CN114537514B

CN114537514B - EPS system control method, system, equipment and storage medium

Info

Publication number: CN114537514B
Application number: CN202210234448.4A
Authority: CN
Inventors: 葛翔华; 缪盛
Original assignee: Foss Hangzhou Intelligent Technology Co Ltd
Current assignee: Foss Hangzhou Intelligent Technology Co Ltd
Priority date: 2022-03-10
Filing date: 2022-03-10
Publication date: 2023-02-21
Anticipated expiration: 2042-03-10
Also published as: CN114537514A

Abstract

The application provides an EPS system control method, system, equipment and storage medium, wherein the method is applied to an EPS system, and the EPS system is respectively in communication connection with a vehicle control unit, a vehicle body controller and a vehicle body electronic stabilization system. The method comprises the steps of acquiring current power-on state information, charging gun connection state information, upgrading mode information and driving state information of a vehicle after a low-voltage relay is detected to be closed; the power-on state information comprises vehicle power mode information and vehicle controller power-on state information; analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the driving state information; and controlling the EPS system to enter a power-assisted mode under the condition that a preset power-assisted enabling condition is met. According to the control method and the control device, the assistance output control logic is arranged in the EPS system, decoupling control of the EPS system is achieved, assistance enabling conditions can be flexibly set, and improvement of vehicle safety is facilitated.

Description

EPS system control method, system, equipment and storage medium

Technical Field

The present invention relates to the field of vehicle control, and in particular, to an EPS system control method, system, device, and storage medium.

Background

With the development of the automobile industry, the functions defined by the whole automobile are more and more abundant, in the related art, the system architecture for realizing the Power-assisted Control of the Electric Power Steering system EPS (Electric Power Steering) through signals sent by a Vehicle Control Unit VCU (Vehicle Control Unit) hardly gives consideration to the system functions and the Power-assisted Control requirements of the VCU, and the Power-assisted Control flexibility of the EPS system is limited to a certain extent.

Disclosure of Invention

In view of this, the present application provides an EPS system control method, system, device, and storage medium. According to the control method and the control device, the power-assisted output control logic is arranged in the EPS system, so that decoupling control of the EPS system is realized.

According to one aspect of the application, an EPS system control method is provided, and is applied to an EPS system, wherein the EPS system is in communication connection with a vehicle controller, a vehicle body controller and a vehicle body electronic stabilization system respectively, and the method comprises the following steps:

after the low-voltage relay is detected to be closed, acquiring the current power-on state information, the connection state information of a charging gun, the upgrading mode information and the running state information of the vehicle; the power-on state information comprises vehicle power mode information and vehicle controller power-on state information;

analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the driving state information;

and controlling the EPS system to enter a power-assisted mode under the condition that a preset power-assisted enabling condition is met.

Further, according to the vehicle power mode information, the charging gun connection state information, the upgrade mode information and the driving state information, the vehicle is subjected to assistance condition analysis, which includes:

determining whether the running state of the current vehicle meets a first power-assisting enabling condition or not based on the whole vehicle power supply mode information, the charging gun connection state information and the upgrading mode information;

determining whether the driving state of the current vehicle meets a second assistance enabling condition based on the driving state information;

and determining that the vehicle meets the assistance enabling condition when the first assistance enabling condition or the second assistance enabling condition is met.

Further, the acquiring current power-on state information, charging gun connection state information, upgrade mode information, and running state information of the vehicle includes:

acquiring the whole vehicle power supply mode information and the upgrading mode information transmitted by the vehicle body controller; the whole vehicle power supply mode information comprises a whole vehicle power supply mode state indicating signal and a communication message corresponding to the whole vehicle power supply mode state indicating signal, and the upgrade mode information comprises an upgrade mode state indicating signal and a communication message corresponding to the upgrade mode state indicating signal;

acquiring power-on state information and charging gun connection state information of the vehicle control unit transmitted by the vehicle control unit; the vehicle control unit power-on state information comprises a vehicle control unit power-on state indication signal and a communication message corresponding to the vehicle control unit power-on state indication signal;

acquiring driving state information transmitted by the vehicle body electronic stability system; wherein the running state information comprises a vehicle speed validity state indication signal and the current vehicle speed.

Further, the EPS system is provided with at least two torque output modes set for at least two different torques;

the controlling the EPS system to enter the power-assisted mode includes:

determining a current torque output mode and a next torque output mode from the at least two torque output modes;

controlling the EPS system to output power assistance based on the current torque output mode;

acquiring current vehicle power supply mode information, charging gun connection state information, upgrading mode information and running state information of a vehicle;

matching at least one of the vehicle power mode information, the charging gun connection state information, the upgrade mode information and the driving state information with the transition conditions of the current torque output mode and the next torque output mode;

and if the matching condition is met, controlling the EPS system to enter a next torque output mode.

Further, after the controlling the EPS system to enter the assist mode, the method further includes:

after the low-voltage relay is detected to be disconnected, acquiring current vehicle power mode information, vehicle controller power-on state information and running state information of a vehicle;

matching the vehicle power mode information, the vehicle controller power-on state information and the running state information with a preset non-enabling condition;

and if the matching condition is met, controlling the EPS system to close the power-assisted mode.

Further, the controlling the EPS system to turn off the assist mode includes:

controlling an EPS system to close a current torque output mode, and recording the time for closing the current torque output mode by the EPS system;

monitoring the current running state information, the charging gun connection state information and the upgrading mode information of the vehicle in a preset time period;

and controlling the EPS system to enter a power-assisted mode under the condition that a preset third power-assisted enabling condition is met.

According to another aspect of the application, an EPS system is provided, which is in communication connection with a vehicle control unit, a vehicle body controller and a vehicle body electronic stabilization system respectively; the EPS system further includes:

the data acquisition module is used for acquiring the current power-on state information, the connection state information of the charging gun, the upgrading mode information and the driving state information of the vehicle after the low-voltage relay is detected to be closed; the power-on state information comprises vehicle power mode information and vehicle controller power-on state information;

the power-assisted analysis module is used for analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the running state information;

and the power assisting control module is used for controlling the EPS system of the EPS system to enter a power assisting mode under the condition that a preset power assisting enabling condition is met.

Further, the EPS system includes a first torque output mode, a second torque output mode, and a third torque output mode;

the first torque output mode is configured to output a boost based on a full torque interval;

the second torque output mode is configured to output an assist force based on a preset defined torque interval;

the third torque output mode is configured to output an assist force based on a minimum torque.

According to another aspect of the present application, there is provided an electronic device, which includes a processor and a memory, where at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the EPS system control method as described above.

According to another aspect of the present application, there is provided a computer-readable storage medium having at least one instruction or at least one program stored therein, the at least one instruction or the at least one program being loaded and executed by a processor to implement the EPS system control method as described above.

The EPS system control method, the EPS system control equipment and the EPS system control storage medium have the following beneficial effects:

the method comprises the steps that the current power-on state information, the connection state information of a charging gun, the upgrading mode information and the running state information of a vehicle are obtained, and the power-assisted condition analysis is carried out on the vehicle according to the power mode information of the whole vehicle, the power-on state information of a whole vehicle controller, the connection state information of the charging gun, the upgrading mode information and the running state information; and controlling the EPS system to enter a power-assisted mode under the condition that a preset power-assisted enabling condition is met. The decoupling control of the EPS system can be realized, the flexibility of setting the power-assisted enabling conditions is improved, and the driving safety is improved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.

FIG. 1 is a schematic diagram of a vehicle control system provided in an embodiment of the present application;

fig. 2 is a schematic flowchart of an EPS system control method according to an embodiment of the present application;

fig. 3 is a schematic flowchart of another EPS system control method according to an embodiment of the present application;

fig. 4 is a schematic flowchart of another EPS system control method according to an embodiment of the present application;

fig. 5 is a schematic diagram of an EPS system state machine according to an embodiment of the present application

Fig. 6 is a block diagram of an EPS system according to an embodiment of the present application;

fig. 7 is a block diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure.

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, apparatus, article, or device that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or device.

Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present application. It will be understood by those skilled in the art that the present application may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present application.

FIG. 1 shows a schematic diagram of a vehicle control system according to an embodiment of the present application. Referring to fig. 1, the Vehicle Control system includes a Vehicle Control Unit VCU (Vehicle Control Unit), a Body Control Module BCM (Body Control Module), an Electric Power Steering (EPS) and an Electronic Stability Program (ESP) for a Vehicle Body. Different systems in the vehicle carry out data communication through a CAN bus so as to acquire or send control instructions, transmit or receive data or signals and the like. The vehicle body controller and the electric power steering system are respectively communicated with a power supply circuit of a storage battery (low-voltage battery) through low-voltage relays, and the vehicle body controller and the electric power steering system can acquire the suction and disconnection states of the low-voltage relays through detecting analog signals.

In the embodiment of the application, after a controller of an electric power steering system of a vehicle control system works, the power-on state information and the connection state information of a charging gun of a vehicle controller, the power mode information and the upgrading mode information of a vehicle body controller of the vehicle controller, and the driving state information obtained by a vehicle body electronic stability system through detection of vehicle speed and vehicle speed signal effectiveness CAN be obtained through a CAN bus.

In one embodiment, the power-on state information of the vehicle control unit comprises two set state indication information and communication messages corresponding to the two state indication information; the two kinds of state indication information comprise power-on state information of the vehicle controller and connection state information of the charging gun, and the communication Message VCU _ Message quality factor and the charger Connect Status quality factor respectively represent whether the power-on state information of the vehicle controller and the connection state information of the charging gun are normally transmitted or not. Specifically, please refer to table one:

watch 1

In one embodiment, the vehicle body controller comprises two set state indication information and communication messages corresponding to the two state indication information; the charging gun connection state comprises a charging gun connection state and a charging gun disconnection state. The two types of state indication information comprise vehicle power mode information and vehicle upgrading mode information, and the communication messages VehiclepowerModequality factor and VehiceModequality factor respectively represent whether the vehicle power mode information and the vehicle mode indication signal are transmitted normally or not. Specifically, please refer to table two:

watch two

The vehicle quality factor can be used for representing the transmission state of the vehicle upgrading mode indication signal and can also be used for representing the transmission states of various vehicle mode indication signals including the vehicle upgrading mode indication signal. For example, in one embodiment, the vehicle mode indication signal may include a vehicle upgrade mode indication signal and a vehicle driving mode indication signal, and the vehicle quality factor may be used to characterize whether the vehicle upgrade mode indication signal and/or the vehicle driving mode indication signal are transmitted normally.

In one embodiment, the electronic body stabilization system includes two status indicators configured to characterize vehicle driving status information. Specifically, the two status indication signals include vehicle speed and vehicle speed signal validity, please refer to table three:

watch III

The speed threshold may be set based on an empirical value, for example, 3km/h, or different speed thresholds may be set according to a scene.

The EPS system control method according to the embodiment of the present application may be used in the EPS system described above, and fig. 2 is a schematic flow diagram of the EPS system control method according to the embodiment of the present application, and as shown in fig. 2, the EPS system control method may include the following steps:

s210, after the low-voltage relay is detected to be closed, acquiring the current power-on state information, the connection state information of the charging gun, the upgrading mode information and the running state information of the vehicle; the power-on state information comprises vehicle power mode information and vehicle controller power-on state information;

in the control system of the embodiment of the application, the current power-on state information of the vehicle includes the power-on state information of the vehicle controller transmitted by the vehicle controller and the power mode information of the vehicle transmitted by the vehicle body controller.

In one embodiment, the low voltage relay may be configured to close in response to a one-touch or ACC start (access Ignition, a gear of a vehicle Ignition switch indicating power to vehicle accessories), and the vehicle body controller and the EPS system complete the power-up process after acquiring an analog signal indicating that the relay is closed via the circuit. For example, after the Vehicle body controller completes Power-ON, the Vehicle body controller indicates that Power-ON is completed through an indication signal Vehicle Power Mode = "ON", and at this time, part of low-voltage electric appliances are activated to start working; after the vehicle controller is completely powered on, the vehicle controller may include three different indication signals, for example, by setting the Ready indication signal to indicate that the vehicle is currently in a feasible state. After the electrification is finished, the EPS system CAN acquire corresponding electrification state information, charging gun connection state information and upgrading mode information of the vehicle body controller and the whole vehicle controller through the CAN bus. After the electronic vehicle body stabilizing system is powered on, the EPS system CAN acquire the current vehicle speed and the vehicle speed validity state signal of the vehicle through the CAN bus, so that corresponding running state information CAN be obtained based on the signal state.

In one embodiment, the status indication information of the vehicle controller and the vehicle body controller further includes corresponding communication messages, and the communication messages are used for representing whether the communication between the two parties of information interaction is normally completed. In some cases, there may be a case where both sides of information exchange are abnormal due to a signal loss, a DLC error, a CRC error, a counter error, or the like, and effective data or signals cannot be obtained.

In one embodiment, step 210 may comprise:

s211, acquiring the whole vehicle power supply mode information and the upgrading mode information transmitted by the vehicle body controller; the whole vehicle power supply mode information comprises a whole vehicle power supply mode state indication signal and a communication message corresponding to the whole vehicle power supply mode state indication signal, and the upgrade mode information comprises an upgrade mode state indication signal and a communication message corresponding to the upgrade mode state indication signal;

s212, acquiring vehicle controller power-on state information and charging gun connection state information transmitted by a vehicle controller; the charging gun connection state information comprises a charging gun connection state signal and a communication message corresponding to the charging gun connection state signal, and the vehicle controller power-on state information comprises a vehicle controller power-on state indication signal and a communication message corresponding to the vehicle controller power-on state indication signal;

s213, acquiring the driving state information transmitted by the vehicle body electronic stability system; the running state information comprises a vehicle speed effective state indicating signal and the current vehicle speed.

The related state indication information and the communication message can be obtained by referring to the table I, the table II and the table III, and the related indication information and the corresponding vehicle running state or driving state can be obtained. And will not be repeated here.

S220, analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the driving state information;

in the embodiment of the application, the purpose of the assistance condition analysis is to determine the current running condition or running state of the vehicle based on the vehicle power mode information, the power-on state information of the vehicle controller, the vehicle body controller, and the vehicle body power mode information, the charging gun connection state information, the upgrade mode information, and the running state information of the vehicle body electronic stability system, which are acquired in S210, and further determine whether the preset assistance enabling condition is met based on the current running condition or running state of the vehicle.

In one embodiment, step S220 may further include:

s221, determining whether the current running state of the vehicle meets a first power-assisting enabling condition or not based on the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information and the upgrading mode information;

s222, determining whether the running state of the current vehicle meets a second assistance enabling condition or not based on the running state information;

and S223, determining that the vehicle meets the assistance enabling condition under the condition that the first assistance enabling condition or the second assistance enabling condition is met.

The first assistance enabling condition in the embodiment is an assistance enabling condition determined based on the vehicle running state by determining the current running state of the vehicle through the acquired relevant state indicating information. Illustratively, the communication message can be used as a judgment factor of the assistance enabling condition, the communication message is combined with the specific state indicating signal, and then reasonable judgment logic is set, so that the fault tolerance rate can be improved to a certain extent, and the problem that the EPS system cannot be powered on to provide assistance is avoided.

The second assistance enabling condition is an assistance enabling condition determined based on a current running state of the vehicle determined by acquiring the vehicle speed information.

By means of the first power assisting enabling condition based on the vehicle running state and the second power assisting enabling condition based on the vehicle running state, the EPS system control method can meet the power assisting requirements of the vehicle in a static state and the vehicle running state.

And S230, controlling the EPS system to enter a power-assisted mode under the condition that a preset power-assisted enabling condition is met.

Through the above description, the EPS system control method according to the embodiment of the application CAN obtain the representation vehicle running state and running state information through a vehicle body network (such as a CAN bus), so that the enabling conditions CAN be flexibly set, and the EPS system is controlled to enter the power-assisted mode under the condition that the vehicle running information or the running state information meets the power-assisted enabling conditions.

Referring to fig. 4, in one embodiment, the EPS system is provided with at least two torque output modes for at least two different torque settings; step S230 may include:

s231, determining a current torque output mode and a next torque output mode from at least two torque output modes;

s232, controlling the EPS system to output power assistance based on the current torque output mode;

s233, acquiring current vehicle power supply mode information, charging gun connection state information, upgrading mode information and running state information of the vehicle;

s234, matching at least one of the vehicle power mode information, the charging gun connection state information, the upgrading mode information and the running state information with the current torque output mode and the transition condition of the next torque output mode;

and S235, if the matching condition is met, controlling the EPS system to enter a next torque output mode.

In one embodiment, the EPS system includes a first torque output mode, a second torque output mode, and a third torque output mode;

the first torque output mode is configured to output a power assist based on a full torque interval;

the third torque output mode is configured to output an assist force based on the minimum torque.

In this embodiment, the first torque output mode may be set as the current torque output mode, the full torque interval is the whole range of the torque that can be output by the EPS system, the lower limit value of the torque in the full torque interval is 0, and the upper limit value is the maximum torque that can be output by the EPS system. For example, a transition condition between each of the first torque output mode, the second torque output mode and the third torque output mode may be established, and when the matching condition is satisfied, the EPS system is switched from the current torque output mode to the corresponding next torque output mode based on the transition condition set between the torque output modes.

In one embodiment, the third torque output mode may be set to output at 0% of the maximum torque, and the second torque output mode may have a lower torque limit of 0 and an upper torque limit of 30% of the maximum torque defining the torque interval. In other embodiments, the upper limit value of the limited torque interval may also be set to 40% of the maximum torque or other scaling factor output based on the maximum torque. The correspondence between the torque output modes and the torques can be adjusted by those skilled in the art according to the needs, and the embodiments of the present application are not limited in particular.

Referring to fig. 3, in an embodiment, after the step S230, the method may further include:

s240, after the low-voltage relay is detected to be disconnected, current vehicle power mode information, vehicle controller power-on state information and running state information of the vehicle are obtained;

s250, matching the vehicle power mode information, the vehicle controller power-on state information and the running state information with a preset non-enabling condition;

and S260, if the matching condition is met, controlling the EPS system to close the power-assisted mode.

In this embodiment, the preset non-enabling condition is vehicle running state information and running state information represented by current vehicle power mode information, vehicle controller power-on state information, and running state information of the vehicle. And obtaining related detection information after detecting that the low-voltage relay is disconnected, and controlling the EPS system to close the power-assisted mode when a preset non-enabling condition is met.

In one embodiment, step S260 may include:

s261, controlling the EPS system to close the current torque output mode, and recording the time for closing the current torque output mode by the EPS system;

s262, monitoring the current running state information, the charging gun connection state information and the upgrading mode information of the vehicle in a preset time period;

and S263, controlling the EPS system to enter the boosting mode under the condition that a preset third boosting enabling condition is met.

In an embodiment, the preset time period may be set to five minutes, within the five minutes, the vehicle keeps detecting the third power enabling condition, and if it is detected that the current driving state information, the connection state information of the charging gun, and the upgrade mode information of the vehicle meet the preset third power enabling condition within the set five minutes, the EPS system is controlled to enter the power assisting mode, that is, the power assisting mode is turned off in a delayed manner.

In order to more intuitively embody the implementation process of the method in the embodiment of the present application, the following diagram provides an example of an EPS system state machine set based on the steps of the method. Specifically, referring to fig. 5, the state machine includes 4 set states, and the description of the related states is shown in table four, and the states are switched among the states based on the switching conditions and paths shown in fig. 5.

Watch four

The switching conditions on the respective switching paths in the state machine can be made with reference to the following example. Specifically, referring to tables five to twenty-one, a switching condition T _2 \ 3 shown in table seven may be used as an example of the first assist enabling condition, a switching condition T _2 \ 3 shown in table eight may be used as an example of the second assist enabling condition, and a switching condition T _4 \ 3 shown in table thirteen may be used as an example of the third assist enabling condition.

In particular, the switching condition T _3 _1shown in table ten and the switching condition T _3 _4shown in table eleven below may be both examples of the preset non-enable condition. Wherein the switching condition T _3_1, shown in table ten, upon satisfaction of the disable condition the EPS system directly exits the boost mode and the EPS system returns to the low voltage relay not closed state. The EPS system directly exits the assist mode after the switching condition T _3 \/4 shown in table eleven meets the disable condition, the delay assist in the state 4 is turned off, and the EPS system can quickly return to the enable state as long as the third assist enabling condition set by the switching condition T _4 \/3 is met in the delay period, so as to provide the assist torque in time.

Both table nine and table ten can be used as the switching condition T _3 _1for switching state 3 to state 1, and in this example, switching of state 3 to state 1 is set as long as one of the switching conditions of T _3 _1shown in table nine or table ten is satisfied.

Both of tables fourteen and fifteen can be set as the switching condition St3_1 _2for switching the first torque output mode to the second torque output mode, and in this example, the first torque output mode is set to be switched to the second torque output mode as long as one of the switching conditions St3_1 _2shown in tables fourteen or fifteen is satisfied.

Tables sixteen to eighteen can be used as the switching conditions St3_2 _1for switching the second torque output mode to the first torque output mode, and in this example, the second torque output mode is set to be switched to the third torque output mode as long as one of the switching conditions St3_2 _1shown in tables sixteen to eighteen is satisfied.

Watch five

Watch six

Watch seven

Table eight

Watch nine

Watch ten

Watch eleven

Watch twelve

Watch thirteen

Table fourteen

Fifteen pieces of watch

Watch sixteen

Seventeen Table

Watch eighteen

Table nineteen

Watch twenty

TABLE twenty one

Based on the example of the EPS system state machine, the EPS system control method according to the embodiment of the present application can flexibly set the state switching condition, so that the EPS system control method is not limited by the function setting of the vehicle control unit. The starting and quitting of the EPS system to the power-assisted mode can be flexibly set according to scene requirements. It should be understood by those skilled in the art that the above-mentioned example of the EPS system state machine and the related switching state and switching condition are exemplary illustrations and do not constitute a specific limitation to the method described in the embodiments of the present application. In addition, the selection of the relevant logic relationship and the status signal in the table can also be adaptively adjusted according to the scene and the requirement. The EPS system control method can also select other state indication signals or message information capable of representing the vehicle running state and the running state to indicate the same content, and can also add new state indication signals or change the logical operation relationship among the signals to obtain richer vehicle running states or running states so as to further improve the scene adaptability of the EPS system power-assisted control.

The embodiment of the present application further provides an EPS system, please refer to fig. 6, where the EPS system is in communication connection with the vehicle controller, the vehicle body controller, and the vehicle body electronic stabilization system respectively; the EPS system further includes:

the data acquisition module 110 is configured to acquire current power-on state information, charging gun connection state information, upgrade mode information, and driving state information of the vehicle after detecting that the low-voltage relay is closed; the power-on state information comprises vehicle power mode information and vehicle controller power-on state information;

the power-assisted analysis module 120 is configured to analyze a power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrade mode information, and the driving state information;

and the power assisting control module 130 is configured to control the EPS system to enter a power assisting mode when a preset power assisting enabling condition is met.

In one embodiment, the power analysis module 120 is further configured to determine whether the current operating state of the vehicle meets a first power enabling condition based on the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, and the upgrade mode information; determining whether the driving state of the current vehicle meets a second assistance enabling condition based on the driving state information; and under the condition that the first assistance enabling condition or the second assistance enabling condition is met, determining that the vehicle meets the assistance enabling condition.

In one embodiment, the data acquisition module 110 is further configured to obtain the vehicle power mode information and the upgrade mode information transmitted by the vehicle body controller; the whole vehicle power supply mode information comprises a whole vehicle power supply mode state indication signal and a communication message corresponding to the whole vehicle power supply mode state indication signal, and the upgrade mode information comprises an upgrade mode state indication signal and a communication message corresponding to the upgrade mode state indication signal;

acquiring vehicle controller power-on state information and charging gun connection state information transmitted by a vehicle controller; the charging gun connection state information comprises a charging gun connection state signal and a communication message corresponding to the charging gun connection state signal, and the vehicle controller power-on state information comprises a vehicle controller power-on state indication signal and a communication message corresponding to the vehicle controller power-on state indication signal;

acquiring driving state information transmitted by an electronic vehicle body stabilizing system; the running state information comprises a vehicle speed effective state indicating signal and the current vehicle speed.

In one embodiment, the EPS system is provided with at least two torque output modes for at least two different torque settings;

a power assist control module 130 further configured to determine a current torque output mode and a next torque output mode from the at least two torque output modes; controlling the EPS system to output power assistance based on the current torque output mode; acquiring current vehicle power supply mode information, charging gun connection state information, upgrading mode information and running state information of a vehicle; matching at least one of the vehicle power mode information, the charging gun connection state information, the upgrade mode information and the driving state information with the current torque output mode and the transition condition of the next torque output mode; and if the matching condition is met, controlling the EPS system to enter a next torque output mode.

In one embodiment, the power-assisted control module 130 is further configured to obtain current vehicle power mode information, vehicle controller power-on state information, and driving state information of the vehicle after detecting that the low-voltage relay is disconnected; matching the vehicle power mode information, the vehicle controller power-on state information and the running state information with a preset non-enabling condition; and if the matching condition is met, controlling the EPS system to close the power-assisted mode.

In one embodiment, the power control module 130 is further configured to control the EPS system to close the current torque output mode, and record the time when the EPS system closes the current torque output mode; monitoring the current running state information, the charging gun connection state information and the upgrading mode information of the vehicle in a preset time period; and controlling the EPS system to enter a power-assisted mode under the condition that a preset third power-assisted enabling condition is met.

The EPS system control methods of the present application may be systems, methods, and/or computer program products. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied thereon for causing a processor to implement various aspects of the present application.

The embodiment of the present application further provides an electronic device, which includes a processor and a memory, where the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the control method of the airbag provided in the above control method embodiment. Fig. 7 is a block diagram of a hardware structure of an electronic device according to an embodiment of the present disclosure. As shown in fig. 7, the electronic device 800 may have a relatively large difference due to different configurations or performances, and may include one or more Central Processing Units (CPUs) 810 (the processor 810 may include but is not limited to a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 830 for storing data, one or more storage media 820 (e.g., one or more mass storage devices) for storing applications 823 or data 822. Memory 830 and storage medium 820 may be, among other things, transitory or persistent storage. The program stored in the storage medium 820 may include one or more modules, each of which may include a series of instruction operations in a server. Still further, central processor 810 may be configured to communicate with storage medium 820 to execute a series of instruction operations in storage medium 820 on electronic device 800. The electronic device 800 may also include one or more power supplies 860, one or more wired or wireless network interfaces 850, one or more input-output interfaces 840, and/or one or more operating systems 821, such as Windows ServerTM, mac OS XTM, unixTM, linuxTM, freeBSDTM, and so forth.

The input/output interface 840 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the electronic device 800. In one example, i/o Interface 840 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the internet. In one example, the input/output interface 840 may be a Radio Frequency (RF) module, which is used to communicate with the internet in a wireless manner.

It will be understood by those skilled in the art that the structure shown in fig. 7 is only an illustration and is not intended to limit the structure of the electronic device. For example, electronic device 800 may also include more or fewer components than shown in FIG. 7, or have a different configuration than shown in FIG. 7.

The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the device, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.

The message processing method provided by the embodiment of the application can be executed in a mobile terminal, a computer terminal, a server or a similar computing device.

Embodiments of the present application also provide a computer-readable storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing a message processing method in the method embodiment, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the EPS system control method described above.

Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

The EPS system control method, system, device and storage medium provided by the present application, which are provided by the present application, may reduce the assist torque output or disable the torque when the charge gun signal is detected, using the detection state of the charge gun by the vehicle as one detection signal for controlling the EPS system to enter the assist mode and exit the assist mode.

According to the EPS system control method, the EPS system control system, the EPS system control equipment and the EPS system control storage medium, whether the OTA mode is started by the vehicle is used as a detection signal for controlling the EPS system to enter the power-assisted mode and exit the power-assisted mode, the power-assisted torque output can be reduced or the torque is forbidden when the EPS system is detected to enter the OTA upgrading mode, and the OTA upgrading failure caused by overlarge current disturbance due to the work of the power-assisted system can be avoided.

According to the EPS system control method, the EPS system control system, the EPS system control device and the EPS system control storage medium, the communication message of the detection signal is used as detection information for entering the power-assisted mode and exiting the power-assisted mode, and the fault tolerance rate of power-assisted enabling control can be effectively improved through logical operation of the communication message and the vehicle running state indication signal, so that the problem that power-assisted steering cannot be started timely due to communication abnormity in some scenes is solved.

According to the EPS system control method, the EPS system control system, the EPS system control equipment and the storage medium, the vehicle running state is used as detection information for entering the power-assisted mode and exiting the power-assisted mode, the delayed power-assisted closing mode is set, certain delayed closing time can be reserved after power assistance is closed, and the problem that the power-assisted steering cannot be started in time when the vehicle is still in a running state and is still in a moving state after power assistance is closed is solved.

It should be noted that: the sequence of the embodiments of the present application is only for description, and does not represent the advantages and disadvantages of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.

The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple and reference may be made to the partial description of the method embodiments for relevant points.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware to implement, and the program may be stored in a computer-readable storage medium, where the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk.

The present invention is not limited to the above embodiments, and any modifications, equivalents, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.

While the invention has been described with reference to specific embodiments, it will be appreciated by those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the invention can be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The EPS system control method is applied to an EPS system, wherein the EPS system is respectively in communication connection with a vehicle control unit, a vehicle body controller and a vehicle body electronic stabilization system, and the method comprises the following steps:

after the low-voltage relay is detected to be closed, acquiring the whole vehicle power supply mode information and the upgrading mode information transmitted by the vehicle body controller; the whole vehicle power supply mode information comprises a whole vehicle power supply mode state indicating signal and a communication message corresponding to the whole vehicle power supply mode state indicating signal, and the upgrade mode information comprises an upgrade mode state indicating signal and a communication message corresponding to the upgrade mode state indicating signal;

acquiring vehicle control unit power-on state information and charging gun connection state information transmitted by the vehicle control unit; the vehicle control unit power-on state information comprises a vehicle control unit power-on state indication signal and a communication message corresponding to the vehicle control unit power-on state indication signal;

acquiring driving state information transmitted by the vehicle body electronic stability system; the running state information comprises a vehicle speed validity state indicating signal and the current vehicle speed;

analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the running state information;

2. The method according to claim 1, wherein the analyzing the assistance condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrade mode information, and the driving state information comprises:

determining whether the current running state of the vehicle meets a first power-assisted enabling condition or not based on the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information and the upgrading mode information;

determining whether the driving state of the current vehicle meets a second power assisting enabling condition based on the driving state information;

3. The method of claim 1, wherein the EPS system is provided with at least two torque output modes for at least two different torque settings;

the control of the EPS system to enter the power-assisted mode comprises:

controlling the EPS system to output power assist based on the current torque output mode;

4. The method of claim 1,

after the controlling the EPS system to enter the boost mode, the method further comprises:

matching the vehicle power mode information, the vehicle controller power-on state information and the running state information with a preset non-enabling condition; and if the matching condition is met, controlling the EPS system to close the power-assisted mode.

5. The method of claim 4, wherein the controlling the EPS system to turn off the boost mode comprises:

and under the condition that a preset third power-assisted enabling condition is met, controlling the EPS system to enter a power-assisted mode.

6. The EPS system is characterized in that the EPS system is respectively in communication connection with a vehicle controller, a vehicle body controller and a vehicle body electronic stabilization system; the EPS system further includes:

the data acquisition module (110) is used for acquiring the whole vehicle power supply mode information and the upgrading mode information transmitted by the vehicle body controller after the low-voltage relay is detected to be closed; the whole vehicle power supply mode information comprises a whole vehicle power supply mode indicating signal and a communication message corresponding to the whole vehicle power supply mode indicating signal, and the upgrading mode information comprises an upgrading mode state indicating signal and a communication message corresponding to the upgrading mode state indicating signal; acquiring power-on state information and charging gun connection state information of the vehicle control unit transmitted by the vehicle control unit; the vehicle control unit power-on state information comprises a vehicle control unit power-on state indication signal and a communication message corresponding to the vehicle control unit power-on state indication signal; acquiring driving state information transmitted by the vehicle body electronic stability system; the running state information comprises a vehicle speed validity state indicating signal and the current vehicle speed;

the power-assisted analysis module (120) is used for analyzing the power-assisted condition of the vehicle according to the vehicle power mode information, the vehicle controller power-on state information, the charging gun connection state information, the upgrading mode information and the running state information;

and the power assisting control module (130) is used for controlling the EPS system to enter a power assisting mode under the condition that a preset power assisting enabling condition is met.

7. The EPS system of claim 6, wherein the EPS system comprises a first torque output mode, a second torque output mode, and a third torque output mode;

8. A computer-readable storage medium, characterized in that at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the EPS system control method according to any of claims 1 to 5.

9. An electronic device comprising a processor and a memory, wherein the device comprises the processor and the memory, and wherein the memory stores at least one instruction or at least one program, and the at least one instruction or the at least one program is loaded by the processor and executed to implement the EPS system control method of any of claims 1-5.