CN113753126A - Automobile steering system, absolute angle diagnosis method of steering wheel of automobile steering system, automobile and medium - Google Patents
Automobile steering system, absolute angle diagnosis method of steering wheel of automobile steering system, automobile and medium Download PDFInfo
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- CN113753126A CN113753126A CN202010501373.2A CN202010501373A CN113753126A CN 113753126 A CN113753126 A CN 113753126A CN 202010501373 A CN202010501373 A CN 202010501373A CN 113753126 A CN113753126 A CN 113753126A
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
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- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
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Abstract
The invention relates to the technical field of steering wheel turning angles of automobiles, and discloses an automobile steering system, a method for diagnosing the absolute angle of a steering wheel of the automobile steering system, an automobile and a medium, wherein the method comprises the following steps: after an automobile steering system is started, acquiring a first absolute steering wheel angle measured by an angle sensor in real time; determining a second steering wheel absolute angle according to the rear wheel speed signal; and starting an absolute angle diagnosis mode of the steering wheel after detecting that the absolute value of the angle difference between the absolute angle of the first steering wheel and the absolute angle of the second steering wheel is larger than a preset difference threshold, and carrying out automatic angle diagnosis operation according to the absolute angle of the second steering wheel in the absolute angle diagnosis mode. The invention effectively reduces the product cost and improves the utilization rate of vehicle-mounted hardware resources; the possibility of carrying out angle automatic diagnosis operation under the condition that the absolute angle of the first steering wheel or the absolute angle of the second steering wheel is abnormal is avoided, and the safety of the automobile is improved.
Description
Technical Field
The invention relates to the technical field of steering wheel turning angles of automobiles, in particular to an automobile steering system, a method for diagnosing the absolute angle of a steering wheel of the automobile steering system, an automobile and a medium.
Background
At present, the absolute angle of a steering wheel of an automobile is an important parameter for an automobile steering system, and the parameter influences the use of the functions of deviation identification, active return, rack tail end protection, deviation compensation and the like of the whole automobile. Therefore, how to improve the safety and the usability of the parameter is a problem which is widely concerned at present, in the prior art, the safety and the usability of the absolute angle of the steering wheel of the automobile are generally improved by improving the electronic redundancy, the multi-source detection, the multiple diagnosis and other modes, and the scheme has the defects that when the absolute angle of the steering wheel is diagnosed through the multi-source detection and the multiple diagnosis in the prior art, the use function safety can be met only by extremely high random failure rate requirements of used detection hardware, and the cost is greatly increased; in order to reduce the influence caused by the random failure rate of the hardware, the influence is usually compensated by adding a hardware redundancy means, and the product cost is further increased.
Disclosure of Invention
The embodiment of the invention provides an automobile steering system, a method for diagnosing the absolute angle of a steering wheel of the automobile steering system, an automobile and a medium, and solves the problems that in the prior art, when the absolute angle of the steering wheel is diagnosed, the requirement on random failure rate of used detection hardware is extremely high, and the cost is increased.
In order to achieve the above object, the present invention provides a method for diagnosing an absolute angle of a steering wheel of an automobile steering system, comprising:
after an automobile steering system is started, acquiring a first absolute steering wheel angle measured by an angle sensor in real time;
after rear wheel speed signals measured in real time by wheel speed sensors mounted on left and right rear wheels of an automobile are obtained, determining a second steering wheel absolute angle according to the rear wheel speed signals;
and starting an absolute angle diagnosis mode of the steering wheel after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is larger than a preset difference threshold, and executing an angle automatic diagnosis operation according to the second steering wheel absolute angle in the absolute angle diagnosis mode.
The invention also provides an automobile steering system, which comprises a controller, an angle sensor, a wheel speed sensor, a position sensor and a power-assisted mechanism; the angle sensor is arranged on a steering column of the automobile; the wheel speed sensors are arranged on the left and right rear wheels of the automobile; the power-assisted mechanism comprises a power-assisted motor and a speed reducer which is connected with the power-assisted motor and is arranged on the steering column; the position sensor is arranged on the power-assisted motor and is used for detecting the rotor position information of the power-assisted motor; the angle sensor, the wheel speed sensor, the power-assisted motor and the position sensor are all in communication connection with the controller; the controller is used for executing the absolute angle diagnosis method of the steering wheel of the automobile steering system.
The invention further provides an automobile comprising the automobile steering system.
The invention also provides a computer readable storage medium, which stores computer readable instructions, and the computer readable instructions are executed by a processor to realize the diagnosis method for the absolute angle of the steering wheel of the automobile steering system.
The automobile steering system, the method for diagnosing the absolute angle of the steering wheel of the automobile steering system, the automobile and the medium are suitable for a front-wheel steering two-drive automobile or a four-drive automobile; according to the method for diagnosing the absolute angle of the steering wheel of the automobile steering system, the absolute angle of the first steering wheel is measured through the angle sensor, the absolute angle of the second steering wheel is determined by utilizing the inherent hardware on the automobile, namely rear wheel speed signals measured by wheel speed sensors arranged on the left and right rear wheels of the automobile, and the absolute angle of the first steering wheel and the absolute angle of the second steering wheel are mutually verified, so that the angle sensor with high requirement on random failure rate is not required to be arranged, the product cost can be effectively reduced, and the utilization rate of vehicle-mounted hardware resources is improved; meanwhile, the absolute angle diagnosis mode of the steering wheel is started only after the absolute value of the angle difference between the absolute angle of the first steering wheel and the absolute angle of the second steering wheel is detected to be larger than the preset difference threshold, and the absolute angle of the second steering wheel is determined according to the rear wheel speed signal detected by the wheel speed sensor in the absolute angle diagnosis mode, so that the automatic angle diagnosis operation (the automatic angle diagnosis operation comprises the operation of using the absolute angle of the steering wheel, such as active return, terminal protection, lateral deviation compensation and the like) is performed, the possibility of performing the automatic angle diagnosis operation under the condition that the absolute angle of the first steering wheel or the absolute angle of the second steering wheel is abnormal is avoided, and the safety of the automobile is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.
FIG. 1 is a flow chart of a method for diagnosing absolute steering wheel angle in a steering system of an automobile according to an embodiment of the present invention;
FIG. 2 is a block diagram of a steering system for a vehicle according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a computer device according to an embodiment of 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 some, not all, embodiments of the present invention. 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.
In one embodiment, as shown in fig. 1, there is provided a steering wheel absolute angle diagnosis method of a steering system of an automobile, including the steps of S10-S30:
s10, acquiring the absolute angle of the first steering wheel measured by the angle sensor in real time after the automobile steering system is started; the Steering system of the automobile comprises a Steering column connected with a Steering wheel, the Angle Sensor can be a Steering Angle Sensor (SAS) mounted on the Steering column, further, a torque Sensor can be integrated in the Steering Angle Sensor, and in this embodiment, the Steering Angle Sensor can obtain the absolute Angle of the first Steering wheel through magnetic moment effect measurement.
S20, after rear wheel speed signals measured in real time by wheel speed sensors arranged on the left and right rear wheels of the automobile are obtained, determining a second steering wheel absolute angle according to the rear wheel speed signals; the wheel speed sensors are preferably installed above hubs of left and right wheels of the vehicle, and each vehicle must be provided with (i.e. inherent hardware) at the time of the wheel speed sensor, so that the wheel speed sensor does not need to be additionally provided for a steering system of the vehicle, the inherent wheel speed sensor of the vehicle is only required to be connected to a controller of the steering system, a wheel speed signal of the vehicle is acquired in real time, and an absolute angle of a second steering wheel is determined according to the wheel speed signal. In the invention, because the absolute angle of the second steering wheel is determined by utilizing the rear wheel speed signal measured by the inherent wheel speed sensor on the automobile, and the mutual check is carried out by utilizing the absolute angle of the first steering wheel and the absolute angle of the second steering wheel, an angle sensor with high requirement on random failure rate is not required to be installed, the product cost can be effectively reduced, and the utilization rate of vehicle-mounted hardware resources is improved.
And S30, after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is larger than a preset difference threshold, starting an absolute angle diagnosis mode of the steering wheel, and performing automatic angle diagnosis operation according to the second steering wheel absolute angle in the absolute angle diagnosis mode. The automatic angle diagnosis operation comprises the operations of active return to the positive position, terminal protection, lateral deviation compensation and the like which need to use the absolute angle of the steering wheel; specifically, the active return means that the mechanical return is difficult to return the steering wheel of the automobile to the steering wheel neutral position naturally due to reasons such as friction of a steering system and the like in the automobile walking process, and at the moment, the active return compensation module can be used for returning to the steering wheel neutral position according to the second steering wheel absolute angle, so that the steering wheel has better centering performance; the tail end protection means that whether the tail end is close to the tail end direction is determined according to the absolute angle of the second steering wheel in the process of driving the steering wheel, and the boosting force provided by the boosting mechanism is reduced when the tail end close to the tail end direction is determined (when a preset distance is formed between the tail end and the boosting mechanism), so that impact damage is avoided; the yaw compensation is performed when the presence of the hand force of the steering wheel is confirmed from the absolute angle of the second steering wheel (indicating the presence of the yaw of the vehicle) while maintaining the straight running of the vehicle, and at this time, it is necessary to provide an assist force by the assist mechanism so as to compensate and offset the hand force of the steering wheel, thereby reducing the burden on the driver. Preferably, the preset difference threshold is 5 degrees.
The absolute angle diagnostic method of the steering wheel of the automobile steering system of the invention measures the first absolute angle of the steering wheel through the angle sensor, and at the same time, the inherent hardware on the automobile, namely the rear wheel speed signal measured by the wheel speed sensor arranged on the left and right rear wheels of the automobile, is used for determining the second absolute angle of the steering wheel, and the first absolute angle of the steering wheel and the second absolute angle of the steering wheel are used for mutual check, therefore, the angle sensor with high requirement on random failure rate is not needed to be arranged, furthermore, the angle sensor used for measuring the first absolute angle of the steering wheel can be a single DIE chip, namely, the used angle sensor can be reduced from ASIL D with high requirement on random failure rate to ASIL B with a single DIE chip, even, the angle sensor used for measuring the first absolute angle of the steering wheel can be an index signal sensor with lower cost, thus, the product cost can be effectively reduced, the utilization rate of vehicle-mounted hardware resources is improved; meanwhile, the absolute angle diagnosis mode of the steering wheel is started only after the absolute value of the angle difference between the absolute angle of the first steering wheel and the absolute angle of the second steering wheel is detected to be larger than the preset difference threshold, and in the absolute angle diagnosis mode, the automatic angle diagnosis operation is carried out according to the absolute angle of the second steering wheel determined by the rear wheel speed signal detected by the wheel speed sensor, so that the possibility of carrying out the automatic angle diagnosis operation under the condition that the absolute angle of the first steering wheel or the absolute angle of the second steering wheel is abnormal is avoided, and the safety of the automobile is improved. According to the invention, the multiple diagnosis is used, so that the diagnosis correctness is improved, the normal operation of the system is ensured, the unsafe risk is reduced, meanwhile, the redundancy requirement of detection hardware used in a steering system can be reduced, and the system cost is reduced.
In one embodiment, the automotive steering system includes a steering column coupled to a steering wheel, the angle sensor includes a steering angle sensor mounted on the steering column;
in step S10, the acquiring, in real time, the first absolute steering wheel angle measured by the angle sensor includes:
detecting whether the steering angle sensor is calibrated or not;
when the steering angle sensor is calibrated, acquiring a first absolute steering wheel angle measured by the steering angle sensor in real time;
starting a raw mechanical diagnostic mode of a steering wheel when the steering angle sensor is not calibrated.
In this embodiment, first, a calibration flag of the steering angle sensor needs to be monitored (if calibrated, the calibration flag is marked with a calibration identifier, if uncalibrated, the calibration flag is not marked with the calibration identifier or is marked with the uncalibrated identifier) to determine whether the steering angle sensor is calibrated, and it is understood that the steering angle sensor is calibrated to represent that the steering angle sensor can normally work, and at this time, the first absolute angle of the steering wheel measured by the steering angle sensor in real time can be directly obtained. When the steering angle sensor is not calibrated, the steering angle sensor cannot normally work when the steering angle sensor is in fault or is not installed in place, at this time, the steering wheel absolute angle automatic diagnosis operation is not started, but the original mechanical diagnosis mode of the steering wheel is started, namely, the system function is automatically degraded to enter the original mechanical diagnosis mode of starting the steering wheel, and at this time, the operation of the steering wheel absolute angle, such as active return, terminal protection, lateral deviation compensation and the like in the angle automatic diagnosis operation, which needs to be used, cannot be started (namely, the active return, the terminal protection, the lateral deviation compensation and the like do not work).
In one embodiment, the vehicle steering system further comprises a power assisting mechanism for providing power assisting torque to the steering column; the power-assisted mechanism comprises a power-assisted motor and a speed reducer which is connected with the power-assisted motor and is arranged on the steering column; the power-assisted motor is provided with a position sensor for detecting the rotor position information of the power-assisted motor;
in step S30, before the detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is greater than a preset difference threshold, the method further includes:
when a rear wheel speed signal measured in real time by the wheel speed sensor cannot be obtained, first rotor position information measured by the position sensor is obtained, and a second steering wheel absolute angle is obtained according to the first rotor position information.
In this embodiment, it is first required to monitor whether a rear wheel speed signal is normal, and when the rear wheel speed signal measured in real time by the wheel speed sensor cannot be obtained, it indicates that the wheel speed sensor is faulty or not installed in place, at this time, the wheel speed sensor cannot work normally, and the rear wheel speed signal is abnormal; in this case, the second steering wheel absolute angle needs to be determined from the first rotor position information measured by the position sensor, and the process proceeds to step S30 described above.
In an embodiment, the obtaining of the second absolute angle of the steering wheel according to the first rotor position information specifically includes: and calculating the absolute angle of the second steering wheel according to the position information of the first rotor and the reduction ratio of a worm gear and a worm preset in the speed reducer. Further, in another embodiment, to reduce the error, the acquiring the second absolute steering wheel angle according to the first rotor position information specifically includes: recording an angle determined according to the first rotor position information and a turbine worm speed reduction ratio preset in the speed reducer as a first relative angle; and then, acquiring an angle offset value, and determining a second absolute steering wheel angle according to the first relative angle and the angle offset value. Specifically, the second steering wheel absolute angle is a sum of the first relative angle and an angle offset value. The angle offset value may be measured when the automobile steering system is started and stored in a database for being called at any time, and therefore, before obtaining the angle offset value, the method includes: acquiring second rotor position information measured by the position sensor when the automobile steering system is started, and determining a second relative angle according to the second rotor position information; and acquiring a third steering wheel absolute angle measured by the angle sensor when the automobile steering system is started, and recording a difference value between the second relative angle and the third steering wheel absolute angle as an angle offset value.
In an embodiment, before determining the second absolute steering wheel angle according to the rear wheel speed signal, the method further includes: and filtering the rear wheel speed signal. Understandably, filtering the rear wheel speed signal can reduce noise and false detection rate.
In one embodiment, in step S20, the rear wheel speed signal includes a rear left wheel speed and a rear right wheel speed; the determining a second absolute steering wheel angle from the rear wheel speed signal includes:
inputting the rear wheel speed signal into the following whole vehicle dynamics Ackerman model, and acquiring a second steering wheel absolute angle output by the whole vehicle dynamics Ackerman model:
wherein θ is the second steering wheel absolute angle; vRLRear left wheel speed; vRRRear right wheel speed; l is the wheelbase; t is the tread; i.e. iratioIs the transmission ratio.
It should be understood that the present invention determines the absolute angle of the second steering wheel according to the wheel speed of the rear wheel (the left wheel speed and the right wheel speed are both included in the rear wheel speed signal) by the whole vehicle dynamics ackerman model, so the above embodiment of the present invention is suitable for the front wheel steering two-wheel drive vehicle or four-wheel drive vehicle, both of which can use the rear wheel speed signal to calculate the absolute angle of the second steering wheel. In this embodiment, while the first absolute angle of the steering wheel is measured by the angle sensor, the second absolute angle of the steering wheel is determined by using the inherent hardware of the vehicle, that is, the rear wheel speed signals measured by the wheel speed sensors installed on the left and right rear wheels of the vehicle (in the case that the rear wheel speed signals are normal, the second absolute angle of the steering wheel is estimated by using the ackermann model of vehicle dynamics), and the first absolute angle of the steering wheel and the second absolute angle of the steering wheel are mutually verified, so that it is not necessary to install an angle sensor having a high requirement on the random failure rate, and further, the angle sensor for measuring the first absolute angle of the steering wheel can be a single DIE chip, that is, the angle sensor used can be reduced from the requirement on the random failure rate ASIL D to the ASIL B of the single DIE chip, and even, the angle sensor for measuring the first absolute angle of the steering wheel can be an index signal sensor with lower cost, therefore, the product cost can be effectively reduced, and the utilization rate of vehicle-mounted hardware resources is improved.
In an embodiment, the method further comprises:
and starting an original mechanical diagnosis mode of the steering wheel after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is smaller than or equal to a preset difference threshold.
In this embodiment, after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is smaller than or equal to the preset difference threshold, it indicates that one of the first steering wheel absolute angle and the second steering wheel absolute angle is abnormal, or even both of them are abnormal, at this time, the first steering wheel absolute angle and the second steering wheel absolute angle are not trusted, and therefore, the system function degrades to enter the original mode (that is, the original mechanical diagnosis mode of the steering wheel is started, at this time, active return, end protection, yaw compensation, and the like do not work).
In one embodiment, as shown in fig. 2, there is provided an automobile steering system, which corresponds to the method for diagnosing the absolute angle of the steering wheel of the automobile steering system in the above embodiment. The automobile steering system comprises a controller 1, an angle sensor 2, a wheel speed sensor 3, a position sensor 4 and a power-assisted mechanism 5; the angle sensor 2 is arranged on a steering column of the automobile; the wheel speed sensors 3 are arranged on the left and right rear wheels of the automobile; the power-assisted mechanism 5 comprises a power-assisted motor and a speed reducer which is connected with the power-assisted motor and is arranged on the steering column; the position sensor 4 is arranged on the power-assisted motor and is used for detecting the rotor position information of the power-assisted motor; the angle sensor 2, the wheel speed sensor 3, the power-assisted motor and the position sensor 4 are all in communication connection with the controller 1; the controller 1 is configured to execute the steering wheel absolute angle diagnosis method of the steering system of the automobile.
Understandably, in the present invention, the controller 1 acquires a rear wheel speed signal measured by the wheel speed sensor 3 through the CAN bus; the angle sensor 2 includes a steering angle sensor 21 (understandably, as shown in fig. 2, the steering angle sensor 21 is included in the angle sensor 2, but a torque sensor may be integrated in the steering angle sensor 21); when the angle sensor 2 is a steering angle sensor 21, the controller 1 acquires a first steering wheel absolute angle measured by the steering angle sensor 21 through a CAN bus; when a torque sensor is integrated in the steering angle sensor 21, a sensing signal of the torque sensor is transmitted to the controller 1 by a hard wire signal; meanwhile, the controller 1 obtains the first rotor position information of the assist motor measured by the position sensor 4 through a hard-wired signal (understandably, the second rotor position information measured by the position sensor 4 may also be obtained through a hard-wired signal); in the invention, the absolute angle of a first steering wheel can be measured by an angle sensor 2, meanwhile, inherent hardware on the automobile is utilized, namely rear wheel speed signals measured by wheel speed sensors 3 arranged on left and right rear wheels of the automobile are utilized to determine the absolute angle of a second steering wheel, meanwhile, the mutual check is carried out on the absolute angle of the first steering wheel and the absolute angle of the second steering wheel through the program operation of a single chip microcomputer so as to diagnose whether the current absolute angle of the first steering wheel and the current absolute angle of the second steering wheel are abnormal, and when the absolute angle is abnormal, the automatic angle diagnosis operation (namely, active return to normal, terminal protection, sidesway compensation and the like) is carried out according to the absolute angle of the second steering wheel determined by the rear wheel speed signals measured by the wheel speed sensors 3, so that the requirement on the operation comfort of a steering system can be realized; meanwhile, when the current first steering wheel absolute angle and/or the second steering wheel are abnormal, the original mechanical diagnosis mode of the steering wheel is started, the possibility of automatic angle diagnosis operation under the condition that the first steering wheel absolute angle or the second steering wheel absolute angle is abnormal is avoided, and the safety of the automobile is improved.
For specific limitations of the steering system of the automobile, reference may be made to the above limitations of the absolute angle diagnosis method for the steering wheel of the steering system of the automobile, and details thereof will not be described herein. The various modules in the automotive steering system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules. Understandably, the above-described automobile steering system is installed in an automobile.
In one embodiment, an automobile is provided, and the automobile steering system is included.
In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 3. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer readable instructions, and a database. The internal memory provides an environment for the operating system and execution of computer-readable instructions in the non-volatile storage medium. The computer readable instructions, when executed by a processor, implement a method for diagnosing absolute steering wheel angle of a steering system of an automobile.
In one embodiment, a computer device is provided, which includes a memory, a processor, and computer readable instructions stored in the memory and executable on the processor, wherein the processor executes the computer readable instructions to implement the above-mentioned absolute steering wheel angle diagnosing method for a steering system of an automobile. The computer device may be a control module of an automobile, or may be a computer device disposed outside the automobile and communicatively connected to the automobile.
The present invention also provides a computer readable storage medium storing computer readable instructions which, when executed by a processor, implement the above-mentioned method for diagnosing an absolute angle of a steering wheel of a steering system of an automobile.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of each functional unit or module is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units or modules according to requirements, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of diagnosing an absolute steering wheel angle of a steering system of an automobile, comprising:
after an automobile steering system is started, acquiring a first absolute steering wheel angle measured by an angle sensor in real time;
after rear wheel speed signals measured in real time by wheel speed sensors mounted on left and right rear wheels of an automobile are obtained, determining a second steering wheel absolute angle according to the rear wheel speed signals;
and starting an absolute angle diagnosis mode of the steering wheel after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is larger than a preset difference threshold, and carrying out automatic angle diagnosis operation according to the second steering wheel absolute angle in the absolute angle diagnosis mode.
2. The method of diagnosing an absolute angle of a steering wheel of a steering system of an automobile according to claim 1, wherein the steering system of the automobile includes a steering column to which a steering wheel is connected, and the angle sensor includes a steering angle sensor mounted on the steering column;
the acquiring of the absolute angle of the first steering wheel measured by the angle sensor in real time includes:
detecting whether the steering angle sensor is calibrated or not;
when the steering angle sensor is calibrated, acquiring a first absolute steering wheel angle measured by the steering angle sensor in real time;
starting a raw mechanical diagnostic mode of a steering wheel when the steering angle sensor is not calibrated.
3. The method for diagnosing an absolute steering wheel angle of an automobile steering system according to claim 1, wherein the automobile steering system further comprises a boosting mechanism for supplying a boosting torque to the steering column; the power-assisted mechanism comprises a power-assisted motor and a speed reducer which is connected with the power-assisted motor and is arranged on the steering column; the power-assisted motor is provided with a position sensor for detecting the rotor position information of the power-assisted motor;
before the detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is greater than a preset difference threshold, the method further includes:
when a rear wheel speed signal measured in real time by the wheel speed sensor cannot be obtained, first rotor position information measured by the position sensor is obtained, and a second steering wheel absolute angle is obtained according to the first rotor position information.
4. The method of diagnosing an absolute steering wheel angle in a steering system of an automobile according to claim 1, wherein before determining a second absolute steering wheel angle based on the rear wheel speed signal, the method further comprises:
and filtering the rear wheel speed signal.
5. The method of diagnosing an absolute steering wheel angle of a steering system of an automobile of claim 1, wherein the rear wheel speed signal includes a rear left wheel speed and a rear right wheel speed;
the determining a second absolute steering wheel angle from the rear wheel speed signal includes:
inputting the rear wheel speed signal into the following whole vehicle dynamics Ackerman model, and acquiring a second steering wheel absolute angle output by the whole vehicle dynamics Ackerman model:
wherein θ is the second steering wheel absolute angle; vRLRear left wheel speed; vRRRear right wheel speed; l is the wheelbase; t is the tread; i.e. iratioIs the transmission ratio.
6. The method for diagnosing an absolute angle of a steering wheel of a steering system of an automobile according to claim 1, further comprising:
and starting an original mechanical diagnosis mode of the steering wheel after detecting that the absolute value of the angle difference between the first steering wheel absolute angle and the second steering wheel absolute angle is smaller than or equal to a preset difference threshold.
7. The method of diagnosing an absolute steering wheel angle in a steering system of an automobile as claimed in claim 1, wherein the preset difference threshold is 5 degrees.
8. An automobile steering system is characterized by comprising a controller, an angle sensor, a wheel speed sensor, a position sensor and a power-assisted mechanism; the angle sensor is arranged on a steering column of the automobile; the wheel speed sensors are arranged on the left and right rear wheels of the automobile; the power-assisted mechanism comprises a power-assisted motor and a speed reducer which is connected with the power-assisted motor and is arranged on the steering column; the position sensor is arranged on the power-assisted motor and is used for detecting the rotor position information of the power-assisted motor; the angle sensor, the wheel speed sensor, the power-assisted motor and the position sensor are all in communication connection with the controller; the controller is configured to execute a steering wheel absolute angle diagnosis method of a steering system of an automobile according to any one of claims 1 to 7.
9. An automobile characterized by comprising the automobile steering system according to claim 8.
10. A computer-readable storage medium storing computer-readable instructions, wherein the computer-readable instructions, when executed by a processor, implement a steering wheel absolute angle diagnosis method of a steering system of an automobile according to any one of claims 1 to 7.
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| CN114940210A (en) * | 2022-04-02 | 2022-08-26 | 中汽创智科技有限公司 | Method and device for determining steering wheel angle signal |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114940210A (en) * | 2022-04-02 | 2022-08-26 | 中汽创智科技有限公司 | Method and device for determining steering wheel angle signal |
| CN114940210B (en) * | 2022-04-02 | 2023-10-31 | 中汽创智科技有限公司 | Method and device for determining steering wheel angle signal |
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| CN113753126B (en) | 2022-12-09 |
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