CN113911204B - Method and system for failure backup of steering system - Google Patents
Method and system for failure backup of steering system Download PDFInfo
- Publication number
- CN113911204B CN113911204B CN202111231131.7A CN202111231131A CN113911204B CN 113911204 B CN113911204 B CN 113911204B CN 202111231131 A CN202111231131 A CN 202111231131A CN 113911204 B CN113911204 B CN 113911204B
- Authority
- CN
- China
- Prior art keywords
- steering
- vehicle
- yaw rate
- esc
- request
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
-
- 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
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 the EPS failure is detected, a steering request is sent to an ESC (Electronic Stability Controller, vehicle body electronic stability control system); the ESC applies braking force to the single brake wheel according to the steering request to realize vehicle steering. The method for realizing the steering of the vehicle by utilizing the braking to serve as the failure backup of the steering system realizes the redundancy of the steering system by the active steering functions of the braking electric control system and the EPS (electric control system) two independent ECUs, and can realize the full-system redundancy of the ECUs, the motors and the rotation angle sensors.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a steering system failure backup method and system.
Background
During automatic driving of the vehicle, if the EPS (Electric Power Steering, electric steering system) fails, the vehicle cannot respond to the intelligent driving system steering request, and a catastrophic result will occur, so 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 the control chip redundancy is realized by reducing the chip failure rate, and is not the chip redundancy of a physical level.
Disclosure of Invention
The invention provides a method and a system for failure backup of a steering system, which aim at the technical problems in the prior art, realize vehicle steering by utilizing braking to serve as the method for failure backup of the steering system, realize redundancy of the steering system by the active steering functions of a braking electric control system and two independent ECUs (electronic control units) of an EPS (electric control unit), and realize full-system redundancy of the ECUs, motors and rotation angle sensors.
According to a first aspect of the present invention, there is provided a method for fail-back of a steering system, comprising:
step 1, when EPS failure is detected, a steering request is sent to the ESC;
and 2, the ESC realizes vehicle steering by applying braking force to a single braking wheel according to the steering request.
On the basis of the technical scheme, the invention can also make the following improvements.
Optionally, the step 2 includes: estimating the course angle variation of the vehicle by the accumulated value of the yaw rate of the vehicle gyroscope, and accumulating the course angle variation to obtain the steering angle of the vehicle in a period of time.
Optionally, the calculating formula for periodically calculating the heading angle variation is as follows: θi=θi+ωi×dt, where θi represents a vehicle heading angle of the vehicle at the i-th time, and ωi represents a yaw rate of the vehicle at the i-th time;
the calculation formula of the steering angle comprises the following steps: α=θ1+θ2+ … … θk, where θ1- θk represents the vehicle heading angle at k points in the set time period before the current time.
Optionally, the step 2 includes: and judging the change rate of the steering angle according to the yaw rate at the current moment, and adjusting the magnitude of the wheel side braking moment according to the change rate of the steering angle.
Optionally, a maximum threshold value of the yaw rate is set, and the magnitude of the wheel side braking moment is adjusted so that the yaw rate does not exceed the maximum threshold value.
Optionally, the maximum threshold value of the yaw rate is selectively set according to road conditions, and the road conditions are determined according to weather, temperature and road surface leveling state.
Optionally, in the step 2, after the ESC receives the steering request, the steering motor is controlled to apply braking force to a single brake wheel, and a message that the steering of the vehicle has been performed is fed back.
According to a second aspect of the present invention, there is provided a system for fail-back of a steering system, comprising: the system comprises an EPS module, an intelligent driving module and an ESC module;
when the intelligent driving module detects the EPS failure, a steering request is sent to the ESC module;
the ESC module achieves vehicle steering by applying braking force to a single brake wheel according to the steering request.
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 for steering system fail-back 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 class program which when executed by a processor performs the steps of a method for steering system fail-back.
The invention provides a failure backup method, a failure backup system, electronic equipment and a storage medium of a steering system, and provides an electric steering redundancy scheme independent of an EPS system; setting a model for generating whole vehicle steering through steering wheel rim braking, wherein a maximum threshold value of the yaw rate is selected and set according to road conditions during braking, the road conditions are determined according to weather, temperature and road surface leveling states, and stability of the vehicle during turning under different road conditions such as road surface ponding, icing and unevenness is ensured; and the steering execution backward control module feeds back the steering execution information, so that the intelligent driving module can more efficiently control and know the running condition of the whole vehicle.
Drawings
FIG. 1 is a workflow diagram of a method of fail-back of a steering system in accordance with the present invention;
fig. 2 is a schematic diagram of a vehicle turning right by braking a front right steering wheel according to an embodiment of the present invention;
FIG. 3 is a schematic view illustrating the rotation of a vehicle in each direction according to an embodiment of the present invention;
fig. 4 is a schematic hardware structure of one possible electronic device according to the present invention;
fig. 5 is a schematic hardware structure of a possible computer readable storage medium according to the present invention.
Detailed Description
The principles and features of the present invention are described below with reference to the drawings, the examples are illustrated for the purpose of illustrating the invention and are not to be construed as limiting the scope of the invention.
Fig. 1 is a working flow chart of a method for failure backup of a steering system, which is provided by the invention, as shown in fig. 1, and includes:
and step 1, when the EPS failure is detected, a steering request is sent to the ESC.
And 2, the ESC realizes vehicle steering by applying braking force to a single brake wheel according to the steering request.
For example, a braking torque is applied to the front right steering wheel to actively steer the vehicle to the right. Fig. 2 is a schematic diagram of braking a front right steering wheel to realize right steering of a vehicle according to an embodiment of the present invention.
The method for realizing the failure backup of the steering system by utilizing the braking to realize the steering of the vehicle is used as the method for realizing the failure backup of the steering system, and the redundancy of the steering system is realized by the active steering functions of the braking electric control system and the EPS (electric control system) two independent ECUs, so that the full-system redundancy of the ECUs, the motors and the rotation angle sensors can be realized.
Example 1
Embodiment 1 provided by the present invention is an embodiment of a method for failure backup of a steering system provided by the present invention, and as can be seen from fig. 1, the embodiment of the method for failure backup of a steering system includes:
and step 1, when the EPS failure is detected, a steering request is sent to the ESC.
And 2, the ESC realizes vehicle steering by applying braking force to a single brake wheel according to the steering request.
In one possible embodiment, step 2 includes: and estimating the course angle variation of the vehicle by the accumulated value of the yaw rate of the vehicle gyroscope, and obtaining the steering angle of the vehicle within a period of time by accumulating the course angle variation. Fig. 3 is a schematic view of the rotation of the vehicle in each direction according to the embodiment of the present invention.
In one possible embodiment, the periodic calculation formula for calculating the heading angle variation is: θi+1=θi+ωi×dt, where θi represents a vehicle heading angle of the vehicle at the i-th time, and ωi represents a yaw rate of the vehicle at the i-th time.
Specifically, θ1=θ0+ω0×dt, θ2=θ1+ω1×dt … …
The steering angle is the course angle variation in a period of time, and the calculation formula is as follows: α=θ1+θ2+ … … θk, where θ1- θk represents the vehicle heading angle at k points in the 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 rate at the current moment, and adjusting the magnitude of the wheel rim 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 wheel side braking torque is adjusted so that the yaw rate does not exceed the maximum threshold value.
In one possible embodiment, the maximum threshold value of the yaw rate is selected and set according to the road condition, the road condition is determined according to weather, temperature and road surface leveling state, and stability of the vehicle in turning under different road conditions such as road surface water accumulation, icing and unevenness is guaranteed.
In one possible embodiment, the ESC in step 2 controls the steering motor to apply braking force to the single brake wheel after receiving the steering request, and feeds back a message that the steering of the vehicle has been performed.
Example 2
Embodiment 2 provided by the present invention is an embodiment of a steering system failure backup system provided by the present invention, where the embodiment includes: EPS module, intelligent driving module and ESC module.
And when the intelligent driving module detects the failure of the EPS, a steering request is sent to the ESC module.
The ESC module achieves vehicle steering by applying a braking force to a single brake wheel according to the steering request.
It can be understood that the steering system fail-back system provided by the present invention corresponds to the steering system fail-back method provided in the foregoing embodiments, and the related technical features of the steering system fail-back system may refer to the related technical features of the steering system fail-back method, which are not described herein.
Referring to fig. 4, fig. 4 is a schematic diagram 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, including a memory 1310, a processor 1320, and a computer program 1311 stored in the memory 1310 and executable on the processor 1320, wherein the processor 1320 executes the computer program 1311 to implement the following steps: when EPS failure is detected, a steering request is sent to the ESC; the ESC applies braking force to the single brake wheel according to the steering request to realize vehicle steering.
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 having stored thereon a computer program 1411, which computer program 1411, when executed by a processor, performs the steps of: when EPS failure is detected, a steering request is sent to the ESC; the ESC applies braking force to the single brake wheel according to the steering request to realize vehicle steering.
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 steering redundancy scheme independent of an EPS system; setting up a model for generating whole vehicle steering through steering wheel rim braking, wherein a maximum threshold value of the yaw rate is selected and set according to road conditions during braking, the road conditions are determined according to weather, temperature and road surface leveling states, and the stability of the vehicle in turning under different road conditions such as road surface water accumulation, icing and unevenness is ensured; and the steering execution backward control module feeds back the steering execution information, so that the intelligent driving module can more efficiently control and know the running condition of the whole vehicle.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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. It is therefore intended that the following claims be interpreted as including the 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 modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (4)
1. A method of steering system fail-back, the method comprising:
step 1, when EPS failure is detected, a steering request is sent to the ESC;
step 2, the ESC realizes vehicle steering by applying braking force to a single braking wheel according to the steering request;
the step 2 comprises the following steps: 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 steering angle of the vehicle within a period of time;
the step 2 comprises the following steps: judging the change rate of the steering angle according to the yaw rate at the current moment, and adjusting the magnitude of the wheel side braking moment according to the change rate of the steering angle;
setting a maximum threshold value of the yaw rate, and adjusting the magnitude of wheel side braking moment to ensure that the yaw rate does not exceed the maximum threshold value;
the maximum threshold value of the yaw rate is selected and set according to road conditions, and the road conditions are determined according to weather, temperature and road surface leveling states;
the calculation formula for periodically calculating the course angle variation is as follows: θi=θi+ωi×dt, where θi represents a vehicle heading angle of the vehicle at the i-th time, and ωi represents a yaw rate of the vehicle at the i-th time;
the calculation formula of the steering angle comprises the following steps: α=θ1+θ2+ … … θk, where θ1- θk represent the heading angles of the vehicle at k points in the set time period before the current time;
and in the step 2, after receiving the steering request, the ESC controls the steering motor to apply braking force to the single braking wheel and feeds back a message that the steering of the vehicle is executed.
2. A system for fail-back of a steering system, comprising: the system comprises an EPS module, an intelligent driving module and an ESC module;
when the intelligent driving module detects the EPS failure, a steering request is sent to the ESC module;
the ESC module realizes vehicle steering by applying braking force to a single brake wheel according to the steering request;
the ESC module estimates the course angle variation of the vehicle through the accumulated value of the yaw rate of the vehicle gyroscope, and accumulates the course angle variation to obtain the steering angle of the vehicle within a period of time;
the ESC module judges the change rate of the steering angle according to the yaw rate at the current moment and adjusts the magnitude of the wheel side braking moment according to the change rate of the steering angle;
the ESC module sets a maximum threshold value of the yaw rate, and adjusts the magnitude of wheel side braking moment to ensure that the yaw rate does not exceed the maximum threshold value;
the maximum threshold value of the yaw rate is selected and set according to road conditions, and the road conditions are determined according to weather, temperature and road surface leveling states;
the calculation formula for periodically calculating the course angle variation is as follows: θi=θi+ωi×dt, where θi represents a vehicle heading angle of the vehicle at the i-th time, and ωi represents a yaw rate of the vehicle at the i-th time;
the calculation formula of the steering angle comprises the following steps: α=θ1+θ2+ … … θk, where θ1- θk represent the heading angles of the vehicle at k points in the set time period before the current time;
and after receiving the steering request, the ESC in the ESC module controls a steering motor to apply braking force to a single braking wheel, and feeds back a message that the steering of the vehicle is executed.
3. An electronic device comprising a memory, a processor for implementing the steps of the method for fail-back of a steering system of claim 1 when executing a computer management class program stored in the memory.
4. A computer readable storage medium, having stored thereon a computer management class program which when executed by a processor performs the steps of the method of steering system fail-back of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231131.7A CN113911204B (en) | 2021-10-22 | 2021-10-22 | Method and system for failure backup of steering system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111231131.7A CN113911204B (en) | 2021-10-22 | 2021-10-22 | Method and system for failure backup of steering system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113911204A CN113911204A (en) | 2022-01-11 |
| CN113911204B true CN113911204B (en) | 2023-04-21 |
Family
ID=79242280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111231131.7A Active CN113911204B (en) | 2021-10-22 | 2021-10-22 | Method and system for failure backup of steering system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113911204B (en) |
Families Citing this family (3)
| 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 |
| SE2250919A1 (en) * | 2022-07-18 | 2024-01-19 | Sentient Ab | Improved system and method for vehicle motion control |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000052955A (en) * | 1998-08-07 | 2000-02-22 | Koyo Seiko Co Ltd | Steering system for vehicle |
| JP2007276564A (en) * | 2006-04-04 | 2007-10-25 | Honda Motor Co Ltd | Vehicle control device |
| CN108163044A (en) * | 2017-12-11 | 2018-06-15 | 同济大学 | The steering redundancy of four motorized wheels electric vehicle and integrated control system and method |
| CN111645755A (en) * | 2020-05-18 | 2020-09-11 | 长城汽车股份有限公司 | Control method and device |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101298256B (en) * | 2008-06-25 | 2011-01-19 | 河北工业大学 | Electric power-assisted steering apparatus and control method thereof |
| CN107662595B (en) * | 2016-07-30 | 2020-07-10 | 比亚迪股份有限公司 | Vehicle braking stability control method and system |
| CN111497819A (en) * | 2020-05-09 | 2020-08-07 | 芜湖伯特利汽车安全系统股份有限公司 | Emergency control method and system for steering failure of automatic driving vehicle |
| CN111874099A (en) * | 2020-07-08 | 2020-11-03 | 恒大新能源汽车投资控股集团有限公司 | Control method for vehicle steering and steer-by-wire apparatus for vehicle |
| CN113002522A (en) * | 2021-03-17 | 2021-06-22 | 镇江康飞汽车制造股份有限公司 | ESP and EPS combined system for vehicle emergency steering and collision avoidance and control method thereof |
-
2021
- 2021-10-22 CN CN202111231131.7A patent/CN113911204B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000052955A (en) * | 1998-08-07 | 2000-02-22 | Koyo Seiko Co Ltd | Steering system for vehicle |
| JP2007276564A (en) * | 2006-04-04 | 2007-10-25 | Honda Motor Co Ltd | Vehicle control device |
| CN108163044A (en) * | 2017-12-11 | 2018-06-15 | 同济大学 | The steering redundancy of four motorized wheels electric vehicle and integrated control system and method |
| CN111645755A (en) * | 2020-05-18 | 2020-09-11 | 长城汽车股份有限公司 | Control method and device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113911204A (en) | 2022-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113911204B (en) | Method and system for failure backup of steering system | |
| US11465628B2 (en) | Acceleration slip regulation method and vehicle | |
| CN109747632B (en) | Torque distribution method for double-power-source driven vehicle | |
| CN109398097B (en) | Wheel braking torque control method and device and braking energy recovery control system | |
| CN108367682B (en) | Control system and method for a motor vehicle | |
| CN108944911B (en) | Vehicle control method and device | |
| CN112519592B (en) | Vehicle wheel speed control method and device and electric vehicle | |
| CN109383617B (en) | Electric power steering apparatus and control method thereof | |
| EP3275723A1 (en) | Vehicle control device and vehicle control method | |
| CN112550430B (en) | Vehicle stability control method and system | |
| EP3303077B1 (en) | A driver assistance system | |
| WO2017162592A1 (en) | Traction controller and method | |
| CN102795263A (en) | Compensation torque control method for vehicle deflection preventing system | |
| CN104661858A (en) | Wheel control device, vehicle, wheel control method | |
| JP2017523937A (en) | Method and apparatus for operation of a vehicle | |
| WO2024055671A1 (en) | Vehicle control unit, motor control unit, and related device | |
| JP5007542B2 (en) | Vehicle turning behavior control device | |
| JP2017158262A (en) | Vehicle control device and vehicle control method | |
| JP2017158261A (en) | Vehicle control device and vehicle control method | |
| CN108860146B (en) | Speed control method and system of double-drive vehicle and related device | |
| CN114655026A (en) | Regenerative braking control method, device and system and vehicle | |
| JP2020147049A (en) | Wheel control system and wheel control method | |
| CN110654242B (en) | Control method and device for brake motor and vehicle | |
| JP7438619B2 (en) | Regeneration control device | |
| CN110225851B (en) | Control system for a motor vehicle powertrain with advanced anti-slip control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |