CN113911204A - Method and system for failure backup of steering system - Google Patents
Method and system for failure backup of steering system Download PDFInfo
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- CN113911204A CN113911204A CN202111231131.7A CN202111231131A CN113911204A CN 113911204 A CN113911204 A CN 113911204A CN 202111231131 A CN202111231131 A CN 202111231131A CN 113911204 A CN113911204 A CN 113911204A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Human Computer Interaction (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention relates to a method and a system for failure backup of a steering system, wherein the method comprises the following steps: when detecting that the EPS is failed, sending a steering request to an ESC (Electronic Stability Controller); the ESC effects vehicle steering by applying a braking force to a single brake wheel in response to a steering request. The method for realizing vehicle steering by using braking as a steering system failure backup realizes the redundancy of the steering system by the active steering function of a brake electric control system and two independent ECUs (electronic control units) of the EPS and can realize the full system redundancy of the ECU, the motor and the corner sensor.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a method and a system for failure backup of a steering system.
Background
In the automatic driving process of the vehicle, if an Electric Power Steering (EPS) fails and the vehicle cannot respond to a Steering request of an intelligent driving system, a catastrophic result will occur, so that the Steering system needs to have a redundancy scheme.
The existing solution generally uses a 6-phase or 12-phase motor to realize motor redundancy, and control chip redundancy is realized by reducing chip failure rate, but not chip redundancy in a physical layer.
Disclosure of Invention
The invention provides a method and a system for failure backup of a steering system, aiming at the technical problems in the prior art, the method for failure backup of the steering system is realized by utilizing braking to realize vehicle steering, the redundancy of the steering system is realized by the active steering functions of a brake electric control system and an EPS (electric power steering) independent ECU, and the full system redundancy of the ECU, a motor and a corner sensor can be realized.
According to a first aspect of the present invention, there is provided a method of failure backup for a steering system, comprising:
step 1, when detecting that the EPS is invalid, sending a steering request to an ESC;
and 2, the ESC applies braking force to a single brake wheel according to the steering request to realize the steering of the vehicle.
On the basis of the technical scheme, the invention can be improved as follows.
Optionally, step 2 includes: and estimating the course angle variation of the vehicle through an accumulated value of the yaw rate of the vehicle gyroscope, and accumulating the course angle variation to obtain the vehicle steering angle within a period of time.
Optionally, the formula for periodically calculating the variation of the heading angle is as follows: θ i +1 ═ θ i + ω i × dt; wherein θ i represents a vehicle heading angle of the vehicle at the ith moment, and ω i represents a yaw rate of the vehicle at the ith moment;
the calculation formula of the steering angle is as follows: and alpha is theta 1+ theta 2+ … … theta k, wherein theta 1-theta k represent vehicle heading angles of k time points in a set time period before the current time.
Optionally, step 2 includes: and judging the change rate of the steering angle according to the yaw velocity at the current moment, and adjusting the wheel braking moment according to the change rate of the steering angle.
Optionally, a maximum threshold value of the yaw rate is set, and the yaw rate is not greater than the maximum threshold value when the magnitude of the wheel braking torque is adjusted.
Optionally, the maximum threshold of the yaw rate is selectively set according to a road condition, and the road condition is determined according to weather, temperature and a road surface leveling state.
Optionally, after the ESC in step 2 receives the steering request and controls the steering motor to apply a braking force to a single brake wheel, a message that vehicle steering has been performed is fed back.
According to a second aspect of the present invention, there is provided a system for failure backup of a steering system, comprising: the intelligent driving system comprises an EPS module, an intelligent driving module and an ESC module;
when the intelligent driving module detects that the EPS is invalid, a steering request is sent to the ESC module;
and the ESC module applies braking force to a single brake wheel according to the steering request to realize vehicle steering.
According to a third aspect of the present invention, there is provided an electronic device comprising a memory, a processor for implementing the steps of the method of steering system failover backup when executing a computer management class program stored in the memory.
According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer management like program, which when executed by a processor, performs the steps of the method of steering system failover.
The invention provides a method, a system, electronic equipment and a storage medium for failure backup of a steering system, and provides an electric steering redundancy scheme independent of an EPS system; the method comprises the steps that a model building of the whole vehicle steering is generated through the wheel rim braking of a steering wheel, the maximum threshold value of the yaw angular speed is selected and set according to the road condition during braking, the road condition is determined according to weather, temperature and the road surface leveling state, and the stability of vehicles in turning under different road conditions such as accumulated water on the road surface, icing and unevenness is guaranteed; after the steering is executed, the steering execution information is fed back to the control module, so that the intelligent driving module can control and know the running condition of the whole vehicle more efficiently.
Drawings
FIG. 1 is a flowchart illustrating a method for failover backup of a steering system in accordance with the present invention;
FIG. 2 is a schematic diagram of a right turn of a vehicle achieved by braking a right front steerable wheel as provided by an embodiment of the present invention;
FIG. 3 is a schematic view of the vehicle rotating in all directions according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a hardware structure of a possible electronic device provided in the present invention;
fig. 5 is a schematic diagram of a hardware structure of a possible computer-readable storage medium according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a flowchart of a method for backing up a failure of a steering system according to the present invention, as shown in fig. 1, the method includes:
step 1, when detecting EPS failure, sending a steering request to ESC.
And 2, the ESC applies braking force to a single brake wheel according to the steering request to realize the steering of the vehicle.
For example, a braking torque is applied to the right front steering wheel to actively steer the vehicle to the right. Fig. 2 is a schematic diagram illustrating a right turn of a vehicle by braking a right front steering wheel according to an embodiment of the present invention.
The invention provides a method for failure backup of a steering system, which is a method for realizing vehicle steering by braking as the failure backup of the steering system, realizes the redundancy of the steering system by the active steering function of a brake electric control system and two independent ECUs (electronic control units) of an EPS (electric power steering), and can realize the total system redundancy of the ECUs, a motor and a corner sensor.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a method for failure backup of a steering system, and it can be known from fig. 1 that the embodiment of the method for failure backup of a steering system includes:
step 1, when detecting EPS failure, sending a steering request to ESC.
And 2, the ESC applies braking force to a single brake wheel according to the steering request to realize the steering of the vehicle.
In one possible embodiment, step 2 includes: and estimating the course angle variation of the vehicle through the accumulated value of the yaw rate of the vehicle gyroscope, and accumulating the course angle variation to obtain the vehicle steering angle within a period of time. Fig. 3 is a schematic diagram illustrating the vehicle rotating in all directions according to the embodiment of the present invention.
In a possible embodiment, the periodic calculation formula of the heading angle variation is as follows: θ i +1 ═ θ i + ω i × dt; where θ i represents a vehicle heading angle of the vehicle at the ith time, and ω i represents a yaw rate of the vehicle at the ith time.
Specifically, θ 1 ═ θ 0+ ω 0 × dt and θ 2 ═ θ 1+ ω 1 × dt … …
The steering angle is the variation of course angle in a period of time, and the calculation formula is as follows: and alpha is theta 1+ theta 2+ … … theta k, wherein theta 1-theta k represent vehicle heading angles of k time points in a set time period before the current time.
In one possible embodiment, step 2 includes: and judging the change rate of the steering angle according to the yaw velocity at the current moment, and adjusting the wheel braking moment according to the change rate of the steering angle.
In one possible embodiment, a maximum threshold value for the yaw rate is set, and the magnitude of the wheel braking moment is adjusted such that the yaw rate does not exceed the maximum threshold value.
In a possible embodiment mode, the maximum threshold value of the yaw velocity is selected and set according to the road condition, the road condition is determined according to weather, temperature and the road surface leveling state, and the stability of the vehicle in turning under different road conditions such as water accumulation on the road surface, icing and unevenness is guaranteed.
In a possible embodiment, after the ESC receives the steering request in step 2 and controls the steering motor to apply braking force to a single brake wheel, the ESC feeds back a message that the vehicle steering has been performed.
Example 2
Embodiment 2 provided by the present invention is an embodiment of a system for failure backup of a steering system, which includes: EPS module, intelligent driving module and ESC module.
And when the intelligent driving module detects that the EPS is invalid, the intelligent driving module sends a steering request to the ESC module.
And the ESC module applies braking force to a single brake wheel according to the steering request to realize the steering of the vehicle.
It can be understood that the system for steering system failure backup provided by the present invention corresponds to the method for steering system failure backup provided by the foregoing embodiments, and the relevant technical features of the system for steering system failure backup may refer to the relevant technical features of the method for steering system failure backup, and are not described herein again.
Referring to fig. 4, fig. 4 is a schematic view of an embodiment of an electronic device according to an embodiment of the invention. As shown in fig. 4, an embodiment of the present invention provides an electronic device, which includes a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1320 and executable on the processor 1320, where the processor 1320 executes the computer program 1311 to implement the following steps: when detecting that the EPS is invalid, sending a steering request to the ESC; the ESC effects vehicle steering by applying a braking force to a single brake wheel in response to a steering request.
Referring to fig. 5, fig. 5 is a schematic diagram of an embodiment of a computer-readable storage medium according to the present invention. As shown in fig. 5, the present embodiment provides a computer-readable storage medium 1400, on which a computer program 1411 is stored, which computer program 1411, when executed by a processor, implements the steps of: when detecting that the EPS is invalid, sending a steering request to the ESC; the ESC effects vehicle steering by applying a braking force to a single brake wheel in response to a steering request.
The embodiment of the invention provides a method, a system and a storage medium for failure backup of a steering system, and provides an electric power steering redundancy scheme independent of an EPS system; the model building of the whole vehicle steering is generated through the wheel rim braking of the steering wheel, the maximum threshold value of the yaw angular speed is selected and set according to the road condition during braking, the road condition is determined according to weather, temperature and the road surface leveling state, and the stability of the vehicle during turning under different road conditions such as water accumulation, icing and unevenness of the road surface is ensured; after the steering is executed, the steering execution information is fed back to the control module, so that the intelligent driving module can control and know the running condition of the whole vehicle more efficiently.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A method of backup for steering system failure, the method comprising:
step 1, when detecting that the EPS is invalid, sending a steering request to an ESC;
and 2, the ESC applies braking force to a single brake wheel according to the steering request to realize the steering of the vehicle.
2. The method of claim 1, wherein the step 2 comprises: and estimating the course angle variation of the vehicle through an accumulated value of the yaw rate of the vehicle gyroscope, and accumulating the course angle variation to obtain the vehicle steering angle within a period of time.
3. The method of claim 2, wherein the periodic calculation of the heading angle variation is represented by the formula: θ i +1 ═ θ i + ω i × dt; wherein θ i represents a vehicle heading angle of the vehicle at the ith moment, and ω i represents a yaw rate of the vehicle at the ith moment;
the calculation formula of the steering angle is as follows: and alpha is theta 1+ theta 2+ … … theta k, wherein theta 1-theta k represent vehicle heading angles of k time points in a set time period before the current time.
4. The method of claim 1, wherein the step 2 comprises: and judging the change rate of the steering angle according to the yaw velocity at the current moment, and adjusting the wheel braking moment according to the change rate of the steering angle.
5. A method according to claim 1, characterized by setting a maximum threshold value for the yaw rate, the magnitude of the wheel braking torque being adjusted such that the yaw rate does not exceed the maximum threshold value.
6. The method of claim 5, wherein the maximum threshold for yaw rate is selectively set based on road conditions determined based on weather, temperature, and road flatness.
7. The method of claim 1, wherein step 2 comprises feeding back a message that vehicle steering has been performed after the ESC receives the steering request and controls the steering motor to apply braking force to a single brake wheel.
8. A system for failure backup of a steering system, comprising: the intelligent driving system comprises an EPS module, an intelligent driving module and an ESC module;
when the intelligent driving module detects that the EPS is invalid, a steering request is sent to the ESC module;
and the ESC module applies braking force to a single brake wheel according to the steering request to realize vehicle steering.
9. An electronic device comprising a memory, a processor for implementing the steps of the method for failure backup of a steering system according to any one of claims 1-7 when executing a computer management class program stored in the memory.
10. A computer-readable storage medium, having stored thereon a computer management-like program which, when executed by a processor, carries out the steps of the method for failure backup of a steering system according to any one of claims 1 to 7.
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| CN202111231131.7A CN113911204B (en) | 2021-10-22 | 2021-10-22 | Method and system for failure backup of steering system |
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| CN202111231131.7A CN113911204B (en) | 2021-10-22 | 2021-10-22 | Method and system for failure backup of steering system |
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| CN113911204B CN113911204B (en) | 2023-04-21 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560010A (en) * | 2022-03-25 | 2022-05-31 | 苏州海之博电子科技有限公司 | IPB and EHPS or EPS safety redundancy control method |
| CN114919640A (en) * | 2022-06-24 | 2022-08-19 | 广州小鹏自动驾驶科技有限公司 | Vehicle steering control method, driving controller, steering system and vehicle |
| CN116135668A (en) * | 2023-03-29 | 2023-05-19 | 重庆长安汽车股份有限公司 | Vehicle steering redundancy control method, device, equipment and medium |
| SE2250919A1 (en) * | 2022-07-18 | 2024-01-19 | Sentient Ab | Improved system and method for vehicle motion control |
| CN116135668B (en) * | 2023-03-29 | 2024-05-14 | 重庆长安汽车股份有限公司 | Vehicle steering redundancy control method, device, equipment and medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114560010A (en) * | 2022-03-25 | 2022-05-31 | 苏州海之博电子科技有限公司 | IPB and EHPS or EPS safety redundancy control method |
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| CN116135668A (en) * | 2023-03-29 | 2023-05-19 | 重庆长安汽车股份有限公司 | Vehicle steering redundancy control method, device, equipment and medium |
| CN116135668B (en) * | 2023-03-29 | 2024-05-14 | 重庆长安汽车股份有限公司 | Vehicle steering redundancy control method, device, equipment and medium |
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| CN113911204B (en) | 2023-04-21 |
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