CN113415339A

CN113415339A - Electric power steering control method and device and electronic equipment

Info

Publication number: CN113415339A
Application number: CN202110857740.7A
Authority: CN
Inventors: 吴德旭; 刘俊; 郑凌航; 田树新; 邓跃
Original assignee: Lantu Automobile Technology Co Ltd
Current assignee: Lantu Automobile Technology Co Ltd
Priority date: 2021-07-28
Filing date: 2021-07-28
Publication date: 2021-09-21
Anticipated expiration: 2041-07-28
Also published as: CN113415339B

Abstract

The application discloses an electric power steering control method, a control device and electronic equipment, and relates to the technical field of power steering control, wherein the electric power steering control method specifically comprises the following steps: when the power-assisted starting condition is met and the EPS self-checking has no fault, the EPS power-assisted mode is entered; the boosting starting condition is that the ignition signal is received, and a vehicle controller state signal is received or the vehicle speed is not less than a preset value; and if the EPS has a recoverable unsafe fault, degrading the EPS power-assisted mode to a fixed vehicle speed power-assisted mode, and entering the EPS power-assisted mode again after the recoverable unsafe fault is recovered. Provided are an electric power steering control method, a control device and an electronic device. The power-assisted output can be still provided under special working conditions, and the controllability and the safety of the vehicle are guaranteed; and the stable switching of the steering power-assisted state can be realized, so that the safety of passengers, the stability of a system and the requirement on operation comfort are ensured, and the whole vehicle applicability of the EPS is effectively improved.

Description

Electric power steering control method and device and electronic equipment

Technical Field

The application relates to the technical field of power steering control, in particular to an electric power steering control method, a control device and electronic equipment.

Background

At present, in the fields of passenger vehicles and commercial vehicles, along with the trend of electric development of vehicles, a large number of vehicles adopt electric steering systems, such as an electric circulating ball steering system of a commercial vehicle, an electric gear and rack power-assisted steering system of a passenger vehicle and a column power-assisted electric steering system. Under the condition of a large number of applications of the EPS (Electric Power Steering), higher requirements are put on safety and stability.

In the related art, if the electric power steering system EPS malfunctions, the EPS assist is directly cut off. However, in the actual use process of the vehicle, the EPS has a single judgment of entering a fault state, any abnormal working condition can be reported in error, and the EPS enters the same failure mode, so that the overall vehicle applicability of the EPS is poor, and the controllability and the safety of the vehicle are not high.

Disclosure of Invention

In view of one of the defects in the prior art, an object of the present application is to provide an electric power steering control method, a control device, and an electronic apparatus, so as to solve the problems in the related art that the entire vehicle applicability of the EPS is poor, and the controllability and the safety of the vehicle are not high.

A first aspect of the present application provides an electric power steering control method, including the steps of:

when the power-assisted starting condition is met and the EPS self-checking has no fault, the EPS power-assisted mode is entered; the boosting starting condition is that an ignition signal is received, and a vehicle controller state signal or the vehicle speed is not less than a preset value;

and if the EPS has a recoverable unsafe fault, degrading the EPS power-assisted mode to a fixed vehicle speed power-assisted mode, and entering the EPS power-assisted mode again after the recoverable unsafe fault is recovered.

In some embodiments, when the power-assisted starting condition is met and the EPS self-test fails, the method further includes:

if the self-checking fault is an external signal fault, entering a fixed vehicle speed boosting mode;

and if the self-checking fault is an EPS internal fault, entering a fault mode, and powering off the EPS.

In some embodiments, if the EPS fails to recover its safety, the EPS assist mode is turned off after a first predetermined time.

In some embodiments, if the EPS has an unrecoverable safety failure, the EPS power-assisted mode is turned off after continuing for a second preset time; the second preset time is longer than the first preset time.

In some embodiments, the boost is turned off if the EPS fails irreversibly.

In some embodiments, the method further comprises:

presetting a fault list, wherein the fault list comprises recoverable non-safety faults, recoverable safety faults, unrecoverable safety faults and unrecoverable serious faults;

the recoverable non-safety fault comprises vehicle speed signal loss or abnormity;

the recoverable safety fault comprises that a vehicle controller state signal is lost and the vehicle speed is 0;

the unrecoverable safety faults include loss of ignition signal, loss of vehicle controller status signal;

the above-mentioned unrecoverable serious faults include an EPS internal fault, a torque signal fault, and a steering angle signal fault.

In some embodiments, the boost is turned off when the ignition signal and the vehicle controller status signal are both off and the vehicle speed is less than a preset value.

In some embodiments, the predetermined value is 5 Km/h.

The present application in a second aspect provides an electric power steering control apparatus comprising:

the judging module is used for judging whether a power-assisted starting condition is met; the boosting starting condition is that an ignition signal is received, and a vehicle controller state signal or the vehicle speed is not less than a preset value;

the self-checking module is used for controlling EPS self-checking;

the control module is used for entering an EPS power-assisted mode when power-assisted starting conditions are met and the EPS self-checking is free of faults;

the degradation module is used for controlling the EPS power-assisted mode to degrade to the fixed vehicle speed power-assisted mode when the EPS has a recoverable non-safety fault;

the control module is further used for re-entering the EPS power-assisted mode when the recoverable non-safety fault is recovered.

A third aspect of the present application provides an electronic device for electric power steering control, including a processor and a memory, where the processor executes codes in the memory to implement the following electric power steering control method:

The beneficial effect that technical scheme that this application provided brought includes:

according to the electric power steering control method, the control device and the electronic equipment, when a power-assisted starting condition is met and the EPS self-checking is free of faults, the EPS power-assisted mode can be entered, wherein the power-assisted starting condition is that an ignition signal and a vehicle controller state signal are received, or the ignition signal is received and the vehicle speed is not less than a preset value; in the EPS normal power-assisted mode, if the EPS has a recoverable non-safety fault, the EPS power-assisted mode is degraded to a fixed vehicle speed power-assisted mode until the recoverable non-safety fault is recovered, and the EPS power-assisted mode is entered again; therefore, on one hand, the boosting starting condition for entering the EPS boosting mode is clearly defined, boosting output can be still provided under special working conditions, and controllability and safety of the vehicle are guaranteed; on the other hand, when a recoverable non-safety fault occurs, the stable switching of the steering power-assisted state can be realized, so that the safety of passengers, the stability of a system and the requirement on operation comfort are ensured, and the whole vehicle applicability of the EPS is effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are 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 to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a first flowchart of an electric power steering control method according to an embodiment of the present application;

FIG. 2 is a second flowchart of an electric power steering control method according to an embodiment of the present application;

fig. 3 is a third flowchart of an electric power steering control method according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

The embodiment of the application provides an electric power steering control method, a control device and electronic equipment, which can solve the problems that the whole vehicle applicability of an EPS (electric power steering) is poor and the controllability and the safety of a vehicle are not high in the related technology.

As shown in fig. 1, an electric power steering control method according to an embodiment of the present application includes the steps of:

s1, entering an EPS power-assisted mode when power-assisted starting conditions are met and EPS self-checking is faultless; the boosting starting condition is that the ignition signal is received, and the state signal of the vehicle controller is received or the vehicle speed is not less than a preset value. At the moment, under the normal working mode of the EPS, the EPS realizes full power output, and the steering power is adjusted along with the speed according to the speed of the vehicle and the rotating speed condition of the steering wheel.

And S2, if the EPS has a recoverable non-safety fault, degrading the EPS power-assisted mode to a fixed vehicle speed power-assisted mode, and entering the EPS power-assisted mode again after the recoverable non-safety fault is recovered.

According to the electric power steering control method, when a power-assisted starting condition is met and the EPS self-checking is free of faults, the EPS power-assisted mode can be entered, wherein the power-assisted starting condition is that an ignition signal and a vehicle controller state signal are received, or the ignition signal is received and the vehicle speed is not less than a preset value; in the EPS normal power-assisted mode, if the EPS has a recoverable non-safety fault, the EPS power-assisted mode is degraded to a fixed vehicle speed power-assisted mode until the recoverable non-safety fault is recovered, and the EPS power-assisted mode is entered again; therefore, on one hand, the boosting starting condition for entering the EPS boosting mode is clearly defined, boosting output can be still provided under special working conditions, and controllability and safety of the vehicle are guaranteed; on the other hand, when a recoverable non-safety fault occurs, the stable switching of the steering power-assisted state can be realized, so that the safety of passengers, the stability of a system and the requirement on operation comfort are ensured, and the whole vehicle applicability of the EPS is effectively improved.

Preferably, the preset value is 5 Km/h. In the embodiment, the preset value is set to be 5Km/h, so that the steering assistance can be provided when the vehicle speed is greater than or equal to 5Km/h under the working conditions of unexpected vehicle sliding and the like, the vehicle has direction controllability under the working conditions of vehicle sliding, and the safety of the vehicle is further improved.

In the embodiment, when the ignition signal and the vehicle controller state signal (IGN on & & VCU READY ═ 1) are received, it indicates that the assist start condition is satisfied; in addition, when the ignition signal is received and the vehicle speed is not less than the preset value (IGN on & & Veh _ speed >: 5Km/h), it still indicates that the assist start condition is satisfied.

The VCU READY is a vehicle controller status signal to determine whether the vehicle is suitable for use by an occupant.

In this embodiment, when the power-assisted starting condition is met and the EPS self-check fails, the method further includes the following steps:

firstly, if the self-checking fault is an external signal fault, entering a fixed vehicle speed boosting mode;

optionally, the external signal fault includes a vehicle speed signal being lost or incomplete, a vehicle controller status signal being lost or incomplete, and the like.

When an ignition signal (IGN on) is received and the EPS self-checking state signal is lost or incomplete, if a vehicle controller state signal is received, the assistance starting condition is still indicated to be met, and the EPS can enter a fixed vehicle speed assistance mode at the moment.

When an ignition signal (IGN on) is received and the EPS self-checking state signal of the vehicle controller is lost or incomplete, if the vehicle speed is not less than a preset value, the assistance starting condition is still indicated to be met, and the EPS can still enter a fixed vehicle speed assistance mode at the moment.

In the present embodiment, the vehicle speed in the fixed vehicle speed assist mode is limited to 60 to 80 Km/h. The EPS output power is smaller at this moment, and the actual performance shows that the steering hand force is heavier than the normal driving state, so the driving requirement of the vehicle can still be met under the fixed vehicle speed power-assisted mode, and meanwhile, a driver can be reminded of needing to overhaul.

On the basis of the above embodiments, in this embodiment, if the EPS has a recoverable safety failure, the EPS assist mode continues for the first preset time and then turns off the assist.

And then, if the self-checking fault is an EPS internal fault, entering a fault mode, and powering off the EPS.

Optionally, the EPS internal faults include an EPS controller internal fault, a sensor fault, a motor fault and the like, that is, if any EPS internal fault occurs in the EPS self-test, the EPS enters a fault mode and is powered off.

Further, if the EPS has an unrecoverable safety fault, controlling the EPS power-assisted mode to close the power-assisted mode after the EPS power-assisted mode lasts for a second preset time; the second preset time is longer than the first preset time.

In this embodiment, if an unrecoverable serious failure occurs in the EPS, the assist is turned off.

Preferably, as shown in fig. 2, the electric power steering control method according to the embodiment of the present application specifically includes the following steps:

s1, entering an EPS power-assisted mode when power-assisted starting conditions are met and EPS self-checking is faultless; the boosting starting condition is that the ignition signal is received, and the state signal of the vehicle controller is received or the vehicle speed is not less than a preset value.

And S3, if the EPS has a recoverable safety fault, the power assisting mode of the EPS is closed after the EPS power assisting mode lasts for a first preset time.

S4, if the EPS has an unrecoverable safety fault, the power assisting mode of the EPS is closed after the EPS power assisting mode lasts for a second preset time; the second preset time is greater than the first preset time.

And S5, if the EPS has an unrecoverable serious fault, the power assisting is closed.

On the basis of the above embodiment, in this embodiment, the method further includes the following steps:

In this embodiment, when the ignition signal and the vehicle controller state signal are both off and the vehicle speed is less than the preset value, the assist is turned off.

In the present embodiment, the power-off condition of the EPS is ignition-off (IGN off), vehicle controller status-off (VCU READY ═ 0), and the vehicle speed is less than the preset value. And when the EPS meets the power-down condition, entering a power-down mode. Through increasing the judgement to the speed of a motor vehicle to prevent after the parking stalls, the vehicle still has the operating mode of speed of a motor vehicle to slide outside as desired, EPS still can provide the power assisted steering this moment, makes the vehicle possess the direction controllability under this operating mode, improves the security of vehicle.

In this embodiment, the data security and stability of the EPS are crucial to ensure the safety of the passengers, and therefore, in the product development of the EPS, in addition to improving the product quality in terms of design, production and the like, corresponding safety mechanisms can be designed for potential failure modes, such as visual reminding, sound, assistance degradation and other measures, so as to ensure the basic steering function and ensure the controllability of the vehicle in a fault state.

As shown in fig. 3, the electric power steering control method of the present embodiment specifically includes the steps of:

firstly, after a vehicle is powered on (IGN on), the EPS is in an initialization mode state, at the moment, internal self-checking and external signal detection are carried out, and different working modes such as normal power assistance, fixed vehicle speed power assistance, failure modes and the like are entered under different conditions. In this embodiment, the preset value is 5 Km/h.

When the power-assisted starting condition is met and the EPS self-test is faultless, the EPS is indicated to receive an ignition signal and a vehicle controller state signal or the vehicle speed is not less than a preset value (IGN on & (VCU READY is 1or Veh _ speed >: 5Km/h)), and the EPS self-test is faultless at the same time, and at the moment, the EPS enters a normal power-assisted state according to the vehicle controller state signal and the vehicle speed signal.

The self-checking fault classification of the present embodiment includes F1 (external signal fault) and F2(EPS internal fault).

And when the assistance starting condition is met and the self-checking fault is an external signal fault, if the input vehicle speed signal is invalid and the like, entering a fixed vehicle speed assistance mode. The speed of a fixed speed boosting mode is generally limited to 60-80Km/h, the EPS output boosting is small at the moment, the steering hand force is heavier than that in a normal driving state, the driving requirement of the vehicle can still be met, and a driver can be reminded of needing to overhaul.

When the power-assisted starting condition is met and the self-checking fault is an EPS internal fault, if the EPS controller internally reports the fault, the sensor fault, the motor fault and the like, the EPS controller directly enters a fault mode, and the EPS is powered off.

The self-test fault classification and the corresponding fault description of this embodiment are shown in table 1 below.

TABLE 1

Then, when the EPS enters a normal power-assisted state, namely the EPS is in a normal working state at the moment, full power-assisted output is realized, and speed-following adjustment of steering power-assisted is realized according to the vehicle speed and the rotating speed condition of a steering wheel; at this time, the EPS state still needs to be monitored in real time, so as to respond to the power-assisted degradation mode in time when the EPS fails.

The degradation modes are divided into four types according to the severity of the fault, including a degradation mode 1, a degradation mode 2, a degradation mode 3, and a degradation mode 4.

Specifically, in the normal EPS boosting state, if the EPS has a C1 fault, such as loss or abnormality of a vehicle external signal, including loss or abnormality of a vehicle speed signal, the EPS may be degraded to the fixed vehicle speed boosting mode, and at this time, the EPS is degraded from the normal boosting mode to the degraded mode 1 (fixed vehicle speed boosting mode), that is, the recoverable small boosting mode.

In this embodiment, if the external signal of the vehicle is recovered, the EPS assist mode may be re-entered, that is, the degraded mode 1 is upgraded to the EPS normal assist mode.

In the normal EPS assisting state, if the EPS has a C2 fault, if the vehicle is stopped and the driver forgets to power off, the state signal of the vehicle controller is lost and the vehicle speed is 0, the EPS is degraded from the normal EPS assisting mode to the degradation mode 2, and the degradation mode 2 is the EPS assisting mode and is closed after the EPS assisting mode lasts for the first preset time.

In this embodiment, the first preset time is 30s, and the power assist is turned off after the EPS power assist mode of 30s, so that it is possible to prevent the EPS from continuously providing normal power assist under this condition, which may result in abnormal consumption of the power supply of the vehicle battery.

In the EPS normal assist state, if the EPS has a C3 fault, for example, when the vehicle is in a driving process, a key signal outside the vehicle is lost, for example, an ignition signal is lost, a vehicle controller state signal is lost, and the like, the EPS is degraded from the EPS normal assist mode to the degradation mode 3, the degradation mode 3 is the EPS assist mode, and the driver needs to be reminded in a manner of voice prompt through a loudspeaker or display screen display after the EPS assist mode lasts for a second preset time.

In this embodiment, the second preset time is 120s, and the power assistance is turned off after the EPS power assistance mode of 120s, so that the driver can be ensured to have enough time to perform the safety processing on the vehicle.

Under the normal power-assisted state of the EPS, if the EPS has a C4 fault, if a vehicle is in a driving process, and key signals outside the vehicle are lost, if an EPS internal controller fault, a torque signal fault and an angle signal fault and the like exist, the EPS normal power-assisted mode is degraded to a degradation mode 4, the degradation mode 4 is a mode that the EPS directly enters the fault mode, the EPS is powered off, and a driver needs to be reminded through a loudspeaker voice prompt or a display screen display and the like.

The degradation mode and the corresponding fault description of the present embodiment are shown in table 2 below.

TABLE 2

Numbering	Degraded mode	Description of the failure
			1	C1	Recoverable non-safety failure
2	C2	Recoverable safety-related failure
			3	C3	Irrecoverable safety-related failures, requiring driver alert
4	C4	Irrecoverable safety related critical failure requiring driver alert

Finally, when the vehicle meets the power-down condition and the EPS is not powered down, the EPS enters a power-down mode. In this embodiment, the condition that the EPS enters the power down mode is as follows: the ignition signal and the vehicle controller status signal are both off, and the vehicle speed is less than a preset value (IGN off & & VCU READY 0& & Veh _ speed <5 Km/h). Through the increase of the judgment of the vehicle speed, after the vehicle is stopped and flamed out, if the vehicle also has the working conditions of the vehicle, such as outward sliding and the like, the steering assistance can still be provided, so that the vehicle has direction controllability under the working conditions, and the vehicle safety is improved.

The electric power steering control method of the embodiment enables the EPS to cope with different vehicle working conditions, and provides more perfect safety guarantee for customers. The method has the advantages that the judgment strategy of the vehicle speed is added in the starting and quitting working conditions of the EPS, the starting and quitting conditions are defined in detail, the power-assisted output is provided under the special working conditions, the safety of the vehicle is guaranteed, meanwhile, in the driving working conditions of the EPS, different EPS degradation strategies are responded through 4 different failure conditions, and the EPS has better adaptability.

The electric power steering control device comprises a judging module, a self-checking module, a control module and a degrading module.

The judging module is used for judging whether a power-assisted starting condition is met; the power-assisted starting condition is that the ignition signal and the vehicle controller state signal are received or the vehicle speed is not less than a preset value, namely when the ignition signal and the vehicle controller state signal are received by the judgment module, the judgment module judges that the power-assisted starting condition is met; in addition, when the judgment module receives the ignition signal and the vehicle speed is not less than the preset value, the judgment module still judges that the power-assisted starting condition is met.

The self-checking module is used for controlling EPS self-checking.

The control module is used for controlling the EPS to enter an EPS power-assisted mode when the power-assisted starting condition is met and the EPS self-checking is free of faults. At this time, the EPS is in a normal operating mode, and the steering assist is adjusted with the speed according to the vehicle speed and the steering wheel rotation speed.

The degradation module is used for controlling the EPS power-assisted mode to degrade to the fixed vehicle speed power-assisted mode when the EPS has a recoverable non-safety fault. At this time, the vehicle speed of the fixed vehicle speed assist mode is limited to 60-80 Km/h. The driving requirement of the vehicle can still be met at the moment.

The control module is further used for re-entering the EPS power-assisted mode when the recoverable non-safety fault is recovered. In this embodiment, the recoverable unsafe fault includes a loss or abnormality of the vehicle speed signal.

Preferably, the control module is further configured to enter a fixed vehicle speed boosting mode when the boosting starting condition is met and the self-checking fault is an external signal fault. The control module is further used for entering a failure mode when the assistance starting condition is met and the self-checking failure is an EPS internal failure, and powering off the EPS.

Optionally, when the EPS has a recoverable safety failure, the control module is further configured to turn off the power assist after the EPS power assist mode lasts for a first preset time.

In this embodiment, the recoverable safety fault includes a loss of the vehicle controller status signal and a vehicle speed of 0.

Optionally, when the EPS has an unrecoverable safety failure, the control module is further configured to continue the EPS power assistance mode for a second preset time and then turn off the power assistance, where the second preset time is longer than the first preset time. In this embodiment, the unrecoverable safety failure includes a loss of an ignition signal, a loss of a vehicle controller status signal, and the like.

Optionally, the control module is further configured to turn off the boosting when the EPS has an unrecoverable catastrophic failure. At this time, the EPS directly enters the failure mode. In this embodiment, the unrecoverable serious failure includes an EPS internal failure, a torque signal failure, a steering angle signal failure, and the like.

In this embodiment, the electric power steering control apparatus further includes a presetting module and a storage module, where the presetting module is configured to preset a fault list, and the fault list includes the recoverable non-safety fault, the recoverable safety fault, the unrecoverable safety fault, and the unrecoverable serious fault. The storage module is used for storing the fault list.

In the present embodiment, the electric power steering control device may be provided in the EPS or may not be provided in the EPS.

The electric power steering control device of the embodiment is suitable for the electric power steering control methods, not only can provide power output under different special working conditions in the starting and stopping processes, but also can still provide the power output under the special working conditions to ensure the controllability of the vehicle, and can provide four levels of safety modes by combining fault-graded EPS different degradation mode strategies in the normal driving process, thereby realizing the stable switching of the steering power-assisted state, ensuring the safety of passengers, the stability of the system, and the requirement of operation comfort, and improving the driving safety of the vehicle.

The electronic equipment for electric power steering control of the embodiment of the application comprises a processor and a memory, wherein the processor executes codes in the memory to realize the following electric power steering control method:

Optionally, the processor executing the code in the memory may further implement an electric power steering control method as follows:

when the power-assisted starting condition is met and the EPS self-detection fault occurs, if the self-detection fault is an external signal fault, entering a fixed vehicle speed power-assisted mode; and if the self-checking fault is an EPS internal fault, entering a fault mode, and powering off the EPS.

and if the EPS has a recoverable safety fault, the power assisting mode of the EPS is closed after the EPS power assisting mode lasts for the first preset time.

In this embodiment, the first preset time is preferably 30s, and under the condition of a recoverable safety fault, the power assistance is turned off after the EPS power assistance mode of 30s, so that the situation that the EPS continuously provides normal power assistance, which results in abnormal consumption of the power supply of the vehicle storage battery, can be prevented.

if the EPS has an unrecoverable safety fault, the power-assisted mode of the EPS is closed after the EPS power-assisted mode lasts for a second preset time; the second preset time is longer than the first preset time.

In this embodiment, the second preset time is preferably 120s, and under the condition that an unrecoverable safety failure occurs, the power assistance is turned off after the EPS power assistance mode of 120s, so that the driver can be ensured to have enough time to safely process the vehicle.

and if the EPS has serious unrecoverable faults, the power assisting is closed.

and when the ignition signal and the vehicle controller state signal are both disconnected and the vehicle speed is less than a preset value, the power assisting is turned off.

Preferably, the processor executing the code in the memory may also implement other steps in the aforementioned electric power steering control method.

It is noted that, in the present application, relational terms such as "first" and "second", and the like, are 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. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing are merely exemplary embodiments of the present application and are presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An electric power steering control method characterized by comprising the steps of:

when the power-assisted starting condition is met and the EPS self-checking has no fault, the EPS power-assisted mode is entered; the power-assisted starting condition is that an ignition signal is received, and a vehicle controller state signal or the vehicle speed is not less than a preset value;

2. The electric power steering control method according to claim 1, wherein when the power-assist start condition is satisfied and the EPS self-test has failed, further comprising:

3. The electric power steering control method according to claim 1, characterized in that: and if the EPS has a recoverable safety fault, the power assisting mode of the EPS is closed after the EPS power assisting mode lasts for the first preset time.

4. The electric power steering control method according to claim 3, characterized in that: if the EPS has an unrecoverable safety fault, the power-assisted mode of the EPS is closed after the EPS power-assisted mode lasts for a second preset time; the second preset time is greater than the first preset time.

5. The electric power steering control method according to claim 4, characterized in that: and if the EPS has serious unrecoverable faults, the power assisting is closed.

6. The electric power steering control method according to claim 5, characterized by further comprising:

the recoverable non-safety fault comprises a vehicle speed signal loss or an abnormality;

the unrecoverable critical faults include an EPS internal fault, a torque signal fault, and a steering angle signal fault.

7. The electric power steering control method according to claim 1, characterized in that: and when the ignition signal and the vehicle controller state signal are both disconnected and the vehicle speed is less than a preset value, the power assisting is turned off.

8. The electric power steering control method according to claim 1, characterized in that: the preset value is 5 Km/h.

9. An electric power steering control apparatus characterized by comprising:

the judging module is used for judging whether a power-assisted starting condition is met; the power-assisted starting condition is that an ignition signal is received, and a vehicle controller state signal or the vehicle speed is not less than a preset value;

the self-checking module is used for controlling EPS self-checking;

the control module is further configured to reenter the EPS-assisted mode when the recoverable non-safety fault is recovered.

10. An electronic device for electric power steering control, comprising a processor and a memory, the processor executing code in the memory implementing the method of any one of claims 1 to 8.