CN111717270B - Method and device for determining working state of electric power steering system - Google Patents
Method and device for determining working state of electric power steering system Download PDFInfo
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- CN111717270B CN111717270B CN201910213124.0A CN201910213124A CN111717270B CN 111717270 B CN111717270 B CN 111717270B CN 201910213124 A CN201910213124 A CN 201910213124A CN 111717270 B CN111717270 B CN 111717270B
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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
- B62D5/0484—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 for reaction to failures, e.g. limp home
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Abstract
The embodiment of the application discloses a method and a device for determining the working state of an electric power steering system, wherein in the automatic driving process of a vehicle, the actual state information of the vehicle and the target state information of the vehicle are obtained, and the target state information reflects the state information which the vehicle should have when the electric power steering system is not invalid, so that whether the working state of the electric power steering system is invalid or not can be determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not. If the size relation between the actual state information and the target state information meets the preset condition, the working state of the electric power steering system is determined to be a failure state, so that the failure state of the electric power steering system is reported to the low-speed automatic driving function module in time, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously driving under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a method and a device for determining the working state of an electric power steering system.
Background
An Electric Power Steering (EPS) system is widely used in vehicles, and the current EPS not only can realize the portability of vehicle direction control during low-speed driving and the stability of vehicle direction during high-speed driving, but also can support the vehicle direction control function required by an automatic parking function and a low-speed unmanned driving function.
At present, under the normal condition, the EPS continuously sends out the working state of the EPS to the low-speed automatic driving function module (normal operation or abnormal operation), if the EPS can accurately release the working state of the EPS, then after the EPS fails, the low-speed automatic driving function module immediately sends out a braking request to a braking system, and the vehicle can immediately brake at the moment, so as to ensure the safety of the vehicle and pedestrians.
However, the functional safety level of the current EPS system is not high, and there is a possibility that the working state of the EPS system cannot be normally released, if the EPS fails, the EPS still releases the "normal working" information to the low-speed automatic driving function module, and misguides the low-speed automatic driving function module to continue driving the vehicle, but the EPS controlling the vehicle direction actually fails, and the vehicle continues driving in a dangerous state where the direction is out of control and the vehicle is not stopped in time, which may possibly cause a traffic safety accident.
Disclosure of Invention
In order to solve the technical problem, the application provides a method and a device for determining the working state of an electric power steering system, so that the vehicle is prevented from continuously running under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
The embodiment of the application discloses the following technical scheme:
in a first aspect, an embodiment of the present application provides a method for determining an operating state of an electric power steering system, where the method includes:
acquiring actual state information of the vehicle and target state information of the vehicle;
judging whether the size relation between the actual state information and the target state information meets a preset condition or not;
and if so, determining that the working state of the electric power steering system is a failure state.
Optionally, after determining that the operating state of the electric power steering system is a failure state, the method further includes:
and sending fault prompt information to the low-speed automatic driving function module so that the low-speed automatic driving function module can send a braking request to a braking system.
Optionally, the actual state information and the target state information may be one or more of the following combinations:
the first combination is:
the actual state information is an actual steering wheel corner transmitted by a corner sensor, and the target state information is a target steering wheel corner included in a corner instruction sent by the low-speed automatic driving function module;
the second combination is:
the actual state information is an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends a corner instruction, and the target state information is a target current value when the low-speed automatic driving function module sends the corner instruction;
the third combination is:
the actual state information comprises an actual running track transmitted by the environment sensing system, and the target state information is a target running track planned by the low-speed automatic driving function module.
Optionally, if the actual state information includes an actual steering wheel angle transmitted by an angle sensor, the target state information is a target steering wheel angle included in an angle instruction sent by the low-speed automatic driving function module, and the preset condition is that:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
Optionally, the actual state information includes an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends the steering angle instruction, the target state information is a target current value when the low-speed automatic driving function module sends the steering angle instruction, and the preset condition is that:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
Optionally, the actual state information includes an actual running track transmitted by the environment sensing system, the target state information is a target running track planned by the low-speed automatic driving function module, and the preset condition is as follows:
the deviation degree between the actual running track and the target running track is larger than a second threshold value.
In a second aspect, an embodiment of the present application provides an operating state determining apparatus of an electric power steering system, the apparatus including;
an acquisition unit configured to acquire actual state information of the vehicle and target state information of the vehicle;
the judging unit is used for judging whether the size relation between the actual state information and the target state information meets a preset condition or not;
and the determining unit is used for determining that the working state of the electric power steering system is a failure state if the judging unit judges that the magnitude relation between the actual state information and the target state information meets a preset condition.
Optionally, the apparatus further comprises:
and the sending unit is used for sending fault prompt information to the low-speed automatic driving function module so that the low-speed automatic driving function module can send a braking request to a braking system.
Optionally, the actual state information and the target state information may be one or more of the following combinations:
the first combination is:
the actual state information is an actual steering wheel corner transmitted by a corner sensor, and the target state information is a target steering wheel corner included in a corner instruction sent by the low-speed automatic driving function module;
the second combination is:
the actual state information is an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends a corner instruction, and the target state information is a target current value when the low-speed automatic driving function module sends the corner instruction;
the third combination is:
the actual state information comprises an actual running track transmitted by the environment sensing system, and the target state information is a target running track planned by the low-speed automatic driving function module.
Optionally, if the actual state information includes an actual steering wheel angle transmitted by an angle sensor, the target state information is a target steering wheel angle included in an angle instruction sent by the low-speed automatic driving function module, and the preset condition is that:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
Optionally, the actual state information includes an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends the steering angle instruction, the target state information is a target current value when the low-speed automatic driving function module sends the steering angle instruction, and the preset condition is that:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
Optionally, the actual state information includes an actual running track transmitted by the environment sensing system, the target state information is a target running track planned by the low-speed automatic driving function module, and the preset condition is as follows:
the deviation degree between the actual running track and the target running track is larger than a second threshold value.
According to the technical scheme, the actual state information of the vehicle and the target state information of the vehicle can be obtained in real time in the automatic driving process of the vehicle, and the target state information can reflect the state information which the vehicle should have when the electric power steering system works normally (does not fail), so that whether the working state of the electric power steering system is in a failure state can be determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not; if the size relation between the actual state information and the target state information meets the preset condition, the working state of the electric power steering system is determined to be a failure state, so that the failure state of the electric power steering system is reported to the low-speed automatic driving function module in time, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously driving under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.
Fig. 1 is a schematic flowchart of a method for determining an operating state of an electric power steering system according to an embodiment of the present disclosure;
FIG. 2 is a schematic communication diagram of a low-speed automatic driving system and other related systems provided by an embodiment of the present application;
fig. 3 is a logic block diagram of a method for determining an operating state of an electric power steering system according to an embodiment of the present disclosure;
fig. 4 is a block diagram of an operation state determination device of an electric power steering system according to an embodiment of the present application.
Detailed Description
In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.
Because the function safety level of the current EPS system is not high, the possibility that the working state of the EPS system cannot be normally released exists, so that even if the EPS is failed, the EPS still releases 'normal working' information to the low-speed automatic driving function module, the low-speed automatic driving function module is misled to continue driving the vehicle, and traffic safety accidents are possibly caused.
Therefore, the method for determining the working state of the EPS system can acquire the actual state information of the vehicle and the target state information of the vehicle even if the safety level of the EPS function is not high and the condition that whether the working state of the EPS system is the failure state is difficult to be accurately informed to the low-speed automatic driving function module, and the target state information can reflect the state information which the vehicle should have when the electric power steering system normally works (does not fail), so that whether the working state of the electric power steering system is the failure state can be accurately determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not, and the condition that the electric power steering system is in the failure state can be timely reported to the low-speed automatic driving function module. Therefore, when the working state of the electric power steering system is determined to be a failure state, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously running under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Next, an operation state determination method of the electric power steering system of the present embodiment will be described with reference to the drawings.
Referring to fig. 1, the method includes:
s101, acquiring actual state information of the vehicle and target state information of the vehicle.
In this embodiment, the actual state information and the target state information may be one or more of the following combinations:
the first combination is:
the actual state information is an actual steering wheel corner transmitted by a corner sensor, and the target state information is a target steering wheel corner included in a corner instruction sent by the low-speed automatic driving function module;
the second combination is:
the actual state information is an actual current value transmitted by the current consumption sensor when the low-speed automatic driving function module sends a corner instruction, and the target state information is a target current value when the low-speed automatic driving function module sends the corner instruction;
the third combination is:
the actual state information comprises an actual running track transmitted by the environment sensing system, and the target state information is a target running track planned by the low-speed automatic driving function module.
It should be noted that the method provided by the embodiment of the present application may be applied to a low-speed automatic driving system, and referring to fig. 2, fig. 2 shows a communication diagram of the low-speed automatic driving system and other related systems. The system comprises a low-speed automatic driving system 201, an EPS 202, a braking system 203, an environment sensing system 204, a corner sensor 205, an EPS failure judging module 206, a low-speed automatic driving function module 207 and an EPS current consumption sensor 208. The low-speed automatic driving system 201 comprises an EPS failure judgment module 206 and a low-speed automatic driving function module 207, wherein the EPS failure judgment module 206 can be used for executing steps S101 to S103, and the low-speed automatic driving function module 207 is used for executing related control on the vehicle, for example, the automatic driving function module 207 sends a braking request to the braking system 203 to control the vehicle to brake; as another example, the transmitted turn angle command, the planned target trajectory, etc.
The environment sensing system 204 may obtain an actual running track of the vehicle, the steering angle sensor 205 may obtain an actual steering wheel steering angle of the vehicle, and the EPS current consumption sensor 208 may obtain an actual current value when the steering angle command is sent by the low-speed automatic driving function module.
S102, judging whether the size relation between the actual state information and the target state information meets a preset condition or not.
And S103, if so, determining that the working state of the electric power steering system is a failure state.
In some possible implementation manners, if the actual state information includes an actual steering wheel angle transmitted by an angle sensor, the target state information is a target steering wheel angle included in an angle instruction sent by the low-speed automatic driving function module, and the preset condition is that:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
For example, the EPS failure determination module 206 may determine whether the magnitude relationship between the actual steering wheel angle transmitted by the steering angle sensor 205 and the target steering wheel angle transmitted by the low-speed automatic driving function module 207 satisfies a preset condition, that is, whether the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold within a preset time. If the difference between the two is greater than the first threshold within the preset time, the EPS failure determination module 206 may determine that the operating state of the EPS 202 is a failure state. Because if the operating state of the EPS 202 is not the failure state, the EPS 202 will normally execute the steering angle command of the low-speed automated driving function module 207, the difference between the actual steering wheel angle transmitted from the steering angle sensor 205 and the target steering wheel angle of the low-speed automated driving function module 207 will not be large, and the first threshold value will not be exceeded. The preset time is, for example, 100ms, and the first threshold is, for example, 60 degrees.
In some possible implementation manners, if the actual state information includes an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends the steering angle command, the target state information is a target current value when the low-speed automatic driving function module sends the steering angle command, and the preset condition is that:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
For example, the EPS failure determination module 206 may obtain an actual current value of the EPS 202, and if the EPS 202 is not in a failure state, when the low speed autopilot function module 207 issues a steering angle command to the EPS 202, the current value of the EPS 202 is greater than the current value when the steering angle command is not received, so as to reach the target current value. Therefore, if the actual current value transmitted by the EPS current consumption sensor 208 does not reach the target current value, and the difference between the target current value and the actual current value is greater than the preset threshold, for example, the actual current value does not exceed 1 ampere, and the difference between 1 ampere and the actual current value is greater than the preset threshold, at this time, 1 ampere is the target current value, the EPS failure determination module 206 may determine that the operating state of the EPS 202 is a failure state. Wherein the target current value may be set in advance.
In some possible implementation manners, if the actual state information includes an actual running trajectory transmitted by an environment sensing system, the target state information is a target running trajectory planned by a low-speed automatic driving function module, and the preset condition is:
the deviation degree between the actual running track and the target running track is larger than a second threshold value.
For example, the EPS failure determination module 206 may obtain the target operation trajectory planned by the low-speed automatic driving function module 207 and the actual operation trajectory transmitted by the environmental awareness system 204, so as to determine whether the EPS 202 is in a failure state according to whether the deviation degree therebetween is greater than the second threshold. If the operating state of the EPS 202 is not the failure state, the EPS failure determination module 206 may determine that the operating state of the EPS 202 is the failure state.
The running track can be measured by the vehicle heading angle and the vehicle position information, so that when the deviation degree between the actual running track and the target running track is compared, whether the difference value between the target vehicle heading angle and the actual vehicle heading angle exceeds a second threshold value can be judged, and the second threshold value is 5 degrees for example; it may also be determined whether the difference between the target vehicle position information and the actual vehicle position information exceeds a second threshold, for example, the second threshold is 0.5 meters.
It should be noted that, when the EPS failure determination module 206 determines whether the operating state of the electric power steering system is a failure state according to whether the magnitude relationship between the actual state information and the target state information satisfies a preset condition, if the actual state information and the target state information are multiple combinations of the three combinations, for example, the three combinations exist at the same time. Then, the EPS failure determination module 206 needs to determine whether the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold within a preset time, and determine whether the actual current value is less than or equal to the target current value, and whether the deviation degree between the actual operation track and the target operation track is greater than a second threshold, and if one of the determination results is yes, the EPS failure determination module 206 determines that the operating state of the EPS 202 is a failure state. If not, the EPS failure determination module 206 determines that the operating state of the EPS 202 is an unreenabled state.
After S103, the method further comprises: the EPS failure determination module 206 sends a fault prompt message to the low-speed automatic driving function module 207, so that the low-speed automatic driving function module 207 sends a braking request to the braking system 203 to control the vehicle to brake.
According to the technical scheme, the actual state information of the vehicle and the target state information of the vehicle can be obtained in real time in the automatic driving process of the vehicle, and the target state information can reflect the state information which the vehicle should have when the electric power steering system works normally (does not fail), so that whether the working state of the electric power steering system is in a failure state can be determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not; if the size relation between the actual state information and the target state information meets the preset condition, the working state of the electric power steering system is determined to be a failure state, so that the failure state of the electric power steering system is reported to the low-speed automatic driving function module in time, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously driving under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Next, a method for determining an operating state of an electric power steering system provided in an embodiment of the present application will be described with reference to specific application scenarios.
In this scenario, after the driver gets off the vehicle, the driver releases the parking instruction to the low-speed automatic driving function module 207 through a mobile phone Application (APP for short) or a remote control device, the low-speed automatic driving function module 207 starts an autonomous parking function, the vehicle automatically moves to the parking space along the target running track planned by the low-speed automatic driving function module 207, and then the vehicle is parked in the parking space. On the way that the vehicle automatically moves to the parking space, the working state determining method of the electric power steering system can be executed, so that the vehicle can be controlled to brake in time when the working state of the electric power steering system is determined to be a failure state.
Referring to fig. 3, a logic block diagram of a method for determining an operating state of an electric power steering system provided in this embodiment is shown, where the method includes:
s301, the EPS failure judgment module acquires an actual steering wheel corner.
S302, the EPS failure judgment module acquires a target steering wheel corner.
S303, the EPS failure judging module judges whether the difference value between the actual steering wheel rotation angle and the target steering wheel rotation angle is larger than a first threshold value in preset time, if not, S309 is executed, and if so, S310 is executed.
S304, the EPS failure judging module obtains the actual current value of the EPS operation.
S305, the EPS failure judgment module judges whether the difference value between the target current value and the actual current value is larger than a preset threshold value, if not, S309 is executed, and if so, S310 is executed.
S306, the EPS failure judgment module acquires an actual running track.
S307, the EPS failure judgment module acquires a target running track.
S308, the EPS failure judging module judges whether the deviation degree between the actual running track and the target running track is larger than a second threshold value, if not, S309 is executed, and if so, S310 is executed.
S309, the EPS failure judging module sends 'normal work information' to the low-speed automatic driving function module to continue to control the automatic parking of the vehicle.
And S310, the EPS failure judgment module sends failure prompt information to the low-speed automatic driving function module.
And S311, the low-speed automatic driving function module sends a braking request to a braking system to control the vehicle to brake.
According to the technical scheme, the actual state information of the vehicle and the target state information of the vehicle can be obtained in real time in the automatic driving process of the vehicle, and the target state information can reflect the state information which the vehicle should have when the electric power steering system works normally (does not fail), so that whether the working state of the electric power steering system is in a failure state can be determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not; if the size relation between the actual state information and the target state information meets the preset condition, the working state of the electric power steering system is determined to be a failure state, so that the failure state of the electric power steering system is reported to the low-speed automatic driving function module in time, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously driving under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Based on the corresponding embodiment in fig. 1, the present application provides an operating state determining apparatus of an electric power steering system, referring to fig. 4, the apparatus includes;
an acquisition unit 401 configured to acquire actual state information of the vehicle and target state information of the vehicle;
a determining unit 402, configured to determine whether a magnitude relationship between the actual state information and the target state information satisfies a preset condition;
a determining unit 403, configured to determine that the working state of the electric power steering system is a failure state if the determining unit determines that the magnitude relationship between the actual state information and the target state information satisfies a preset condition.
Optionally, the apparatus further comprises:
and the sending unit is used for sending fault prompt information to the low-speed automatic driving function module so that the low-speed automatic driving function module can send a braking request to a braking system.
Optionally, the actual state information and the target state information may be one or more of the following combinations:
the first combination is:
the actual state information is an actual steering wheel corner transmitted by a corner sensor, and the target state information is a target steering wheel corner included in a corner instruction sent by the low-speed automatic driving function module;
the second combination is:
the actual state information is an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends a corner instruction, and the target state information is a target current value when the low-speed automatic driving function module sends the corner instruction;
the third combination is:
the actual state information comprises an actual running track transmitted by the environment sensing system, and the target state information is a target running track planned by the low-speed automatic driving function module.
Optionally, if the actual state information includes an actual steering wheel angle transmitted by an angle sensor, the target state information is a target steering wheel angle included in an angle instruction sent by the low-speed automatic driving function module, and the preset condition is that:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
Optionally, the actual state information includes an actual current value transmitted by a current consumption sensor of the electric power steering system when the low-speed automatic driving function module sends the steering angle instruction, the target state information is a target current value when the low-speed automatic driving function module sends the steering angle instruction, and the preset condition is that:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
Optionally, the actual state information includes an actual running track transmitted by the environment sensing system, the target state information is a target running track planned by the low-speed automatic driving function module, and the preset condition is as follows:
the deviation degree between the actual running track and the target running track is larger than a second threshold value.
According to the technical scheme, the actual state information of the vehicle and the target state information of the vehicle can be obtained in real time in the automatic driving process of the vehicle, and the target state information can reflect the state information which the vehicle should have when the electric power steering system works normally (does not fail), so that whether the working state of the electric power steering system is in a failure state can be determined by judging whether the size relation between the actual state information and the target state information meets the preset condition or not; if the size relation between the actual state information and the target state information meets the preset condition, the working state of the electric power steering system is determined to be a failure state, so that the failure state of the electric power steering system is reported to the low-speed automatic driving function module in time, the vehicle is controlled to brake and stop in time, the vehicle is prevented from continuously driving under the condition that the electric power steering system fails, traffic safety accidents are avoided, and the safety of the vehicle and pedestrians is ensured.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium may be at least one of the following media: various media that can store program codes, such as read-only memory (ROM), RAM, magnetic disk, or optical disk.
It should be noted that, in the present specification, all the embodiments are described in a progressive manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus and system embodiments, since they are substantially similar to the method embodiments, they are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described embodiments of the apparatus and system are merely illustrative, and the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only one specific embodiment of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (6)
1. A method of determining an operating state of an electric power steering system, the method comprising:
acquiring actual state information of a vehicle and target state information of the vehicle;
the actual state information comprises an actual running track transmitted by an environment sensing system, and the target state information is a target running track planned by a low-speed automatic driving function module;
judging whether the size relation between the actual state information and the target state information meets a preset condition or not;
wherein the preset conditions are as follows:
the deviation degree between the actual running track and the target running track is larger than a second threshold value;
if so, determining that the working state of the electric power steering system is a failure state;
and sending fault prompt information to the low-speed automatic driving function module so that the low-speed automatic driving function module sends a braking request to a braking system.
2. The method according to claim 1, wherein if the actual status information further includes an actual steering wheel angle transmitted by a steering angle sensor, the target status information further includes a target steering wheel angle included in a steering angle command sent by the low-speed autopilot function module, and the preset condition further includes:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
3. The method according to claim 1, wherein the actual state information further includes an actual current value delivered by an electric power steering system current consumption sensor when the steering angle command is sent by the low speed autopilot function module, the target state information further includes a target current value when the steering angle command is sent by the low speed autopilot function module, and the preset condition further includes:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
4. An operating state determining apparatus of an electric power steering system, characterized by comprising;
an acquisition unit configured to acquire actual state information of a vehicle and target state information of the vehicle;
the actual state information comprises an actual running track transmitted by an environment sensing system, and the target state information is a target running track planned by a low-speed automatic driving function module;
the judging unit is used for judging whether the size relation between the actual state information and the target state information meets a preset condition or not;
wherein the preset conditions are as follows:
the deviation degree between the actual running track and the target running track is larger than a second threshold value;
a determining unit, configured to determine that the working state of the electric power steering system is a failure state if the determining unit determines that the magnitude relationship between the actual state information and the target state information satisfies a preset condition;
and the sending unit is used for sending fault prompt information to the low-speed automatic driving function module so that the low-speed automatic driving function module can send a braking request to a braking system.
5. The apparatus according to claim 4, wherein if the actual status information further includes an actual steering wheel angle transmitted by a steering angle sensor, the target status information further includes a target steering wheel angle included in a steering angle command sent by the low-speed autopilot function module, and the preset condition further includes:
the difference between the actual steering wheel angle and the target steering wheel angle is greater than a first threshold value for a preset time.
6. The apparatus according to claim 4, wherein the actual state information further includes an actual current value delivered by a current consumption sensor of the electric power steering system when the steering angle command is sent by the low speed autopilot function module, the target state information further includes a target current value when the steering angle command is sent by the low speed autopilot function module, and the preset condition further includes:
and the difference value between the target current value and the actual current value is greater than a preset threshold value.
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| CN114162113B (en) * | 2021-12-28 | 2024-04-09 | 武汉理工大学 | Parallel parking path planning method combining multi-section curves |
| CN115009354B (en) * | 2022-06-16 | 2024-05-10 | 上汽通用五菱汽车股份有限公司 | Fault diagnosis method and device for vehicle steering system, vehicle and storage medium |
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