPS, then fault diagnosis is carried out to guarantee the safety of the system, if faults occur, no handshake signal is sent, the EPS still works in the power-assisted mode, if faults do not occur, scene judgment is carried out to ensure that the vehicle is in a working condition with stable vehicle speed, if the vehicle is not in the working condition with stable vehicle speed, no handshake signal is sent, the EPS still works in the power-assisted mode and sends prompt information to each system and a driver, if the vehicle is in the working condition with stable vehicle speed, the ADAS sends out a handshake signal, and then the EPS obtains the angle measured by the sensor and enters the angle control mode.
2. An electrically-assisted advanced driver assistance system according to claim 1, characterized in that: after the EPS obtains the angle measured by the sensor and enters an angle control mode, judging whether two hands of a driver are placed on a steering wheel or not through the torque measured by the sensor, if so, judging whether the driver is to be separated from an automatic driving mode or not, if so, entering a manual driving assistance mode under the EPS transition working condition, and if not, carrying out fault detection; and if the hands of the driver are not placed on the steering wheel, giving prompt information to each module and the driver, and performing fault detection, wherein the fault detection results are divided into five types, namely ABCDE:
1) class A
When a vehicle speed fault, a wheel speed fault, a yaw rate fault and an acceleration fault occur, an ADAS provides an exit request and gives a prompt signal when a type A fault occurs, then whether a driver wants to exit an automatic driving mode or whether the occurred fault affects the safety of the driver is judged, if the driver accords with one of the automatic driving mode and the automatic driving mode, a transition working condition enters a power-assisted mode, and if the driver does not accord with one of the automatic driving mode and the automatic driving mode, the ADAS returns to the previous step to execute the exit request and gives a prompt;
b type:
the faults are corner faults and EPS internal faults, and the EPS is powered off when B-type faults occur;
class C:
if the driver does not have the fault, waiting for an ADAS exit request, then judging whether the driver wants to exit the automatic driving mode, if so, entering the power-assisted mode under a transition working condition, if not, prompting information and then returning to the ADAS exit request waiting, and if the ADAS continuously sends exit instructions twice under a Hand off working condition, exiting the angle control mode by the EPS;
class D
Mode switching, namely firstly, judging a scene to ensure that the vehicle is in a stable working condition executed at a low speed so as to prevent a safety problem when the mode is switched, if the vehicle is really in the stable working condition at the low speed, switching the mode, and if the vehicle is not in the stable working condition at the low speed, continuing to work in an angle control mode;
class E
ADAS urgent failure fault, the urgent failure fault can be divided into communication fault and ADAS fault, wherein the communication fault is divided into ADAS beyond the mode permission range, overtime and frame loss, when the ADAS beyond the mode permission fault occurs, the angle or the angle change rate is limited, after continuous error occurs, the ADAS control is quitted, the precise value of preamble is kept before quitting, the calibrated default slow release rate is used in the quitting process, the processing mode of the overtime fault is consistent with the processing mode of the ADAS beyond the mode permission, when the frame loss fault occurs, the new message control quantity is adopted, the event is recorded in the EPS, when the ADAS fault occurs, the fault level is judged by the ADAS, when the ADAS system normally sends the instruction in slight fault, the EPS executes the instruction, when the serious fault occurs, the ADAS directly sends the quitting request, and the EPS executes the quitting operation.
3. An electrically-assisted advanced driver assistance system according to claim 1, characterized in that: the logic ideas of the torque control mode and the angle control mode are consistent.
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| CN113415339A (en) * | 2021-07-28 | 2021-09-21 | 岚图汽车科技有限公司 | Electric power steering control method and device and electronic equipment |
| CN114919648A (en) * | 2022-05-17 | 2022-08-19 | 安徽江淮汽车集团股份有限公司 | Safe operation control method for automatic steering |
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